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Impactor design and development for in-pipe sewer inspection robot

Choo, Jun Hong (2019) Impactor design and development for in-pipe sewer inspection robot.

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Abstract:Technology Innovation for Sewer Condition Assessment - Long-distance Information-system (TISCALI) project is currently developing an in-pipe robotic inspection. Their main objectives include objective detection, quantification of defects in sewers, and determination of the constructive strength and stability of sewers locally. For this objective, a possible approach would be to use the impact-echo method that utilizes the acoustics properties and vibration of relatively large non-reinforced concrete sewer pipes. In this case, concrete of different thicknesses requires different impact time to create the right excitation. The setback for exciting the concrete is that thinner concrete tiles have higher thickness frequencies; which means a shorter impact time is required to create a high-frequency wave. This paper will elaborate on the theory of impact between steel ball and concrete, and develop an autonomous impactor that is able to generate a suitable impact to excite the sewer pipe with prescribed energy and duration. Several goals are met throughout the process of designing the impactor. The impactor would be able to produce a consistent impact which will only hit the concrete surface once to avoid multiple excitations. In addition to this, the excitation generated by the impactor is large enough for the sensors to measure but the impact energy is not strong enough to cause damage to the concrete. The final aspect of this impactor is that it is able to excite the thickness frequency of concrete as thin as 41mm and operate in different orientations.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:33 physics, 52 mechanical engineering, 53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/79195
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