NDLI: Positioning and control of an AUV inside a water pipeline for non-contact in-service inspection

Content Provider	IEEE Xplore Digital Library
Author	Painumgal, U.V. Thornton, B. Uray, T. Nose, Y.
Copyright Year	2013
Description	Author affiliation: Center for Socio-Robotic Synthesis, Kyushu Inst. of Technol., Kitakyushu, Japan (Uray, T.) \|\| Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan (Painumgal, U.V.; Thornton, B.; Nose, Y.)
Abstract	Water pipelines are an important part of our social infrastructure. Early failure detection of the pipelines will help to prevent breakdown and avoid the large cost involved if a accident occurs. As pipelines are enclosed environments and difficult to access, pipeline inspection robots are increasingly used for routine inspection and early failure detection. In our research we propose the use of a small untethered AUV for the visual inspection of the pipeline interior. The vehicle carries optical sensors to aid non-contact motion inside the pipeline and also to capture images of the pipeline interior. The vehicle has identical front and rear sections and has a pair of cone laser and fish eye camera on either ends. The cone lasers and cameras act as range sensors as well as payload to capture pipe line interior images. A realtime vision based control system was developed for the autonomous operation of the proposed vehicle inside pipelines. A new offline position estimation algorithm estimates lateral position and pose of the vehicle inside pipeline. Laboratory experiments were performed in a test pipeline without and with water flow. The results of the experiment show that the proposed technique is efficient for non-contact inspection of a pipeline and helps to make vehicle compact to navigate through the enclosed environment inside pipelines.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	10
File Size	7700675
Page Count	10
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Vehicles Pipelines Lasers Inspection Cameras Sensors Estimation Pipeline inspection Cone laser Vision based control Navigation AUV
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
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