Commenced in January 2007
Paper Count: 31917
Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures
Abstract:This paper describes the design process of a 200 MHz Ground Penetrating Radar (GPR) and a battery powered concrete vertical concrete surface climbing mobile robot. The key design feature is a miniaturized 200 MHz dipole antenna using additional radiating arms and procedure records a reduction of 40% in length compared to a conventional antenna. The antenna set is mounted in front of the robot using a servo mechanism for folding and unfolding purposes. The robot’s adhesion mechanism to climb the reinforced concrete wall is based on neodymium permanent magnets arranged in a unique combination to concentrate and maximize the magnetic flux to provide sufficient adhesion force for GPR installation. The experiments demonstrated the robot’s capability of climbing reinforced concrete wall carrying the attached prototype GPR system and perform floor-to-wall transition and vice versa. The developed GPR’s performance is validated by its capability of detecting and localizing an aluminium sheet and a reinforcement bar (rebar) of 12 mm diameter buried under a test rig built of wood to mimic the concrete structure environment. The present robotic GPR system proves the concept of feasibility of undertaking inspection procedure on large concrete structures in hazardous environments that may not be accessible to human inspectors.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1125725Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1283
 E. Pasolli, F. Melgani and M. Donelli, “Automatic Analysis of GPR Images: A Pattern-Recognition Approach,” IEEE Transaction of Geoscience and Remote Sensing, vol. 47, no. 7, pp. 2206-2217, 2009.
 J. Francke, “Applications of GPR in Mineral Resource Evaluations,” in International Ground Penetrating Radar Conference, Lecce, 2010.
 G. Grazzini, M. Pieraccini, F. Parrini, A. Spinetti, G. Macaluso, D. Dei and C. Atzeni, “An Ultra-Wideband High-Dynamic Range GPR for Detecting Buried People After Collapse of Building,” in International Ground Penetrating Radar Conference, Lecce, 2010.
 E. Trautmann, L. Ray and J. Lever, “Development of an Autonomous Robot for Ground Penetrating Radar Surveys of Polar Ice,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009.
 E. Utsi, “The Shrine of Edward the Confessor: A Study in Multi-Frequency GPR Investigation,” in International Ground Penetrating Radar Conference, Lecce, 2010.
 D. Daniels, “Surface Penetrating Radar,” The Institute of Electrical Engineers, London, 1997.
 T. Roackaway and J. A. Rivard, “Aplication of Ground Penetrating Radar in The Urban Environment,” in International Ground Penetrating Radar Conference, Lecce, 2010.
 G. Borgioli, L. Capineri, P. Falorni, S. Matucci and C. G. Windsor, “The Detection of Buried Pipes from Time-Of-Flight Radar Data,” IEEE Transactions of Geoscience and Remote Sensing, vol. 46, no. 8, pp. 2254-2266, 2008.
 G. Roqueta, L. Jofre and M. W. Feng, “Analysis of The Electromagnetic Signature of Reinforced Concrete Structures for Nondestructive Evaluation of Corrosion Damage,” IEEE Transactions of Instrumentations and Measurements, vol. 61, no. 4, pp. 1090-1098, 2010.
 X. Dérobert, J. Iaquinta, G. Klysz and J. Balayssac, “Use of Capacitive and GPR Techniques for The Non-Destructive Evaluation of Concrete Cover,” International Journal of NDT and E, vol. 41, no. 1, pp. 44-52, 2008.
 M. Howlader and T. Sattar, “FDTD Based Numerical Framework for Ground Penetrating Radar Simulation,” Progress In Electromagnetics Research M, vol. 44, pp. 127-138, 2015.
 M. Yan, M. Tian, Lu Gan and X. Chen, “Impulse Ground Penetrating Radar Hardware System Design,” in International Coference on ITS Telecommunications, Chengdu, 2006.
 M. Howlader and T. Sattar, “Finite Element Analysis Based Optimization of Magnetic Adhesion Module for Concrete Wall Climbing Robot,” International Journal of Advanced Computer Science and Applications, vol. 6, no. 8, pp. 8-18, 2015.
 “IDS RIS Hi-Bright Ground Penetrating Radar for bridge condition assessment in Washington DC,” The National Academies of Sciences, Engineering, and Medicine, Washington DC, 2013.
 C. Ekes and B. Neducza, “Robot Mounted GPR for Pipe Inspection,” in International Conference on Ground Penetrating Radar (GPR), Shanghai, 2012.
 M. W. Rebecca, R. E. Laura, L. H. James and B. M. Amy, “Crevasse Detection in Ice Sheets Using Ground Penetrating Radar and Machine Learning,” IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 7, no. 12, pp. 4836-4848, 2014.
 B. Zhiqiang, G. Yisheng, C. Shizhong, Z. Haifei and Z. Hong, “A Miniature Biped Wall-Climbing Robot for Inspection of Magnetic Metal Surfaces,” in IEEE International Conference on Robotics and Biomimetics, Guangzhou, 2012.
 M. Howlader and T. Sattar, “Novel Adhesion Mechanism and Design Parameters for Concrete Wall-Climbing Robot,” in SAI Intelligent Systems Conference, London, 2015.