**Geert De Cubber**

**1**

**Chapter 1**

**Abstract**

Robotic Search and Rescue

through In-Pipe Movement

So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screwdrive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer's point of view, we also discussed the various kinds of robots that we have developed, along

**Keywords:** robotic inspection, mechanical design, robots used in limited space,

The progressive deterioration of aging social infrastructures in urban areas around the world has led to the occurrences of serious accidents one after another. Risks of accidents are mainly hidden, especially in aging bridges, pipelines, ports, and airports, to name a few, all over the country. In particular, water and gas pipe bursts and leaks, explosion, and fire accidents at complexes are growing into a serious problem. A piping accident, for instance, not only cuts the lifeline but also is associated with potential ignition of leaked gas, which necessitates urgent repair and replacement of deteriorated parts. In the process of repairing and replacing pipelines, the most important issues include how to prioritize the repairing place, how to efficiently identify the deteriorated parts in advance, and how to perform

The common method of inspection practiced up to the present is manual wall

thickness measurement from outside of pipes using ultrasonic and magnetic equipment. Practical-wise, such approach consumes time and could be difficult to employ when reaching pipes installed at high places or underground. In addition, some pipelines contain toxic/explosive carbon monoxide (CO) and silane and combustible/flammable gases, which may cause a health hazard to inspection workers. These setbacks suggest the need for cost and effort reduction in maintaining and managing pipelines and in securing safety. Under these circumstances, the recent development of mechanical and electronic technologies, robotic nondestructive inspection technology (NDT) with cameras, and thickness measurement sensors

*Atsushi Kakogawa and Shugen Ma*

with their advantages and disadvantages.

the work with minimum necessary cost and personnel.

(ultrasonic and magnetic methods) are receiving attention.

mobile robots, image processing

**1. Background**

Royal Military Academy of Belgium, Department of Mechanics, Robotics & Autonomous Systems unit, Brussels, Belgium
