Systems and methods for robotic sensing, repair and inspection
Abstract
Various embodiments of a bio-inspired robot operable for detecting crack and corrosion defects in tubular structures are disclosed herein.
- Inventors:
- Issue Date:
- Research Org.:
- Arizona State Univ., Tempe, AZ (United States); Arrowhead Center, Las Cruces, NM (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1986835
- Patent Number(s):
- 11504854
- Application Number:
- 16/844,519
- Assignee:
- Arizona Board of Regents on Behalf of Arizona State University (Tempe, AZ); Arrowead Center (Las Cruces, NM)
- DOE Contract Number:
- FE0031649
- Resource Type:
- Patent
- Resource Relation:
- Patent File Date: 04/09/2020
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Marvi, Hamidreza, Dehghan-Niri, Ehsan, and Ilami, Mahdi. Systems and methods for robotic sensing, repair and inspection. United States: N. p., 2022.
Web.
Marvi, Hamidreza, Dehghan-Niri, Ehsan, & Ilami, Mahdi. Systems and methods for robotic sensing, repair and inspection. United States.
Marvi, Hamidreza, Dehghan-Niri, Ehsan, and Ilami, Mahdi. Tue .
"Systems and methods for robotic sensing, repair and inspection". United States. https://www.osti.gov/servlets/purl/1986835.
@article{osti_1986835,
title = {Systems and methods for robotic sensing, repair and inspection},
author = {Marvi, Hamidreza and Dehghan-Niri, Ehsan and Ilami, Mahdi},
abstractNote = {Various embodiments of a bio-inspired robot operable for detecting crack and corrosion defects in tubular structures are disclosed herein.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Nov 22 00:00:00 EST 2022},
month = {Tue Nov 22 00:00:00 EST 2022}
}
Save to My Library
You must Sign In or Create an Account in order to save documents to your library.
Works referenced in this record:
Contact Shape Controls Adhesion of Bioinspired Fibrillar Surfaces
journal, August 2007
- del Campo, Aránzazu; Greiner, Christian; Arzt, Eduard
- Langmuir, Vol. 23, Issue 20
Systems and methods for evaluating component strain
patent, January 2018
- Dehghan Niri, Ehsan; Batzinger, Thomas James; Hovis, Gregory Lee
- US Patent Document 9,879,981
Baseline-free pipeline monitoring using optical fiber–guided laser ultrasonics
journal, August 2012
- Lee, Hyeonseok; Yang, Jinyeol; Sohn, Hoon
- Structural Health Monitoring, Vol. 11, Issue 6
Lamb wave tomography of pipe-like structures
journal, June 2005
- Leonard, Kevin R.; Hinders, Mark K.
- Ultrasonics, Vol. 43, Issue 7
Adaptive multisensor data fusion for acoustic emission source localization in noisy environment
journal, November 2012
- Dehghan Niri, Ehsan; Farhidzadeh, Alireza; Salamone, Salvatore
- Structural Health Monitoring, Vol. 12, Issue 1
A multi-helical ultrasonic imaging approach for the structural health monitoring of cylindrical structures
journal, September 2014
- Dehghan-Niri, Ehsan; Salamone, Salvatore
- Structural Health Monitoring, Vol. 14, Issue 1
Functional Adhesive Surfaces with “Gecko” Effect: The Concept of Contact Splitting
journal, May 2010
- Kamperman, Marleen; Kroner, Elmar; del Campo, Aránzazu
- Advanced Engineering Materials, Vol. 12, Issue 5
Synthetic aperture focusing for defect reconstruction in anisotropic media
journal, March 2003
- Spies, Martin; Jager, Winfried
- Ultrasonics, Vol. 41, Issue 2
Effects Of Incline On Speed, Acceleration, Body Posture And Hindlimb Kinematics In Two Species Of Lizard Callisaurus Draconoides And Uma Scoparia
journal, January 1998
- Irschick, Duncan J.; Jayne, Bruce C.
- Journal of Experimental Biology, Vol. 201, Issue 2
Guided wave helical ultrasonic tomography of pipes
journal, July 2003
- Leonard, Kevin R.; Hinders, Mark K.
- The Journal of the Acoustical Society of America, Vol. 114, Issue 2
NDE technologies for the examination of heat exchangers and boiler tubes – principles, advantages and limitations
journal, March 2006
- Sadek, H. M.
- Insight - Non-Destructive Testing and Condition Monitoring, Vol. 48, Issue 3
Parameterized and Scripted Gaits for Modular Snake Robots
journal, January 2009
- Tesch, Matthew; Lipkin, Kevin; Brown, Isaac
- Advanced Robotics, Vol. 23, Issue 9
Snakes move their scales to increase friction
journal, March 2016
- Marvi, Hamidreza; Cook, James P.; Streator, Jeffrey L.
- Biotribology, Vol. 5
Ultrasonic Lamb wave diffraction tomography
journal, June 2001
- Malyarenko, Eugene V.; Hinders, Mark K.
- Ultrasonics, Vol. 39, Issue 4
The influence of sharp edges in corrosion profiles on the reflection of guided waves
journal, November 2012
- Carandente, Rosalba; Lovstad, Anders; Cawley, Peter
- NDT & E International, Vol. 52
Experiences with synthetic aperture focusing technique in the field
journal, March 2000
- Schmitz, V.; Chakhlov, S.; Müller, W.
- Ultrasonics, Vol. 38, Issue 1-8
A Baseline and Vision of Ultrasonic Guided Wave Inspection Potential
journal, July 2002
- Rose, Joseph L.
- Journal of Pressure Vessel Technology, Vol. 124, Issue 3
Recent advances in gecko adhesion and friction mechanisms and development of gecko-inspired dry adhesive surfaces
journal, June 2013
- Zhou, Ming; Pesika, Noshir; Zeng, Hongbo
- Friction, Vol. 1, Issue 2
Recent advances in the fabrication and adhesion testing of biomimetic dry adhesives
journal, August 2010
- Sameoto, D.; Menon, C.
- Smart Materials and Structures, Vol. 19, Issue 10
Actively controlled fibrillar friction surfaces
journal, February 2015
- Marvi, H.; Han, Y.; Sitti, M.
- Applied Physics Letters, Vol. 106, Issue 5
Biologically Inspired Mushroom-Shaped Adhesive Microstructures
journal, July 2014
- Heepe, Lars; Gorb, Stanislav N.
- Annual Review of Materials Research, Vol. 44, Issue 1
Monitoring Systems and Methods for Electrical Machines
patent-application, June 2017
- Dehghan Niri, Ehsan; Rose, Curtis Wayne; Witney, Andrew Batton
- US Patent Application 14/969893; 20170168024
Inspection Robot
patent-application, August 2020
- Loosararian, Mark J.; Binger, Michael A.; Bryner, Edward A.
- US Patent Application 16/813701; 20200262261
Guided wave diffraction tomography within the born approximation
journal, June 2010
- Belanger, Pierre; Cawley, Peter; Simonetti, Francesco
- IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol. 57, Issue 6
Development of a real-time active pipeline integrity detection system
journal, September 2009
- Qing, Xinlin P.; Beard, Shawn; Shen, Shyan Bob
- Smart Materials and Structures, Vol. 18, Issue 11
Biological attachment devices: exploring nature's diversity for biomimetics
journal, January 2008
- Gorb, Stanislav N.
- Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, Vol. 366, Issue 1870
Fractal dimension–based Lamb wave tomography algorithm for damage detection in plate-like structures
journal, May 2012
- Moustafa, Ayman; Salamone, Salvatore
- Journal of Intelligent Material Systems and Structures, Vol. 23, Issue 11
Utilization of guided elastic waves for the characterization of circumferential cracks in hollow cylinders
journal, December 1994
- Ditri, John J.
- The Journal of the Acoustical Society of America, Vol. 96, Issue 6
The Reflection of Guided Waves From Circumferential Notches in Pipes
journal, September 1998
- Alleyne, D. N.; Lowe, M. J. S.; Cawley, P.
- Journal of Applied Mechanics, Vol. 65, Issue 3
Post-earthquake evaluation of pipelines rehabilitated with cured in place lining technology using acoustic emission
journal, March 2014
- Farhidzadeh, Alireza; Dehghan-Niri, Ehsan; Zhong, Zilan
- Construction and Building Materials, Vol. 54
Natural beam focusing of non-axisymmetric guided waves in large-diameter pipes
journal, January 2006
- Li, Jian; Rose, Joseph L.
- Ultrasonics, Vol. 44, Issue 1
Distributed Circle Method for Guided Wave Based Corrosion Detection in Plate-Like Structures
patent-application, July 2017
- Niri, Ehsan Dehghan; Falsetti, Robert Vincent; Rose, Curtis Wayne
- US Patent Application 14/987179; 20170191966
Method for the Ultrasound Detection and Characterization of Defects in a Heterogeneous Material
patent-application, October 2021
- Kassis, Paul; Paul, Nicolas
- US Patent Application 17/272844; 20210310991
Methods of Non-Destructive Testing and Ultrasonic Inspection of Composite Materials
patent-application, July 2017
- Dehghan Niri, Ehsan; Rose, Curtis Wayne; Riahi, Amir
- US Patent Application 14/992444; 20170199160
Robotic Platforms and Robots for Nondestructive Testing Applications, Including Their Production and Use
patent-application, April 2020
- Hong, Erin; Schaal, Christoph
- US Patent Application 16/366383; 20200108501
Friction enhancement in concertina locomotion of snakes
journal, June 2012
- Marvi, Hamidreza; Hu, David L.
- Journal of The Royal Society Interface, Vol. 9, Issue 76
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
journal, January 2006
- Holmes, Philip; Full, Robert J.; Koditschek, Dan
- SIAM Review, Vol. 48, Issue 2
The Design of an Inspection Robot for Boiler Tubes Inspection
conference, January 2009
- Xueqin, Lu; Rongfu, Qiu; Gang, Liu
- 2009 International Conference on Artificial Intelligence and Computational Intelligence
Snakes mimic earthworms: propulsion using rectilinear travelling waves
journal, July 2013
- Marvi, Hamidreza; Bridges, Jacob; Hu, David L.
- Journal of The Royal Society Interface, Vol. 10, Issue 84
Elastic Wave Propagation from Point Excitations on Thin-Walled Cylindrical Shells
journal, July 1990
- Pierce, A. D.; Kil, Hyun-Gwon
- Journal of Vibration and Acoustics, Vol. 112, Issue 3
Body dynamics and hydrodynamics of swimming fish larvae: a computational study
journal, November 2012
- Li, Gen; Müller, Ulrike K.; van Leeuwen, Johan L.
- Journal of Experimental Biology, Vol. 215, Issue 22
Size-dependence of water-running ability in basilisk lizards (Basiliscus basiliscus)
journal, December 1996
- Glasheen, J.; Mcmahon, T.
- Journal of Experimental Biology, Vol. 199, Issue 12
Quantitative corrosion imaging of pipelines using multi helical guided ultrasonic waves
journal, September 2016
- Dehghan-Niri, Ehsan; Salamone, Salvatore
- Structural Monitoring and Maintenance, Vol. 3, Issue 3
Guided wave tomography of pipes with high-order helical modes
journal, July 2014
- Willey, C. L.; Simonetti, F.; Nagy, P. B.
- NDT & E International, Vol. 65
Adhesive force of a single gecko foot-hair
journal, June 2000
- Autumn, Kellar; Liang, Yiching A.; Hsieh, S. Tonia
- Nature, Vol. 405, Issue 6787
Humidity influence on the adhesion of biomimetic fibrillar surfaces
journal, August 2009
- Buhl, Sebastian; Greiner, Christian; Campo, Aránzazu del
- International Journal of Materials Research, Vol. 100, Issue 8
Robotic applications in PSE&G's nuclear and fossil power plants
journal, January 1993
- Roman, H. T.
- IEEE Transactions on Energy Conversion, Vol. 8, Issue 3
Nonlinear Kalman Filtering for acoustic emission source localization in anisotropic panels
journal, February 2014
- Dehghan Niri, E.; Farhidzadeh, A.; Salamone, S.
- Ultrasonics, Vol. 54, Issue 2
Model-Based Design of Low Frequency Lamb Wave EMATs for Mode Selectivity
journal, July 2015
- Seher, Matthias; Huthwaite, Peter; Lowe, Michael J. S.
- Journal of Nondestructive Evaluation, Vol. 34, Issue 3
Pipe Crawler
patent-application, March 2021
- Lisnyak, Gennadiy; Guyvoronskiy, Valeriy
- US Patent Application 16/963656; 20210071801
Sidewinding with minimal slip: Snake and robot ascent of sandy slopes
journal, October 2014
- Marvi, Hamidreza; Gong, Chaohui; Gravish, Nick
- Science, Vol. 346, Issue 6206
Highly compact robots for inspection of power plants
journal, December 2011
- Caprari, Gilles; Breitenmoser, Andreas; Fischer, Wolfgang
- Journal of Field Robotics, Vol. 29, Issue 1
Minimum variance ultrasonic imaging applied to an in situ sparse guided wave array
journal, October 2010
- Hall, James S.; Michaels, Jennifer E.
- IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol. 57, Issue 10
Corrosion and erosion monitoring in plates and pipes using constant group velocity Lamb wave inspection
journal, September 2014
- Nagy, Peter B.; Simonetti, Francesco; Instanes, Geir
- Ultrasonics, Vol. 54, Issue 7
Distributed Sensor Network for Nondestructively Monitoring and Inspecting Insulated Electrical Machine Components
patent-application, December 2017
- Niri, Ehsan Dehghan; Breznak, Jeffrey Michael; Murphy, Gene
- US Patent Application 15/190347; 20170370857
Surface Wave Detection of Surface Defects
patent-application, March 2019
- Harris, Paul David; Taylor, Andrew William
- US Patent Application 16/084288; 20190077472
Controlled Flight of a Biologically Inspired, Insect-Scale Robot
journal, May 2013
- Ma, K. Y.; Chirarattananon, P.; Fuller, S. B.
- Science, Vol. 340, Issue 6132
The excitation and detection of Lamb waves with planar coil electromagnetic acoustic transducers
journal, December 2005
- Wilcox, P. D.; Lowe, M. J. S.; Cawley, P.
- IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol. 52, Issue 12
Active health monitoring of an aircraft wing with embedded piezoelectric sensor/actuator network: I. Defect detection, localization and growth monitoring
journal, June 2007
- Zhao, Xiaoliang; Gao, Huidong; Zhang, Guangfan
- Smart Materials and Structures, Vol. 16, Issue 4
Magnetically Actuated Tunable Soft Electronics
patent-application, September 2020
- Marvi, Hamidreza; Ilami, Mahdi; Ahmed, Reza James
- US Patent Application 16/809999; 20200286657
Parallel projection and crosshole Lamb wave contact scanning tomography
journal, November 1999
- McKeon, James C. P.; Hinders, Mark K.
- The Journal of the Acoustical Society of America, Vol. 106, Issue 5
Evidence for van der Waals adhesion in gecko setae
journal, August 2002
- Autumn, K.; Sitti, M.; Liang, Y. A.
- Proceedings of the National Academy of Sciences, Vol. 99, Issue 19
Extending Robotic Arm
patent-application, February 2019
- Asada, Haruhiko Harry; Shikari, Abbas Munir
- US Patent Application 16/107088; 20190054637
Recent Advances in Nanostructured Biomimetic Dry Adhesives
journal, January 2013
- Pattantyus-Abraham, Andras; Krahn, Jeffrey; Menon, Carlo
- Frontiers in Bioengineering and Biotechnology, Vol. 1
A new transducer holder mechanism for pipe inspection
journal, July 2001
- Guo, Dongshan; Kundu, Tribikram
- The Journal of the Acoustical Society of America, Vol. 110, Issue 1
Screw-Powered Propulsion in Granular Media: An Experimental and Computational Study
conference, May 2018
- Thoesen, Andrew; Ramirez, Sierra; Marvi, Hamid
- 2018 IEEE International Conference on Robotics and Automation (ICRA)
Fan beam and double crosshole Lamb wave tomography for mapping flaws in aging aircraft structures
journal, October 2000
- Malyarenko, Eugene V.; Hinders, Mark K.
- The Journal of the Acoustical Society of America, Vol. 108, Issue 4
Scalybot: A Snake-Inspired Robot With Active Control of Friction
conference, January 2011
- Marvi, Hamidreza; Meyers, Gregory; Russell, Geoffrey
- ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
Mechanics of Adhesion Through a Fibrillar Microstructure
journal, December 2002
- Jagota, A.
- Integrative and Comparative Biology, Vol. 42, Issue 6
Corrosion monitoring of post-tensioned concrete structures using fractal analysis of guided ultrasonic waves
journal, July 2013
- Moustafa, Ayman; Niri, Ehsan Dehghan; Farhidzadeh, Alireza
- Structural Control and Health Monitoring, Vol. 21, Issue 3
High-resolution guided wave tomography
journal, July 2013
- Huthwaite, Peter; Simonetti, Francesco
- Wave Motion, Vol. 50, Issue 5
Foldable magnetic wheeled climbing robot for the inspection of gas turbines and similar environments with very narrow access holes
journal, May 2010
- Fischer, Wolfgang; Caprari, Gilles; Siegwart, Roland
- Industrial Robot: An International Journal, Vol. 37, Issue 3
Structural assessment, maintenance, and repair apparatuses and methods
patent, November 2015
- Chin, Hon Wah; Duncan, William D.; Hyde, Roderick A.
- US Patent Document 9,193,402
Multifunctional robot to maintain boiler water-cooling tubes
journal, February 2009
- Gao, Xueshan; Xu, Dianguo; Wang, Yan
- Robotica, Vol. 27, Issue 6
Comparative three-dimensional kinematics of the hindlimb for high-speed bipedal and quadrupedal locomotion of lizards
journal, May 1999
- Irschick, Duncan J.; Jayne, Bruce C.
- Journal of Experimental Biology, Vol. 202, Issue 9
Feasibility of low frequency straight-ray guided wave tomography
journal, March 2009
- Belanger, Pierre; Cawley, Peter
- NDT & E International, Vol. 42, Issue 2
A probabilistic framework for acoustic emission source localization in plate-like structures
journal, February 2012
- Dehghan Niri, E.; Salamone, S.
- Smart Materials and Structures, Vol. 21, Issue 3
A novel mobile robot for finned tubes inspection
journal, October 2003
- Li, Yanming; Ma, Peisun; Qin, Changjun
- Robotica, Vol. 21, Issue 6
Ultrasonic Testing Device and Ultrasonic Testing Method
patent-application, June 2017
- Oono, Shigeru; Sumikawa, Kenta
- US Patent Application 15/116886; 20170176397
Contact scanning Lamb wave tomography
journal, September 1998
- Hinders, Mark; Malyarenko, Eugene; McKeon, James
- The Journal of the Acoustical Society of America, Vol. 104, Issue 3_Supplement
A comparison of embedded sensor Lamb wave ultrasonic tomography approaches for material loss detection
journal, June 2006
- Hay, T. R.; Royer, R. L.; Gao, Huidong
- Smart Materials and Structures, Vol. 15, Issue 4
Excitation and propagation of non-axisymmetric guided waves in a hollow cylinder
journal, February 2001
- Li, Jian; Rose, Joseph L.
- The Journal of the Acoustical Society of America, Vol. 109, Issue 2
Reference-free damage detection by means of wavelet transform and empirical mode decomposition applied to Lamb waves
journal, September 2012
- Bagheri, Abdollah; Li, Kaiyuan; Rizzo, Piervincenzo
- Journal of Intelligent Material Systems and Structures, Vol. 24, Issue 2
Experimental Investigation of Optimal Adhesion of Mushroomlike Elastomer Microfibrillar Adhesives
journal, September 2015
- Marvi, Hamidreza; Song, Sukho; Sitti, Metin
- Langmuir, Vol. 31, Issue 37
Phase-space topography characterization of nonlinear ultrasound waveforms
journal, March 2018
- Dehghan-Niri, Ehsan; Al-Beer, Helem
- Ultrasonics, Vol. 84
Boiler maintenance robot with multi-operational schema
conference, August 2008
- Gao, Xueshan; Gao, Junyao
- 2008 IEEE International Conference on Mechatronics and Automation
Device and Method for Nondestructive Inspection of Tubular Products, Especially on Site
patent-application, January 2016
- Deneuville, Francois
- US Patent Application 14/773634; 20160025684
Biomimetics: lessons from nature–an overview
journal, April 2009
- Bhushan, Bharat
- Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, Vol. 367, Issue 1893
Air-coupled Lamb wave tomography
journal, January 1997
- Wright, W.; Hutchins, D.; Jansen, D.
- IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol. 44, Issue 1
Design and fabrication of multi-material structures for bioinspired robots
journal, May 2009
- Cutkosky, Mark R.; Kim, Sangbae
- Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, Vol. 367, Issue 1894
Immersion tomography using Rayleigh and Lamb waves
journal, January 1992
- Jansen, D. P.; Hutchins, D. A.
- Ultrasonics, Vol. 30, Issue 4
Ultrasonic Lamb wave tomography
journal, November 2002
- Leonard, Kevin R.; Malyarenko, Eugene V.; Hinders, Mark K.
- Inverse Problems, Vol. 18, Issue 6
Corrosion Monitoring Strategies—Choice Between Area and Point Measurements
journal, December 2012
- Cawley, Peter; Cegla, Frederic; Stone, Mark
- Journal of Nondestructive Evaluation, Vol. 32, Issue 2
A comparison between ultrasonic array beamforming and super resolution imaging algorithms for non-destructive evaluation
journal, September 2014
- Fan, Chengguang; Caleap, Mihai; Pan, Mengchun
- Ultrasonics, Vol. 54, Issue 7
A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers
journal, May 2012
- Stefanini, C.; Orofino, S.; Manfredi, L.
- Bioinspiration & Biomimetics, Vol. 7, Issue 2
BigDog, the Rough-Terrain Quadruped Robot
journal, January 2008
- Raibert, Marc; Blankespoor, Kevin; Nelson, Gabriel
- IFAC Proceedings Volumes, Vol. 41, Issue 2
Embedded Strain Sensor Network
patent-application, February 2018
- Niri, Ehsan Dehgan; Ransom, William F.; McConnell, Eric Eicher
- US Patent Application 15/229199; 20180038779
Multi-mode Lamb wave tomography with arrival time sorting
journal, April 2005
- Leonard, Kevin R.; Hinders, Mark K.
- The Journal of the Acoustical Society of America, Vol. 117, Issue 4
Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor
journal, April 2011
- Curet, Oscar M.; Patankar, Neelesh A.; Lauder, George V.
- Bioinspiration & Biomimetics, Vol. 6, Issue 2
Shape-programmable magnetic soft matter
journal, September 2016
- Lum, Guo Zhan; Ye, Zhou; Dong, Xiaoguang
- Proceedings of the National Academy of Sciences, Vol. 113, Issue 41
Influence of surface roughness on gecko adhesion
journal, July 2007
- Huber, G.; Gorb, S.; Hosoda, N.
- Acta Biomaterialia, Vol. 3, Issue 4
Applying aerial robotics for inspections of power and petrochemical facilities
conference, September 2012
- Huerzeler, C.; Caprari, G.; Zwicker, E.
- 2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)