‫تقرير نهائي لمشروع بحث‬
Research project final report /
Rapport final du projet de recherche
1
4102 ‫برنامج دعم البحوث العلمية‬
Grant Program for Scientific Research in Lebanon – 2012
Programme de subvention à la recherche scientifique au Liban – 2012
‫مستند إداري‬
Administrative Document
--------
Administrative information / ‫المعلومات اإلداري‬
:‫المرجع‬
Project Title - )‫عنوان المشروع (عربي وأجنبي‬
In-pipe Robot Inspection System
Principal Investigator - ‫الباحث الرئيسي‬
Riad El Solh 1107-2020
‫العنوان‬
ramsA einaD
‫االسم والشهرة‬
Address
da20@aub.edu.lb
‫العنوان االلكتروني‬
Name &
surname
enADstam emsnADisci em
tAsDec
e-mail
-17437030
‫رقم الهاتف‬
Assistant Professor
Telephone
‫المؤسسة‬
Institution
‫الوظيفة‬
Post
Co-investigators - ‫الباحثون المشاركون‬
‫العنوان االلكتروني‬
e-mail
es34@aub.edu.lb
‫المؤسسة‬
Institution
‫االسم والشهرة‬
Name and surname
enADstam emsnADisci em
s sA hSannai
tAsDec
2
4102 ‫برنامج دعم البحوث العلمية‬
Grant Program for Scientific Research in Lebanon – 2012
Programme de subvention à la recherche scientifique au Liban – 2012
.1
Duration and starting date of the research / ‫المدة التعاقدي للمشروع وتاريخ بدء البحث‬
iAaDi y
Duration (year) / ‫المدة التعاقدية للمشروع‬
hA0c ypSS
Starting date of the research /‫وتاريخ بدء البحث‬
Scientific Information / ‫العلمي‬
‫ المعلومات‬.2
ّ
Objectives - ‫الهدف‬
(mandatory field to fill 5-8 lines) – )‫ أسطر‬8-5 : ‫( معلومات إلزامية‬
The objective of the research was to develop a system for navigation inside of a pipe that
can locate itself as well as profile as well as localize the position of deformations (dents)
within the pipe. The proposed method is to endow the robot with a profiler that can
measure the inner profile of the pipe while the robot is navigating. The navigation system
is one that uses a camera (Kinect or regular cameras), performing what is known as
Structure from Motion (SfM) for localization. The profiling is done using the fusion of
range information from a laser range finder, as well as the range extracted via SfM.
Achievements - ‫أالنجازات المحقق‬
(mandatory field to fill 5-8 lines) – )‫ أسطر‬8-5 : ‫( معلومات إلزامية‬
During the past 2 years we have were successful in realizing most of the goals set out in
the original vision of this project. More specifically, we developed a system for motion
estimation that works specifically in long homogenous environments (such as pipes or
long corridors). This is a challenging problem since these environments lack visual and
geometric features, thereby making motion estimation using regular SfM or Iterative
Closest Point (ICP) . We also developed a system that can accurately profile the inside of
a pipe using a rotating laser range finder.
Perspectives - ‫آفاق البحث‬
3
4102 ‫برنامج دعم البحوث العلمية‬
Grant Program for Scientific Research in Lebanon – 2012
Programme de subvention à la recherche scientifique au Liban – 2012
(mandatory field to fill 5-8 lines) – )‫ أسطر‬8-5 : ‫( معلومات إلزامية‬
The perspective for the research output of this grant spans across the industry of pipe
manufacturing and laying as well as for research in motion estimation and mapping. To be
more specific manufacturers of piping equipment can use the technology that we
developed for their profiling systems. On the other hand the research community needs a
solution to the problem of motion estimation in long homogenous environments that lack
visual and geometric saliencies.
Publications & Communications - ‫المنشورات والمساهمات في المؤتمرات‬
We have and will be publishing several papers thanks to the support of LNCSR in the
past two years. The list is as follows:
1. Jean Lahoud, Daniel Asmar, Bernard Ghanem, Ali Thabet,. Robust RGB-D SLAM
in Feature-Poor Planar Environments Advanced Robotics (AR), (submitted)
2.
Joy Sfeir, Elie Shammas, and Daniel C. Asmar. Design and Modeling of a Novel
Single-actuator Differentially Driven Robot. IEEE/ASME International
Conference on Advanced Intelligent Mechatronics (AIM), Besancon, France, July
8-11, 2014
3.
Wael Salem, Elie Shammas, Daniel C. Asmar, and Salah Bazzi. Dynamic Analysis
of Angular Swivel Steering Mechanism with Applications to Step Climbing.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
(AIM), Besancon, France, July 8-11, 2014
4. Noel El Khazen, Daniel C. Asmar, Nagib Metni, and Elie Shammas. Humanoid fall
avoidance from random disturbances predicted via a Decision Volume. IEEE
International Conference on Biomedical Robotics and Biomechatronics (BIOROB),
August 12-15, Sao Paolo, Brazil, 2014
Abstract - ‫موجز عن نتائج البحث‬
(mandatory field to fill 5-8 lines) – )‫ أسطر‬8-5 : ‫( معلومات إلزامية‬
The infrastructure in most of Lebanon and the region is getting old. This will
eventually warrant the replacement of tens of thousands of kilometers of pipeline. The
enormity of this task is daunting and its completion will demand considerable financial
resources over a considerable amount of time. In the meantime it is inevitable that pipes
will fail, infiltrations will occur, and risk to human and animal health is high. It is
intuitive then that there is a significant need for a system capable of navigating within
the current infrastructure and localizing critical points within a pipe where immediate
remedial action is needed. The focus of this proposal is to address this need by
developing a mobile platform that is capable of fitting within the current pipelines, and
localize where the pipe has or will fail.
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4102 ‫برنامج دعم البحوث العلمية‬
Grant Program for Scientific Research in Lebanon – 2012
Programme de subvention à la recherche scientifique au Liban – 2012
‫توقيع الباحث‬
Daniel Asmar
5
4102 ‫برنامج دعم البحوث العلمية‬
Grant Program for Scientific Research in Lebanon – 2012
Programme de subvention à la recherche scientifique au Liban – 2012