Abstract:
The project aims at developing a Pipe Inline Inspection Robot capable of traversing through complex pipe layouts while performing non-destructive testing. This project focuses on a novel mechanism that allows the robot to turn through elbows and fit through a larger diameter range of pipe compared to its previous version, ATOM. Furthermore, the report includes detail of the active diametrical change control module employed and the redesigned passive system conjoined to the mechanism. Finally, AIOM is equipped with a visual inspection module that enables it to process and detect cracks onboard creating a standalone unit that can be used in a variety of scenarios.