Seminar on “A Robotic Inspection System Large Bore Sewer System”

Abstract of Talk:

The Singapore used water transport infrastructure comprises of trunk sewer, link sewer network and the Deep Tunnel Sewerage System (DTSS). Environmental conditions and activities, in and outside the tunnels, can lead to deterioration and damage to tunnel assets. Inspection is an essential aspect of infrastructure maintenance. The use of robots to inspect such underground spaces, as well as to enhance inspection and maintenance capabilities is being explored by a team of researchers from Nanyang Technological University, in collaboration with PUB. This approach promises enhance productivity and reduces the risk to humans from prolonged incursions into a hazardous environment.

Deploying robots into the sewer systems is not a trivial problem.  Frequently, structural obstructions in the tunnel restrict access. The depth of service tunnels can be up to 50 m with distances between adjacent accesses points up to 500m and, occasionally, up to 2km. Keeping the robots supplied with power is critical and with conflicting operational advantages.

A robotic system has been designed and a prototype built. An inspection array, mounted on the robotic platform with three HD cameras and four LED spotlights, is capable of capturing a near 270^o of the tunnel’s interior surface above water. Deployment trials were done collaboration with PUB as well as a local contractor. Post processing of video data allows a stitching of images from the three HD cameras to form a large flat map of the tunnel surface. This permits the inspection processes to be automated for defect identification and location.

This research is supported by the Singapore National Research Foundation under its Environment & Water Research Programme and by PUB, Singapore’s National Water Agency.

About the Speaker:

Dr. Gerald G.L. SEET

BSc, MSc, PhD, CEng, FIMechE

Associate Professor, Nanyang Technological University (NTU)

School of Mechanical and Aerospace Engineering,

Nanyang Avenue, Singapore 639798

Tel : +65 67905600 Office      Email : mglseet@ntu.edu.sg

Gerald is an Associate Professor with the School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore. He lectures in mechatronics, engineering design and real-time systems, at undergraduate and graduate level. He is the founding director of the Robotics Research from 1994 to April 2013. He was also the Head of the Division of Mechatronics and Design between the periods 2006 to 2011. He is currently the Programme Director for the M.Sc. in Smart Product Design.

His main research interests are in mechatronics and field robotics, with specific interest in underwater mobile robotics and fluid power systems. He has authored, and co-authored over 100 peer refereed papers. He is a consultant to industry in these areas. Recently, his research interest has extended to include Unmanned Aerial Vehicles (UAV) and collaborative robotic systems and service robots. Gerald plays an active role in the promotion of engineering and robotics to industry and youth, through his service on a number of committees, including the Singapore Robotics Games and national engineering organizations. He was a member of the founding committee of the IMechE (Singapore branch), he served as Honorary Secretary, Vice Chairman and Branch Chairman for a number of years. He also served as Council member of The Institution of Mechanical Engineers, and continues to promote continuing education. He has been reappointed to the branch committee and is currently the branch Vice-Chairman.