NDLI: Robotic systems for cleaning and inspection of large concrete pipes

Content Provider	IEEE Xplore Digital Library
Author	Saenz, J. Elkmann, N. Stuerze, T. Kutzner, S. Althoff, H.
Copyright Year	2010
Description	Author affiliation: Emschergenossenschaft, Essen, Germany (Althoff, H.) \|\| Fraunhofer IFF, 39106 Magdeburg, Germany (Saenz, J.; Elkmann, N.; Stuerze, T.; Kutzner, S.)
Abstract	Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented. Various aspects of the robot including its kinematics, the cleaning system, the sensor system, the media supply, communications, as well as the control system and operator interface will be discussed in detail. The use of robust robotics for accurate positioning of high-pressure water nozzles in combination with non-destructive sensing techniques for navigation and inspection during normal pipe operation allows for a new standard in high-quality pipe cleaning and inspection. The latest cleaning and inspection results from tests in real sewers will be presented.
Starting Page	1
Ending Page	7
File Size	717812
Page Count	7
File Format	PDF
ISBN	9781424466337
e-ISBN	9781424466351
DOI	10.1109/CARPI.2010.5624448
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-05
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surface cleaning Hazardous areas Occupational health and safety Image processing Inspection Position measurement Robot sensing systems Cameras Sensor systems Mobile robots Object recognition Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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