Autonomous industrial tank floor inspection robot

Wun Chen Lee, Abdullah Syafiq Abdul Salam, Mohd Faisal Ibrahim, Ashrani Aizzuddin Abd Rahni, Abdullah Zawawi Mohamed

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Many storage tanks used in industry are inspected manually in order to identify leakage and corrosion. This repetitive task can harm the operator as the operator has to expose themselves to danger inside the tank. The environment of the tank can be harmful because it might contain highly hazardous substances. Additionally, the manual inspection process also requires highly skilled operators for precision. This project proposes the use of an autonomous inspection robot to overcome this problem. The proposed robot is based on the TurtleBot with the Microsoft Kinect camera as a distance sensor. The MinnowBoard MAX board is used as the computing platform running the Robot Operating System (ROS) for tank floor mapping and navigation of the robot. The GMapping Simultaneous Localization and Mapping (SLAM) algorithm is used to do perform the mapping process. Evaluation was performed by comparison against physical measurement of the foyer of the Faculty of Engineering and Built Environment (FKAB) at Universiti Kebangsaan Malaysia (UKM). The results show that the GMapping algorithm is able to generate relatively accurate maps even with the low cost platform and will perform even better with more accurate sensors.

Original languageEnglish
Title of host publicationIEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages473-475
Number of pages3
ISBN (Electronic)9781479989966
DOIs
Publication statusPublished - 17 Feb 2016
Event4th IEEE International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Kuala Lumpur, Malaysia
Duration: 19 Oct 201521 Oct 2015

Other

Other4th IEEE International Conference on Signal and Image Processing Applications, ICSIPA 2015
CountryMalaysia
CityKuala Lumpur
Period19/10/1521/10/15

Fingerprint

Inspection
Robots
Bridge decks
Sensors
Navigation
Cameras
Corrosion
Costs
Industry

Keywords

  • GMapping
  • Industrial Tank Floor Inspection
  • Microsoft Kinect
  • Simultaneous Localisation and Mapping
  • TurtleBot

ASJC Scopus subject areas

  • Computer Science Applications
  • Signal Processing

Cite this

Lee, W. C., Salam, A. S. A., Ibrahim, M. F., Abd Rahni, A. A., & Mohamed, A. Z. (2016). Autonomous industrial tank floor inspection robot. In IEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings (pp. 473-475). [7412238] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSIPA.2015.7412238

Autonomous industrial tank floor inspection robot. / Lee, Wun Chen; Salam, Abdullah Syafiq Abdul; Ibrahim, Mohd Faisal; Abd Rahni, Ashrani Aizzuddin; Mohamed, Abdullah Zawawi.

IEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 473-475 7412238.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, WC, Salam, ASA, Ibrahim, MF, Abd Rahni, AA & Mohamed, AZ 2016, Autonomous industrial tank floor inspection robot. in IEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings., 7412238, Institute of Electrical and Electronics Engineers Inc., pp. 473-475, 4th IEEE International Conference on Signal and Image Processing Applications, ICSIPA 2015, Kuala Lumpur, Malaysia, 19/10/15. https://doi.org/10.1109/ICSIPA.2015.7412238
Lee WC, Salam ASA, Ibrahim MF, Abd Rahni AA, Mohamed AZ. Autonomous industrial tank floor inspection robot. In IEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 473-475. 7412238 https://doi.org/10.1109/ICSIPA.2015.7412238
Lee, Wun Chen ; Salam, Abdullah Syafiq Abdul ; Ibrahim, Mohd Faisal ; Abd Rahni, Ashrani Aizzuddin ; Mohamed, Abdullah Zawawi. / Autonomous industrial tank floor inspection robot. IEEE 2015 International Conference on Signal and Image Processing Applications, ICSIPA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 473-475
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