Top > JACIII > Development of a Robotic Boiler Header Inspection Device with ...

single-jc.php

JACIII Vol.18 No.3 pp. 451-458
doi: 10.20965/jaciii.2014.p0451
(2014)

Paper:

Views over last 60 days: 661

Development of a Robotic Boiler Header Inspection Device with Redundant Localization System

Nur Maisurah Hassan Basri, Khairul Salleh Mohamed Sahari,
and Adzly Anuar

Centre for Advanced Mechatronics and Robotics, Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000 Kajang, Selangor, Malaysia

Received:
October 27, 2013
Accepted:
March 20, 2014
Published:
May 20, 2014
Creative Commons License
Keywords:
boiler header inspection robot (BHIR), borescope camera, localization system, boiler header pipe, inspection system
Abstract
A pipe inspection robot, called a boiler header inspection robot (BHIR), is presented in this paper. The BHIR was designed specifically to inspect the inner surfaces of horizontal boiler header pipes in a thermal power plant in Malaysia that is owned by Tenaga Nasional Berhad (TNB). The main challenge was the geometry of a boiler header pipe: the entry diameter is significantly smaller than the diameter of the main pipe body. Currently, there are two versions of the BHIR: 1) the first version, BHIR-I, which was developed for use in manual inspections by carrying a borescope camera inside a boiler header pipe, and 2) the second version, BHIR-II, which has an onboard visual inspection system that can inspect pipes and acquire images independently. The robot was designed to be able to navigate through the pipe geometry. A unique redundant localization system that uses an accelerometer and encoder sensor was developed to ensure that the robot knows the location of the images taken and its own position inside the boiler header pipe. This paper discusses the prototype development, the localization system and site testing conducted to validate the prototype. Based on the test results, the BHIR prototype with redundant localization was proven to be successful.
Cite this article as:
N. Basri, K. Sahari, and A. Anuar, “Development of a Robotic Boiler Header Inspection Device with Redundant Localization System,” J. Adv. Comput. Intell. Intell. Inform., Vol.18 No.3, pp. 451-458, 2014.
Data files:
References
  1. [1] K. S. M. Sahari, A. Anuar, S. S. K. Mohideen, M. Z. Baharuddin, I. N. Ismail, N. M. H. Basri, N. S. Roslin, M. A. Aziz, and B. Ahmad, “Development of robotic boiler header inspection device,” 2012 Joint 6th Int. Conf. on Soft Computing and Intelligent Systems (SCIS) and 13th Int. Symposium on Advanced Intelligent Systems (ISIS), pp. 769-773, 2012.
  2. [2] H. Othman, J. Purbolaksono, and B. Ahmad, “Failure investigation on deformed superheater tubes,” Engineering Failure Analysis, Vol.16, pp. 329-339, 2009.
  3. [3] H. Othman, J. Purbolaksono, and B. Ahmad, “Failure Analysis on Deformed Superheater Tubes by Finite ElementMethod,” Int. Conf. on Construction and Building Technology, pp. 283-294, 2008.
  4. [4] Z. Liu and D. Krys, “The use of laser range finder on a robotic platform for pipe inspection,” Mechanical Systems and Signal Processing, Vol.31, pp. 246-257, 2012.
  5. [5] J. Qiu, Z. Song, and J. Zhang, “A new method for detecting pipeline deformation by an inspection robot with a moving 2D laser rang finder,” 2011 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp. 987-992, 2011.
  6. [6] P. Hansen, H. Alismail, B. Browning, and P. Rander, “Stereo visual odometry for pipe mapping,” 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4020-4025, 2011.
  7. [7] W. Dalei, Y. T. Kamal, M. Samir, and B. M. Rached, “Relay node placement in wireless sensor networks for pipeline inspection,” American Control Conf. (ACC) 2013, pp. 5905-5910, 2013.
  8. [8] M. H. Skjelvareid, Y. Birkelund, and Y. Larsen, “Internal pipeline inspection using virtual source synthetic aperture ultrasound imaging,” NDT & E Int., Vol.54, pp. 151-158, 2013.
  9. [9] H. Qi, J. Ye, X. Zhang, and H. Chen, “Wireless tracking and locating system for in-pipe robot,” Sensors and Actuators A: Physical, Vol.159, pp. 117-125, 2010.
  10. [10] H. Qi, J. Ye, X. Zhang, H. Chen, and J. Ye, “Tracing and localization system for pipeline robot,” Mechatronics, Vol.19, pp. 76-84, 2009.
  11. [11] J. H. Kim, G. Sharma, N. Boudriga, and S. S. Iyengar, “RAMP system for proactive pipeline monitoring,” 2010 Second Int. Conf. on Communication Systems and Networks (COMSNETS), pp. 1-2, 2010.
  12. [12] J. H. Kim, G. Sharma, N. Boudriga, and S. S. Iyengar, “SPAMMS: A sensor-based pipeline autonomous monitoring and maintenance system,” 2010 Second Int. Conf. on Communication Systems and Networks (COMSNETS), pp. 1-10, 2010.
  13. [13] H. Lim, Y. Choi, Y. S. Kwon, E. J. Jung, and B. J. Yi, “SLAM in indoor pipelines with 15 mm diameter,” IEEE Int. Conf. on Robotics and Automation (ICRA 2008), pp. 4005-4011, 2008.
  14. [14] M. Beinhofer, J. Muller, and W. Burgard, “Effective landmark placement for accurate and reliable mobile robot navigation,” Robotics and Autonomous Systems, pp. 1060-1069, 2013.
  15. [15] J. Rantakokko, J. Rydell, P. Stromback, P. Handel, J. Callmer, D. Tornqvist, F. Gustafsson, M. Jobs, and M. Gruden, “Accurate and reliable soldier and first responder indoor positioning: multisensor systems and cooperative localization,” Wireless Communications, IEEE, Vol.18, pp. 10-18, 2011.
  16. [16] C. Suliman, C. Cruceru, and F. Moldoveanu, “Mobile Robot Position Estimation Using the Kalman Filter,” The INTER-ENG Int. Conf. will take place on 50th Anniversary of “Petru Maior” University of Tg. Mures, pp. 75-78, 2009.
  17. [17] M. Baeck, Thomas Publishing Company,
    http://news.thomasnet.com/fullstory/Video-Borescope-fits-in-tightspaces-14851 [Accessed October 20, 2013], 2002.
  18. [18] M. Baeck, Thomas Publishing Company, [Online],
    http://news.thomasnet.com/fullstory/Video-Borescope-featuresfull-motion-video-recording-452301 [Accessed October 20, 2013], 2004.
  19. [19] M. L. Anjum, J. Park,W. Hwang, H. I. Kwon, J. H. Kim, C. Lee, and D. I. Cho, “Sensor data fusion using Unscented Kalman Filter for accurate localization of mobile robots,” 2010 Int. Conf. on Control Automation and Systems (ICCAS), pp. 947-952, 2010.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 18, 2024