Physical Sciences and Mathematics Commons^™

Mathematical Modeling Of Pipeline Features For Robotic Inspection, Yang Gao

Doctoral Dissertations

Underground pipeline systems play an indispensable role in transporting liquids in both developed and developing countries. The associated social and economic cost to repair a pipe upon abrupt failure is often unacceptable. Regular inspection is a preventative action that aims to monitor pipe conditions, catch abnormalities and reduce the chance of undesirable surprises. Robots with CCTV video cameras have been used for decades to inspect pipelines, yielding only qualitative information. It is becoming necessary and preferable for municipalities, project managers and engineers to also quantify the 3-D geometry of underground pipe networks. Existing robots equipped specialized hardware and software algorithms …