Use this URL to cite or link to this record in EThOS:
Title: Design of miniature mobile robots for non-destructive evaluation
Author: Friedrich, Markus
ISNI:       0000 0001 3484 5608
Awarding Body: University of Strathclyde
Current Institution: University of Strathclyde
Date of Award: 2007
Availability of Full Text:
Access from EThOS:
Access from Institution:
Small, high performance and low cost inspection vehicles, working together as teams of autonomous agents, are well suited to remote inspection tasks in areas that are only accessible through narrow passageways or are hazardous for humans. In particular, the evaluation of complex infrastructures that consist of numerous components with small structural dimensions motivate the application of robotic micro systems for inspection and on-site manipulation. This thesis describes the development of a synergetic multi-robot inspection system for Non-Destructive evaluation (NDE) of engineering structures, enabling magnetic (flux leakage and eddy current), ultrasonic and visual techniques in a complementary fashion. Particular emphasis is placed on the design of the miniature autonomous climbing vehicles, the Eddy Current and Magnetic Flux Leakage payload, the positioning and host system and the fusion of the different NDE data.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral