Smart Structures and Systems

  • 제13권6호
  • /
  • Pages.1041-1063
  • /
  • 2014
  • /
  • 1738-1584(pISSN)
  • /
  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Two-module robotic pipe inspection system with EMATs

  • Lee, Jin-Hyuk (Graduate School of Energy and Environment, Seoul National University of Science and Technology) ;
  • Han, Sangchul (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Ahn, Jaekyu (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Kim, Dae-Hyun (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Moon, Hyungpil (School of Mechanical Engineering, Sungkyunkwan University)
  • 투고 : 2013.12.13
  • 심사 : 2014.04.30
  • 발행 : 2014.06.25
⟨ 이전 논문 다음 논문 ⟩

초록

This work introduces a two-module robotic pipe inspection system with ultrasonic NDE device to evaluate the integrity of pipe structures. The proposed robotic platform has high mobility. The two module mobile robot platform overcomes pipe obstacle structures such as elbow, or T-branch joints by cooperative maneuvers. Also, it can climb up the straight pipeline at a fast speed due to the wheel driven mechanism. For inspection of pipe structure, SH-waves generated by EMAT are applied with additional signal processing methods. A wavelet transform is implemented to extract a meaningful and specific signal from the superposed SH-wave signals. Intensity ratio which is normalized the defect signals intensity by the maximum intensity of directly transmitted signals in the wavelet transforms spectrum is applied to evaluate defects quantitatively. It is experimentally verified that the robotic ultrasonic inspection system with EMAT is capable of non-destructive inspection and evaluation of defects in pipe structure successfully by applying signal processing method based on wavelet transform.

키워드

과제정보

연구 과제 주관 기관 : KETEP, NRF

참고문헌

  1. Bussow, R. (2007), "An Algorithm for the continuous Morlet wavelet transform", Mech. Syst. Signal Pr., 21(8), 2970-2979. https://doi.org/10.1016/j.ymssp.2007.06.001
  2. Fujisawa, K. (2002), "Application of EMAT to steel and nonferrous metal", J. JSNDI, 51(2), 68-73.
  3. Fukuda, T., Hosokai, H. and Otsuka, M (1987), "Autonomous pipeline inspection and maintenance robot with inch worm mobile mechanism", Proceedings of the IEEE International Conference on Robotics and Automation.
  4. Gori, M., Giamboni, S., D'Alessio, E., Ghia, S., Cernuschi, F. and Piana, G.M. (1996), "Guided waves by EMAT transducers for rapid defect location onheat exchanger and boiler tubes", Ultrasonics, 34, 311-314. https://doi.org/10.1016/0041-624X(95)00094-J
  5. Hirao, M. and Ogi, H. (1999),"An SH-wave EMAT technique for gas pipeline inspection", NDT&E Int., 32(3), 127-132. https://doi.org/10.1016/S0963-8695(98)00062-0
  6. Hirao, M. and Ogi, H. (2003), EMATs for science and industry: noncontacting ultrasonic measurements, Kluwer Academic Publisher, Boston, USA.
  7. Kawasaki, H. and Murakami, S. (2008), "Novel climbing method of pruning robot", Proceedings of the SICE Annual Conference, Tokyo, Japan, Aug.
  8. Kim, S. and Choi, S. (2005), "The robotic technology applications on nuclear power plants in Korea", J. Robot. Soc. Japan, 23(5), 548-551. https://doi.org/10.7210/jrsj.23.548
  9. Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V. and Cutkosky, M.R. (2007), "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot", Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, Apr.
  10. Lee, J.H., Park, L.K., Kim, Y.K and Kim, D.H (2011), "Evaluation of thickness reduction in steel plate by using SH-EMATs", J. KSNT, 31(1), 38-43.
  11. Lee, J.H. and Kim, D.H. (2012), "Flaw-detection of pipes-welded zone by using wavelet transform and SH-EMAT", T. KSME, 36(12) 1511-1519.
  12. Lei, K., Wujun, M., Chao, L. and Shujuan, W. (2008), "Research on weak signal detection technique for electromagnetic ultrasonic inspection system", Proceedings of the IEEE Conference of Industrial Electronics and Applications,Singapore, June.
  13. Lipkin, K., Borwn, I., Peck, A., Choset, H., Rembisz, J., Gainfortoni, P. and Naaktgeboren, A. (2007), "Differentiable and piecewise differentiable gaits for snake robots", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, Oct.
  14. Liu, S., Dua, C., Moua, J., Martua, L., Zhang, J. and Lewis, F.L. (2013), "Diagnosis of structural crack susing wavelet transform and neural", NDT&E Int., 54, 9-18. https://doi.org/10.1016/j.ndteint.2012.11.004
  15. Mertins, A. (1999), Signal analysis: wavelets, filter banks, time-frequency transforms, and applications, WILEY, Chichester, England.
  16. Noohi, E., Mahdavi, S.S., Baghani, A. and Ahmadabadi, M.N. (2010), "Wheel-based climbing robot: modeling and control", Adv. Robotics, 24(8-9), 1313-1343. https://doi.org/10.1163/016918610X501453
  17. Park, I.K. and Ahn, H.K. (2001), "Time-frequency analysis of lamb wave mode", J. KSMTE, 10(1), 133-140.
  18. Park, I.K., Kim, H.M., Park, T.S., Kim, Y.G., Cho, Y.S. and Song, W.J. (2006), "Non-contact ultrasonic inspection technology of fillet weldments monitoring", Key Eng. Mater., 321-323, 513-517. https://doi.org/10.4028/www.scientific.net/KEM.321-323.513
  19. Parker, L.E. and Draper, J.V. (1998), Handbook of industrial robotics, (2nd Ed.), John Wiley, New York, NY, USA.
  20. Roh, S. and Choi, H.R. (2005), "Differential-drive in-pipe robot for moving inside urban gas pipelines", IEEE T. Robot., 21(1), 1-17. https://doi.org/10.1109/TRO.2004.838000
  21. Roh, S., Kim, D.W., Lee, J.S., Moon, H. and Choi, H.R. (2009), "In-pipe robot based on selective drive mechanism", Int. J. Control Autom., 7(1), 105-112. https://doi.org/10.1007/s12555-009-0113-z
  22. Soto-Cajiga, J.A., Pedraza-Ortega, J.C., Rubio-Gonzalez, C., Bandala-Sanchez, M., Romero-Troncoso, R. de J. (2012), "FPGA-based architecture for real-time data reduction of ultrasound signals", Ultrasonics, 52(2), 230-237. https://doi.org/10.1016/j.ultras.2011.08.007
  23. Tavakoli, M., Marques, L. and Almeida, A.T. (2011), "3DCLIMBER: climbing and manipulation over 3D structures", Mechatronics, 21(1), 48-62. https://doi.org/10.1016/j.mechatronics.2010.08.006
  24. Varma, V.K., Tucker R., Kercel, S., Rose, J., Luo, W. and Zhao, X. (2004), "Pipeline flaw detection using shear EMAT and wavelet analysis", GTI's Natural Gas Technologies II, Pheonix, AZ, USA.
  25. Xu, F. and Wang, X. (2008), "A wheel-based cable climbing robot with descending speed restriction", Proceedings of the Chinese control and Decision Conference, Shangdong, China, July.

피인용 문헌

  1. Shape-Estimation of Human Hand Using Polymer Flex Sensor and Study of Its Application to Control Robot Arm vol.35, pp.1, 2015, https://doi.org/10.7779/JKSNT.2015.35.1.68
  2. Sensor System for Multi-Point Monitoring Using Bending Loss of Single Mode Optical Fiber vol.35, pp.1, 2015, https://doi.org/10.7779/JKSNT.2015.35.1.39
  3. Evaluation of Interface Defects in Inaccessible Reactor Shrink Fit Nozzle Welds Using Ultrasonic Waves vol.10, pp.5, 2017, https://doi.org/10.3390/en10050589
  4. Integrating Electromagnetic Acoustic Transducers in a Modular Robotic Gripper for Inspecting Tubular Components vol.79, pp.7, 2014, https://doi.org/10.32548/2021.me-04223