NDLI: A New Approach to the Sewer Pipe Inspection: Fully Autonomous Mobile Robot "KANTARO"

Content Provider	IEEE Xplore Digital Library
Author	Nassiraei, A.A.F. Kawamura, Y. Ahrary, A. Mikuriya, Y. Ishii, K.
Copyright Year	2006
Description	Author affiliation: FAIS-Robotics Res. Inst., Fukuoka (Nassiraei, A.A.F.; Kawamura, Y.; Ahrary, A.; Mikuriya, Y.)
Abstract	With regard to the current sewer pipe inspection technology, all commercial robots are completely tele-operated, usually via a tether cable, by a human operator. In addition, current sewer inspection robots have a poor mobility function to pass any kind of pipe-bends such as curves and junctions so that those robots are only capable to move into the straight pipes. Inspecting the sewage pipes using the state of the arts inspection methods by the current robots is costly, mostly human cost, and not fast enough to check and inspect the amount of sewage pipes will grow stronger than it has actually happened, specially in Japan. In this paper we propose an innovative, fast and robust sewer inspection method by using a passive-active intelligent, fully autonomous, un-tethered robot called "KANTARO" which fits to the pipes within a diameter range of 200-300 millimeters. KANTARO prototype robot, including a novel passive-active intelligent moving mechanism, can move into the straight pipe and pass different kinds of pipe bends without need to any intelligence of the controller or sensor reading. In order to realize a fully autonomous inspection robot, we also developed a small and intelligent 2D laser scanner for detecting of the navigational landmarks such as manholes and pipe joints independently with main computer system, and fusion with a fish eye camera to assist the pipe state and fault detection
Starting Page	4088
Ending Page	4093
File Size	1746449
Page Count	6
File Format	PDF
ISBN	1424403901
ISSN	1553572X
DOI	10.1109/IECON.2006.348124
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-11-06
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inspection Mobile robots Intelligent robots Intelligent sensors Robot sensing systems Humans Fault detection Costs Robustness Prototypes
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
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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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