Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot

Tariq Sattar; J Feng; B Bridge; Shyamal Mondal

Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot

Tariq Sattar, J Feng, B Bridge, Shyamal Mondal

Electrical and Electronic Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

The RobTank mobile robot can enter oil and chemical storage tanks through 300 mm or more diameter openings in the roof. It performs in-service inspection of the floor and walls while submerged in liquid thereby saving the cost of emptying, cleaning, and manually inspecting the tank. A navigation system keeps track of position and orientation within the tank. An array of ultrasonic wheel probes and two bulk-wave rotating probes look for corrosion thinning on the floor and walls up to half a metre ahead and under inaccessible floor areas. Obstacles such as drain sumps, heating coils, etc. are detected and avoided.

Original language	English
Publication status	Published - 25 Sept 2002
Event	5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Duration: 25 Sept 2002 → …

Conference

Conference	5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Period	25/09/02 → …

Cite this

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title = "Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot",

abstract = "The RobTank mobile robot can enter oil and chemical storage tanks through 300 mm or more diameter openings in the roof. It performs in-service inspection of the floor and walls while submerged in liquid thereby saving the cost of emptying, cleaning, and manually inspecting the tank. A navigation system keeps track of position and orientation within the tank. An array of ultrasonic wheel probes and two bulk-wave rotating probes look for corrosion thinning on the floor and walls up to half a metre ahead and under inaccessible floor areas. Obstacles such as drain sumps, heating coils, etc. are detected and avoided.",

author = "Tariq Sattar and J Feng and B Bridge and Shyamal Mondal",

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note = "5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines ; Conference date: 25-09-2002",

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TY - CONF

T1 - Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot

AU - Sattar, Tariq

AU - Feng, J

AU - Bridge, B

AU - Mondal, Shyamal

PY - 2002/9/25

Y1 - 2002/9/25

N2 - The RobTank mobile robot can enter oil and chemical storage tanks through 300 mm or more diameter openings in the roof. It performs in-service inspection of the floor and walls while submerged in liquid thereby saving the cost of emptying, cleaning, and manually inspecting the tank. A navigation system keeps track of position and orientation within the tank. An array of ultrasonic wheel probes and two bulk-wave rotating probes look for corrosion thinning on the floor and walls up to half a metre ahead and under inaccessible floor areas. Obstacles such as drain sumps, heating coils, etc. are detected and avoided.

AB - The RobTank mobile robot can enter oil and chemical storage tanks through 300 mm or more diameter openings in the roof. It performs in-service inspection of the floor and walls while submerged in liquid thereby saving the cost of emptying, cleaning, and manually inspecting the tank. A navigation system keeps track of position and orientation within the tank. An array of ultrasonic wheel probes and two bulk-wave rotating probes look for corrosion thinning on the floor and walls up to half a metre ahead and under inaccessible floor areas. Obstacles such as drain sumps, heating coils, etc. are detected and avoided.

M3 - Paper

T2 - 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Y2 - 25 September 2002

ER -

Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot

Abstract

Conference

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