Thesis

Design of miniature mobile robots for non-destructive evaluation

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Awarding institution
  • University of Strathclyde
Date of award
  • 2007
Thesis identifier
  • T11876
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Department, School or Faculty
Abstract
  • Small, high performance and low cost inspection vehicles, working together as teams of autonomous agents, are well suited to remote inspection tasks in areas that are only accessible through narrow passageways or are hazardous for humans. In particular, the evaluation of complex infrastructures that consist of numerous components with small structural dimensions motivate the application of robotic micro systems for inspection and on-site manipulation. This thesis describes the development of a synergetic multi-robot inspection system for Non-Destructive evaluation (NDE) of engineering structures, enabling magnetic (flux leakage and eddy current), ultrasonic and visual techniques in a complementary fashion. Particular emphasis is placed on the design of the miniature autonomous climbing vehicles, the Eddy Current and Magnetic Flux Leakage payload, the positioning and host system and the fusion of the different NDE data.
Resource Type
DOI
EThOS ID
  • uk.bl.ethos.441882
Date Created
  • 2007
Former identifier
  • 759949

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