Modelling of magnetic adhesion robot for NDT inspection of large metal structures

Conference paper

Shirkoohi, M. and Zhao, Z (2017). Modelling of magnetic adhesion robot for NDT inspection of large metal structures. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing. https://doi.org/10.1142/9789813231047_0056
AuthorsShirkoohi, M. and Zhao, Z
TypeConference paper
Abstract

Non-destructive evaluation of structures such as ships and large oil tanks can be rapidly carried out using robots employing magnetic adhesion. This eliminates the need for the use of laborious suction systems, usually employed in climbing robots. However, since the operation of the robot is very much dependent on the speed at which the robot can move before the adhesion is lost, there is a need for determining limits at which magnetic force becomes ineffective. Finite element models and dynamic solution of magnetically supported robots have been presented in order to determine the speed limits at which they can operate.

KeywordsMagnetic adhesion; Velocity modeling,; Eddy currents
Year2017
PublisherWorld Scientific Publishing
Digital Object Identifier (DOI)https://doi.org/10.1142/9789813231047_0056
Accepted author manuscript
License
File Access Level
Open
File
Publication dates
Print01 Oct 2017
Publication process dates
Deposited10 Oct 2017
Accepted11 Sep 2017
Permalink -

https://openresearch.lsbu.ac.uk/item/86x82

Download files

Accepted author manuscript
72_Source.docx
License: CC BY 4.0
File access level: Open

File
72_Paper.pdf

  • 75
    total views
  • 215
    total downloads
  • 1
    views this month
  • 2
    downloads this month

Export as

Related outputs

Decoupling the influence of wall thinning and cladding thickness variation pulsed eddy current using principal component analysis
Nafiah, F., Tokhi, M.O., Shirkoohi, M., Duan, F., Zhao, Z. and Rees-Lloyd, O. (2021). Decoupling the influence of wall thinning and cladding thickness variation pulsed eddy current using principal component analysis. IEEE Sensors Journal. https://doi.org/10.1109/JSEN.2021.3100648
Properties of GMR based sensor for Magnetic field measurement at increasing Temperature Conditions
Sathappan, N., Tokhi, M., Duan, F., Zhao, Z., Kaur, A. and Shirkoohi, M. (2020). Properties of GMR based sensor for Magnetic field measurement at increasing Temperature Conditions. NDE 2020 India-Virtual Conference & Exhibition on Non-Destructive Evaluation. India 10 - 12 Dec 2020
3D FEM of a pipeline with defect using MFL testing under extreme conditions
Sathappan, N., Tokhi, M., Zhang, F., Duan, F., Shirkoohi, M. and Shiva Majidnia (2019). 3D FEM of a pipeline with defect using MFL testing under extreme conditions. NSIRC Annual Conference 2019. Cambridge 02 - 03 Jul 2019
Development of high temperature and underwater sensor for permanent magnet corrosion monitoring system
Sathappan, N, Tokhi, M, Zhao, Z, Duan, F, Shirkoohi, M and Kaur, A (2019). Development of high temperature and underwater sensor for permanent magnet corrosion monitoring system. Lloyd's Register Foundation International Conference 2019. 8 Northemburland Avenue,London 09 - 10 Oct 2019
Computation of Rectifier Transformers employed in Railway Networks
Shirkoohi, G. and Jenkins, A (2017). Computation of Rectifier Transformers employed in Railway Networks. 2017 IEEE International Conference on Industrial Technology (ICIT). Toronto, Canada 22 - 25 Mar 2017 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICIT.2017.7913286
Modelling of temperature dependence of saturation magnetisa-tion of silicon-iron steels
Shirkoohi, M. (2017). Modelling of temperature dependence of saturation magnetisa-tion of silicon-iron steels. 2017 IEEE International Magnetics Conference (INTERMAG). Dublin, Ireland 24 - 28 Apr 2017 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/INTMAG.2017.8007741
Determination of the Demagnetisation of Electrical Steel Strips
Shirkoohi, M. (2017). Determination of the Demagnetisation of Electrical Steel Strips. IEEE International Symposium on Industrial Electronics. Toronto, canada 19 - 21 Jun 2017 Institute of Electrical and Electronics Engineers (IEEE).
Climbing robot design for NDT inspection
Zhao, Z and Shirkoohi, G (2017). Climbing robot design for NDT inspection. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing. https://doi.org/10.1142/9789813231047_0033
Modelling and simulation of fault detection in Shielded Twisted Pair cables
Shirkoohi, M. (2016). Modelling and simulation of fault detection in Shielded Twisted Pair cables. 2016 IEEE International Conference on Industrial Technology (ICIT). Taipei, Taiwan 14 - 17 Mar 2016 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICIT.2016.7474897
Development of an On-Line System for Precision Dimensional Measurements in Electrical Steels using Approach to Ferromagnetic Saturation
Shirkoohi, G (2015). Development of an On-Line System for Precision Dimensional Measurements in Electrical Steels using Approach to Ferromagnetic Saturation. 2015 IEEE International Conference on Industrial Technology (ICIT). Seville, Spain 17 - 19 Mar 2015 Institute of Electrical and Electronics Engineers (IEEE). pp. 1863 - 1869 https://doi.org/10.1109/ICIT.2015.7125368
Modelling of fault detection in electrical wiring
Shirkoohi, G (2015). Modelling of fault detection in electrical wiring. IET Science Measurement and Technology. 9 (2), pp. 211-217. https://doi.org/10.1049/iet-smt.2014.0208
Dependence of Magnetisation near Saturation on Alloying Content in Ferromagnetic Steel
Shirkoohi, G (2015). Dependence of Magnetisation near Saturation on Alloying Content in Ferromagnetic Steel. IEEE Transactions on Magnetics. 51 (7). https://doi.org/10.1109/TMAG.2015.2405056
Fault Detection in Aircraft Wiring using Enhanced multi-pulse TDR Technique
Shirkoohi, M. (2015). Fault Detection in Aircraft Wiring using Enhanced multi-pulse TDR Technique. 7th International Symposium on NDT in Aerospace. Bremen, Germany 16 - 18 Nov 2015 German Society for Non-Destructive Testing (DGZfP). pp. 1 - 8 (8)
Enhanced TDR Technique for Fault Detection in Electrical Wires and Cables
Shirkoohi, G and Hasan, K (2010). Enhanced TDR Technique for Fault Detection in Electrical Wires and Cables. 2nd Int. Symposium on NDT in Aerospace. Hamburg, Germany 22 - 24 Nov 2010 London South Bank University. pp. 1 - 6 (6)