Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection

Miro, JV; Hunt, D; Ulapane, N; Behrens, M

Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection

Miro, JV Hunt, D Ulapane, N Behrens, M

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Publisher:: Springer International Publishing
Publication Type:: Chapter
Citation:: Springer Proceedings in Advanced Robotics, 2018, 5, pp. 319-333
Issue Date:: 2018-01-01

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Field	Value	Language
dc.contributor.author	Miro, JV
dc.contributor.author	Hunt, D
dc.contributor.author	Ulapane, N
dc.contributor.author	Behrens, M
dc.date.accessioned	2022-02-01T07:33:10Z
dc.date.available	2022-02-01T07:33:10Z
dc.date.issued	2018-01-01
dc.identifier.citation	Springer Proceedings in Advanced Robotics, 2018, 5, pp. 319-333
dc.identifier.isbn	9783319673608
dc.identifier.uri	http://hdl.handle.net/10453/154046
dc.description.abstract	This paper addresses automated mapping of the remaining wall thickness of metallic pipelines in the field by means of an inspection robot equipped with Non-Destructive Testing (NDT) sensing. Set in the context of condition assessment of critical infrastructure, the integrity of arbitrary sections in the conduit is derived with a bespoke robot kinematic configuration that allows dense pipe wall thickness discrimination in circumferential and longitudinal direction via NDT sensing with guaranteed sensing lift-off (offset of the sensor from pipe wall) to the pipe wall, an essential barrier to overcome in cement-lined water pipelines. The data gathered represents not only a visual understanding of the condition of the pipe for asset managers, but also constitutes a quantative input to a remaining-life calculation that defines the likelihood of the pipeline for future renewal or repair. Results are presented from deployment of the robotic device on a series of pipeline inspections which demonstrate the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps.
dc.language	en
dc.publisher	Springer International Publishing
dc.relation	Sydney Water Corporation
dc.relation.ispartof	Springer Proceedings in Advanced Robotics
dc.relation.isbasedon	10.1007/978-3-319-67361-5_21
dc.rights	This is a post-peer-review, pre-copyedit version of a chapter published in [Field and Service Robotics pp 319-333]. The final authenticated version is available online at: https://link.springer.com/chapter/10.1007/978-3-319-67361-5_21]”
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection
dc.type	Chapter
utslib.citation.volume	5
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Centre for Health Technologies (CHT)
utslib.copyright.status	open_access	*
dc.date.updated	2022-02-01T07:33:07Z
pubs.publication-status	Published
pubs.volume	5

Abstract:

This paper addresses automated mapping of the remaining wall thickness of metallic pipelines in the field by means of an inspection robot equipped with Non-Destructive Testing (NDT) sensing. Set in the context of condition assessment of critical infrastructure, the integrity of arbitrary sections in the conduit is derived with a bespoke robot kinematic configuration that allows dense pipe wall thickness discrimination in circumferential and longitudinal direction via NDT sensing with guaranteed sensing lift-off (offset of the sensor from pipe wall) to the pipe wall, an essential barrier to overcome in cement-lined water pipelines. The data gathered represents not only a visual understanding of the condition of the pipe for asset managers, but also constitutes a quantative input to a remaining-life calculation that defines the likelihood of the pipeline for future renewal or repair. Results are presented from deployment of the robotic device on a series of pipeline inspections which demonstrate the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps.

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http://hdl.handle.net/10453/154046