Modeling and analysis of an in-pipe robotic leak detector

Dimitris Chatzigeorgiou; Kamal Youcef-Toumi; Rached Ben-Mansour

doi:10.1109/ICRA.2014.6907341

Modeling and analysis of an in-pipe robotic leak detector

Dimitris Chatzigeorgiou, Kamal Youcef-Toumi, Rached Ben-Mansour

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3351-3357
Number of pages	7
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907341
State	Published - 22 Sep 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

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10.1109/ICRA.2014.6907341

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Chatzigeorgiou, D., Youcef-Toumi, K., & Ben-Mansour, R. (2014). Modeling and analysis of an in-pipe robotic leak detector. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3351-3357). Article 6907341 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907341

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title = "Modeling and analysis of an in-pipe robotic leak detector",

abstract = "Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.",

author = "Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour",

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Chatzigeorgiou, D, Youcef-Toumi, K & Ben-Mansour, R 2014, Modeling and analysis of an in-pipe robotic leak detector. in Proceedings - IEEE International Conference on Robotics and Automation., 6907341, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3351-3357. https://doi.org/10.1109/ICRA.2014.6907341

Modeling and analysis of an in-pipe robotic leak detector. / Chatzigeorgiou, Dimitris; Youcef-Toumi, Kamal; Ben-Mansour, Rached.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3351-3357 6907341 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.

AB - Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.

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Chatzigeorgiou D, Youcef-Toumi K, Ben-Mansour R. Modeling and analysis of an in-pipe robotic leak detector. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3351-3357. 6907341. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907341

Modeling and analysis of an in-pipe robotic leak detector

Abstract

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