Magnetic wall-climbing mobile robot for video-based inspection of cracks and corrosions.

Date

10-2011

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Nelio C. Altoveros

Abstract

A magnetic wall-climbing mobile robot with a video-based inspection system for viewing cracks and corrosions on metal surfaces was designed and constructed. A graphical user interface program was implemented to display in the monitor what the camera captures. Robot navigation and image capture were executed using a gamepad controller. The navigation of the robot was evaluated by determining its speed at different _ motor input voltages on vertical and horizontal planes. For 25 V input to the motor, the average speeds are 0.023m/s and 0.031 m/s for the upward and downward movement, respectively on a vertical plane. The average speed of the robot on a horizontal plane is 0.029m/s for both forward and backward movements. This robot can climb vertically on ferromagnetic walls with a carrying capacity of 44.10N. The camera can capture frames that arc 70mm wide and 53mm high. Captured images of cracks and corrosion show small geometric distortions which were corrected using a lens correction application software. Keywords: Control systems (07.05.Dz), Data acquisition: hardware and software (07.05.Hd), Magnets: permanent magnets (magnetic materials), 75.50. Ww, Optics. See 42, Robotic vision, 42.30. Tz

Language

English

Location

UPLB Main Library Special Collections Section (USCS)

Call Number

Thesis

Document Type

Thesis

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