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Vol. 127, Issue 4, April 2011, pp.45-55




Inspection of Pipe Inner Surface using Advanced Pipe Crawler Robot with PVDF Sensor based Rotating Probe


1 System Engineer, Infosys Technologies Limited, Bangalore, India

Tel.: +91-9620770832

2Department of Mechanical Engineering, Indian Institute of Technology Kanpur, India-208016
Tel.: +91-0512-2597824

3 Graduate school of Information, Production and Systems, Waseda University,

2-7 Hibikino, Wakamatsu-Ku, Kitakyushu-shi, Fukuoka, Japan

Tel.: +81-93-692-5147

E-mail: vimal_agarwal01@infosys.com, ogai@waseda.jp, kentaronishijima@fuji.waseda.jp, bishakh@iitk.ac.in



Received: 18 March 2011   /Accepted: 22 April 2011   /Published: 30 April 2011


Abstract: Due to corrosive environment, pipes used for transportation of water and gas at the plants often get damaged. Defects caused by corrosion and cracking may cause serious accidents like leakage, fire and blasts. It also reduces the life of the transportation system substantially. In order to inspect such defects, a Polyvinyledene Fluoride (PVDF) based cantilever smart probe is developed to scan the surface quality of the pipes. The smart probe, during rotation, touches the inner surface of the pipe and experience a broad-band excitation in the absence of surface features. On the other hand, whenever the probe comes across any surface projection, there is a change in vibration pattern of the probe, which causes a high voltage peak/pulse. Such peaks/pulses could give useful information about the location and nature of a defect. Experiments are carried out on different patterns, sizes and shapes of surface projections artificially constructed inside the pipe. The sensor system has reliably predicted the presence and distribution of projections in every case. It is envisaged that the new sensing system could be used effectively for pipe health monitoring.


Keywords: Pipeline inspection robot, Smart sensors, PVDF, Structural health monitoring, Wireless signal transmission


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