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
Recommended Citation
Casco, Janeal Charmaigne N., "Magnetic wall-climbing mobile robot for video-based inspection of cracks and corrosions." (2011). Undergraduate Theses. 10282.
https://www.ukdr.uplb.edu.ph/etd-undergrad/10282
Document Type
Thesis