Project Synopsis presentation

On
Robotic Intelligent Vision and Control for Tunnel Inspection

Presented by Under the Guidance of

ANKIT SINGH(1512231026) Mr.Nitesh Jaiswal
DHEERAJ RAO(1512231043)

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

SHRI RAMSWAROOP MEMORIAL GROUP OF PROFESSIONAL

COLLEGES, LUCKNOW
Affiliated to
Dr. A.P.J ABDUL KALAM TECHNICAL UNIVERSITY
LUCKNOW

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 One of the greatest challenges engineers face is the inspection,
assessment, and safe operation of the existing civil infrastructure.

 The process is subjective and the operators need to face very

uncomfortable and even dangerous conditions.

 Robotic technology can overcome many of these disadvantages

and provide quality inspections collecting different types of data.

 When tunnels that need to be inspected have reduced dimensions,

such as underground tunnels used to deploy power cables, the use
of robotic platforms is more than appropriate.

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 “Sulibhavi et al.”This is proposed for tunnel inspection make use of
heuristic methods for detecting and tracing cracks. Although, these
methods are simple and their application is straight-forward, they present
low generalization ability. Consequently, they inherently depend on initial
assumptions and cannot be applied in different environments under
different inspection conditions without reconfiguration or human
supervisor/operator intervention.[1]
 “Fujita et al.” The most common technique used by vision based systems
for crack detection and tracing relies on edge detection. Edge detection
techniques. However, blemishes and painted surfaces affect the efficiency
and accuracy of these methods.[2]
 “Yu et al.” A mobile robot for fast crack acquisition by scanning the
inspected surface using a line camera. However, the accuracy of results
depends on robot velocity and position.[3]

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 “Jahanshahi et al.” The work of exploited 3D measurements for crack
detection and mobile robotic systems. However, most of the
aforementioned approaches lack cognitive-learning capabilities that would
allow a more reliable and speedy tunnel inspection.[4]
 “Victores et al.” The authors proposed the use of bio-inspired controller
such as CPGs(central pattern generator) or neural network for controlling
wheeled robots.One of the major limitations of these depends upon the
sample size.[5]
 “Soga et al.” They tries to address perspective problems caused by the
main shape of inspected surface by using a sophisticated mosaicking tool
developed at Cambridge University[6]

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AIM:-Detect the internal and external defects of the tunnel wall.
OBJECTIVES :-
 To make mechanical structure of Robot.

 Detection of external defects via Image processing .

 Detection of internal defects via impact-echo tests.

 Interfacing of all sensors using raspberry pi.

 Controlling and monitoring of robot via Mobile /laptop.

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 DETECTION ULTRASONIC
CAMERA SENSOR

MOBILE
SOUND
VEHICLE+ RASPBERRY PI SENSOR
ARM

GROUND
CONTROLLER

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 Tunnel Inspection Methods:-
1. Visual Methods:-
A small mobile robot is equipped with a CCD camera. The robot
stays at a constant distance of the wall using a differential-drive
wheel configuration, and a set of photos are taken. The camera is
mounted on an anti-vibration device to stabilize the images. The
robot goes through all the tunnel performing the inspection, but
the data is processed after all the images are collected. The
inspection consists in the detection of cracks via Image
processing .

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2. Sonic and Ultrasonic Methods:-
In sonic methods, also known as impact-echo tests, hammer blows create
impulses, and the time of travel of these sonic pulses is measured with
pickups placed on the wall. The time of travel is related to the modulus of
elasticity and, hence, the strength. Sometimes chain drags, sounding rods or
standard hammers are used for detecting delamination on horizontal surfaces
if the inspector has experience in detecting hollow sounds.
Ultrasonic devices are normally used by measuring the velocity in the
material of a pulse generated by a piezoelectric transducer. The pulse velocity
depends on the composition and maturity of the structural material and its
elastic properties

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 A completely system can perform the inspection of
the tunnel without compromising the safety of
operators.
 Future systems must be capable of both maintenance
and inspection with minimal human intervention.
 It can works in an uncomfortable and dangerous
environment.
 Robotic navigation and intelligent positioning
controller preliminary designs of the robotic systems
have been also carried out.

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[1] Sulibhavi, G.R., Parks, W.A.: Advanced methods for tunnel assessment.
In: Proceedings of the World Tunnel Congress 2007 and 33rd ITA/AITES
Annual General Assembly, Prague (2007).
[2] Fujita, Y., Mitani, Y., Hamamoto, Y.: A method for crack detection on a
concrete structure. Proc. 18th Int. Conf. Pattern Recogn. 3, 901–904 (2006).
[3] Yu, S., Jang, J.-H., Han, C.-S.: Auto Inspection System Using a Mobile
Robot for Detecting Concrete Cracks in a Tunnel. Autom. Constr. 16, 255–
261 (2007).
[4] Jahanshahi, M.R., Masri, S.F.: Adaptive vision-based crack detection
using 3D scene reconstruction for condition assessment of structures. Autom.
Constr. 22, 567–576 (2012).
[5] Victores, J.G., Martı ´nez, S., Balaguer, C.: Robot-aided tunnel inspection
and maintenance system by vision and proximity sensor integration. Autom.
Constr. 20(5), 629–636 (2011).

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[6] Soga, K., Chaiyasarn, K., Viola, F., Yan, J., Seshia, A., Cipolla, R.:
Innovation in monitoring technologies for underground structures. In:
Proceedings of the 1st Int. Conf. Information Technology in Geo-
Engineering, (ICITG) Shangai, IOS Press, pp. 3–18 (2010).
[7] R. Montero, J. G. Victores, S. Martínez, A. Jardón, C. Balaguer In
Robotics Lab, University Carlos III of Madrid, Spain (2013)
[8] Loupos, K., Amditis, A., Stentoumis, C.: Integrated robotic system for
tunnel structural assessment—the ROBO-SPECT EC project. World
Tunnel Congress (2015).
[9] Loupos, K., Amditis, A., Chrobocinski, P., Montero, R., Belsito, L.,
Lopez, R., Doulamis, N.: Autonomous robot for tunnel inspection and
assessment. 6th International Symposium on Tunnels and Underground
Structures in See Urban, Underground Structures. In Karst, Radisson
Blu Resort, Split, Croatia, March 16–18 (2016).

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THANK YOU

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