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Development of a robotic boiler header inspection device with redundant localization system

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dc.citedby5
dc.contributor.authorBasri N.M.H.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorAnuar A.en_US
dc.contributor.authorid55701853500en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid13609166500en_US
dc.date.accessioned2023-05-16T02:47:51Z
dc.date.available2023-05-16T02:47:51Z
dc.date.issued2014
dc.description.abstractA pipe inspection robot, called a boiler header inspection robot (BHIR), is presented in this paper. The BHIR was designed specifically to inspect the inner surfaces of horizontal boiler header pipes in a thermal power plant in Malaysia that is owned by Tenaga Nasional Berhad (TNB). The main challenge was the geometry of a boiler header pipe: the entry diameter is significantly smaller than the diameter of the main pipe body. Currently, there are two versions of the BHIR: 1) the first version, BHIR-I, which was developed for use in manual inspections by carrying a borescope camera inside a boiler header pipe, and 2) the second version, BHIR-II, which has an onboard visual inspection system that can inspect pipes and acquire images independently. The robot was designed to be able to navigate through the pipe geometry. A unique redundant localization system that uses an accelerometer and encoder sensor was developed to ensure that the robot knows the location of the images taken and its own position inside the boiler header pipe. This paper discusses the prototype development, the localization system and site testing conducted to validate the prototype. Based on the test results, the BHIR prototype with redundant localization was proven to be successful.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.20965/jaciii.2014.p0451
dc.identifier.epage458
dc.identifier.issue3
dc.identifier.scopus2-s2.0-84901029860
dc.identifier.spage451
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84901029860&doi=10.20965%2fjaciii.2014.p0451&partnerID=40&md5=9cb16cd8c7f1d420eb03c0324d7127e8
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/22150
dc.identifier.volume18
dc.publisherFuji Technology Pressen_US
dc.relation.ispartofAll Open Access, Gold
dc.sourceScopus
dc.sourcetitleJournal of Advanced Computational Intelligence and Intelligent Informatics
dc.titleDevelopment of a robotic boiler header inspection device with redundant localization systemen_US
dc.typeArticleen_US
dspace.entity.typePublication
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