Pipe Inspection Robots For Structural Health And Condition Monitoring PDF Download

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

Over the last decade, techniques for materials preparation and processing at nanometer scale have advanced rapidly, leading to the introduction of novel principles for a new generation of sensors and detectors. At the same time, the chemical industry, transport and agriculture produce huge amounts of dangerous waste gases and liquids, leading to soil, air and water contamination. One more modern threat - international terrorism - demands that scientists make efforts to apply new principles and technologies to protect society against chemical, biological, radiological and nuclear (CBRN) attacks and to develop novel effective technologies for the remediation of large contaminated areas. Accordingly, the main goal of this book is to bring together experts (theorists, experimentalists, engineers and technologists) for an extensive discussion covering: novel principles for functional nanostructures and detector fabrication and implementation, the development of novel technologies for the deactivation of CBRN agents, their experimental realization and their application in novel monitoring and control systems, and technological processes for soil and water remediation, with a view to environmental protection and defence against CBRN-based terrorism. In keeping with the book’s main goal, the following topics are highlighted and discussed: - Sensors and detectors - detection of chemicals, principles of “artificial nose” and chemical “micro-lab on a chip” design, surface and underground water quality monitoring systems, molecular electronics, superconducting electronic devices, quantum detectors and Qubits. - Environmental protection and CBRN - detection of infrared, microwave, X-ray and terahertz radiation. Principles for novel IR-, UV-, and Terahertz-wave devices for the detection of low-contrast objects. - Novel technological processes for CBRN destruction and deactivation. All these topics are strongly interrelated, both with regard to fundamental aspects and to fabrication and implementation technologies; in addition, they are highly promising for application in novel functional devices, computer logics, sensing and detection of low-concentration chemicals, weak and extremely weak magnetic and microwave fields, infrared and ultraviolet radiation. Given its scope, the book will be a useful and interesting guide for a broad readership of engineers, scientists, PhD students and experts in the area of defence against environmental terrorism.