An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR

Journal article

Garrido, G.G. and Sattar, T. (2021). An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR. Journal of Artificial Intelligence and Technology. https://doi.org/10.37965/jait.2021.0016
AuthorsGarrido, G.G. and Sattar, T.
Abstract

A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.

KeywordsClimbing Robot; GPR NDT; FEA; Magnetic adhesion; Reinforced concrete; Ultra Wide Band
Year2021
JournalJournal of Artificial Intelligence and Technology
PublisherIntelligence Science and Technology Press
ISSN2766-8649
Digital Object Identifier (DOI)https://doi.org/10.37965/jait.2021.0016
Publication dates
Print07 Jul 2021
Publication process dates
Accepted07 Jul 2021
Deposited20 Jul 2021
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Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012