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Smart Structures and Systems Volume 13, Number 6, June 2014 , pages 1041-1063 DOI: https://doi.org/10.12989/sss.2014.13.6.1041 |
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Two-module robotic pipe inspection system with EMATs |
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Jin-Hyuk Lee, Sangchul Han, Jaekyu Ahn, Dae-Hyun Kim and Hyungpil Moon
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| Abstract | ||
| 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. | ||
| Key Words | ||
| out- pipe robot; EMAT; wavelet transform; two-module climbing robot; non-eestructive test robotic system | ||
| Address | ||
| Jin-Hyuk Lee: Graduate School of Energy and Environment, Seoul National University of Science and Technology 232 Gongneung-ro, Nowon-gu, Seoul 139-743,Republic of Korea Sangchul Han, Jaekyu Ahn and Hyungpil Moon:School of Mechanical Engineering, Sungkyunkwan University, Seoburo 2066, Jangan-gu, Suwon 440-746, Republic of Korea Dae-Hyun Kim: Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul, 139-743, Republic of Korea | ||