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Proceedings Paper

Underwater robot society doing internal inspection and leak monitoring of water systems
Author(s): Aarne Halme; Mika Vainio; Pekka Appelqvist; Peter Jakubik; Torsten Schonberg; Arto Visala
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Paper Abstract

In the field of civil engineering an effective internal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Tests results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

Paper Details

Date Published: 22 September 1997
PDF: 10 pages
Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); doi: 10.1117/12.287637
Show Author Affiliations
Aarne Halme, Helsinki Univ. of Technology (Finland)
Mika Vainio, Helsinki Univ. of Technology (Finland)
Pekka Appelqvist, Helsinki Univ. of Technology (Finland)
Peter Jakubik, Helsinki Univ. of Technology (Finland)
Torsten Schonberg, Helsinki Univ. of Technology (Finland)
Arto Visala, Helsinki Univ. of Technology (Finland)

Published in SPIE Proceedings Vol. 3209:
Sensor Fusion and Decentralized Control in Autonomous Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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