Development of fully automatic inspection systems for large underground concrete pipes partially filled with wastewater

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 130-135

  Elkmann, N ^a   Althoff, H ^b,c   Kutzner, S ^a   Stuerze, T ^a   Saenz, J ^a   Reimann, B ^a  

^a FRAUNHOFER INSTITUTE FOR FACTORY OPERATION AND AUTOMATION IFF   (Germany)

^b Emschergenossenschaft ^*  (Germany)

^c Emschergenossenschaft   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATIC INSPECTION SYSTEMS; CLEANING SYSTEMS; PIPE AXIS MEASUREMENT; SYSTEM POSITIONING;

AUTOMATION; DAMAGE DETECTION; PROJECT MANAGEMENT; SEWERS; WASTEWATER; WATER MANAGEMENT;

CONCRETE PIPE;

EID: 36349008760     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363776     Document Type: Conference Paper

References (7)

1. H.-B Kuntze and H. Haffner, Experiences with the Development of a Robot for Smart Multisensoric Pipe Inspection, ICRA 1998, pp. 1773-1778.
2. E. Rome, J. Hertzberg, F. Kirchner, U. Licht, S. Streich and Th. Christaller, Towards Autonomous Sewer Robots: the MAKRO Project, Urban Water 1, 1999, pp. 57-40.
3. J. Hertzberg, Th. Christaller, F. Kirchner, U. Licht, E. Rome, "Sewer Robotics", in Proc. From Animals to Animats 5, 5th Intl. Conf. On Simulation of Adaptive Behavior (SAB-98), R. Pfeifer, B. Blumberg, J.-A. Meyer and S.W. Wilson (eds), MIT Press, 1998, pp. 427-436.
4. R. Kirkham, P. Kearney, K. Rogers and J. Mashford, "PIRAT - A System for Quantitative Sewer Pipe Assessment", International Journal of Robotics Research, Vol. 19, No. 11, November 2000.
5. N. Elkmann, H. Althoff, J. Saenz., T. Böhme, "Kinematics Systems for Inspection and Cleaning of Sewer Canals", 6th International Conference on Climbing and Walking Robots CLAWAR, Catania, 2003.
6. N. Elkmann, H. Althoff, T. Böhme, T. Felsch, S. Kutzner, J. Saenz, T. Stürze, "Entwicklung von Robotersystemen für die Inspektion und Reinigung von Abwasserkanälen", Robotik 2004, München, 17 - 18 June 2004.
7. N. Elkmann, H. Althoff, "The cmscher:kanal - Automated Inspection Systems for Underground Concrete Pipes", 22nd International NO DIG Conference, Hamburg, 15-17 November 2004.