Maintenance robot for remote assembly of protective jackets on live gas risers

Keng Huat Koh; Musthafa Farhan; Kenny Pui Ching Yeung; Colin Pak Yu Chan; Michelle Pui Yee Lau; Pak Kin Cheung; King Wai Chiu Lai

doi:10.1016/j.autcon.2022.104636

Maintenance robot for remote assembly of protective jackets on live gas risers

Keng Huat Koh
, Musthafa Farhan
, Kenny Pui Ching Yeung
, Colin Pak Yu Chan
, Michelle Pui Yee Lau
, Pak Kin Cheung
, King Wai Chiu Lai^*

^*Corresponding author for this work

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

6 Citations (Scopus)

Abstract

Combining high-rise robotics research and polyurethane (PU) repair techniques presents new opportunities and unique challenges for utility pipe maintenance. Aiming at solving the complex pose alignment issue of robots and control PU curing, this paper automates the repair process by assembling protective jackets with PU foam. A wire-hoisted robot was equipped with anchors and a twin-gripper mechanism for workspace definition, along with a manipulator that positioned a pair of mirrored end effectors to perform surface polishing, jacket installation, and PU curing onto the pipe. Consequently, the robot pose was stabilized. The jacket pair was assembled onto the pipe with high precision, yielding high-quality repair, a success rate >96%, short cycle time, and low material wastage. This research may inspire innovative automation approaches for building maintenance, while utility companies can deploy the robot system for sustainable pipe service life.

Original language	English
Article number	104636
Journal	Automation in Construction
Volume	145
Online published	4 Nov 2022
DOIs	https://doi.org/10.1016/j.autcon.2022.104636
Publication status	Published - Jan 2023

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Research Keywords

Curing
End effectors
Gas insulation
High-rise building
Manipulators
Pipelines
Polymer foams
Preventive maintenance
Remote handling
Robotic assembly

Access Output

10.1016/j.autcon.2022.104636

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Cite this

@article{5286476390a34404b62450d51a99dbb1,

title = "Maintenance robot for remote assembly of protective jackets on live gas risers",

abstract = "Combining high-rise robotics research and polyurethane (PU) repair techniques presents new opportunities and unique challenges for utility pipe maintenance. Aiming at solving the complex pose alignment issue of robots and control PU curing, this paper automates the repair process by assembling protective jackets with PU foam. A wire-hoisted robot was equipped with anchors and a twin-gripper mechanism for workspace definition, along with a manipulator that positioned a pair of mirrored end effectors to perform surface polishing, jacket installation, and PU curing onto the pipe. Consequently, the robot pose was stabilized. The jacket pair was assembled onto the pipe with high precision, yielding high-quality repair, a success rate >96\%, short cycle time, and low material wastage. This research may inspire innovative automation approaches for building maintenance, while utility companies can deploy the robot system for sustainable pipe service life.",

keywords = "Curing, End effectors, Gas insulation, High-rise building, Manipulators, Pipelines, Polymer foams, Preventive maintenance, Remote handling, Robotic assembly",

author = "Koh, \{Keng Huat\} and Musthafa Farhan and Yeung, \{Kenny Pui Ching\} and Chan, \{Colin Pak Yu\} and Lau, \{Michelle Pui Yee\} and Cheung, \{Pak Kin\} and Lai, \{King Wai Chiu\}",

year = "2023",

month = jan,

doi = "10.1016/j.autcon.2022.104636",

language = "English",

volume = "145",

journal = "Automation in Construction",

issn = "0926-5805",

publisher = "Elsevier B.V.",

}

TY - JOUR

T1 - Maintenance robot for remote assembly of protective jackets on live gas risers

AU - Koh, Keng Huat

AU - Farhan, Musthafa

AU - Yeung, Kenny Pui Ching

AU - Chan, Colin Pak Yu

AU - Lau, Michelle Pui Yee

AU - Cheung, Pak Kin

AU - Lai, King Wai Chiu

PY - 2023/1

Y1 - 2023/1

N2 - Combining high-rise robotics research and polyurethane (PU) repair techniques presents new opportunities and unique challenges for utility pipe maintenance. Aiming at solving the complex pose alignment issue of robots and control PU curing, this paper automates the repair process by assembling protective jackets with PU foam. A wire-hoisted robot was equipped with anchors and a twin-gripper mechanism for workspace definition, along with a manipulator that positioned a pair of mirrored end effectors to perform surface polishing, jacket installation, and PU curing onto the pipe. Consequently, the robot pose was stabilized. The jacket pair was assembled onto the pipe with high precision, yielding high-quality repair, a success rate >96%, short cycle time, and low material wastage. This research may inspire innovative automation approaches for building maintenance, while utility companies can deploy the robot system for sustainable pipe service life.

AB - Combining high-rise robotics research and polyurethane (PU) repair techniques presents new opportunities and unique challenges for utility pipe maintenance. Aiming at solving the complex pose alignment issue of robots and control PU curing, this paper automates the repair process by assembling protective jackets with PU foam. A wire-hoisted robot was equipped with anchors and a twin-gripper mechanism for workspace definition, along with a manipulator that positioned a pair of mirrored end effectors to perform surface polishing, jacket installation, and PU curing onto the pipe. Consequently, the robot pose was stabilized. The jacket pair was assembled onto the pipe with high precision, yielding high-quality repair, a success rate >96%, short cycle time, and low material wastage. This research may inspire innovative automation approaches for building maintenance, while utility companies can deploy the robot system for sustainable pipe service life.

KW - Curing

KW - End effectors

KW - Gas insulation

KW - High-rise building

KW - Manipulators

KW - Pipelines

KW - Polymer foams

KW - Preventive maintenance

KW - Remote handling

KW - Robotic assembly

UR - https://www.scopus.com/pages/publications/85141256020

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85141256020&origin=recordpage

U2 - 10.1016/j.autcon.2022.104636

DO - 10.1016/j.autcon.2022.104636

M3 - RGC 21 - Publication in refereed journal

SN - 0926-5805

VL - 145

JO - Automation in Construction

JF - Automation in Construction

M1 - 104636

ER -

Maintenance robot for remote assembly of protective jackets on live gas risers

Abstract

UN SDGs

Research Keywords

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

ITF: Development of Automated Visual-tracking Gimbal System for AI-based Remote Inspection of Outdoor Pipe

ITF: Optimization of the Service Robot with Jacket-Sealant End Effector (Phase 2)

Cite this

Maintenance robot for remote assembly of protective jackets on live gas risers

Abstract

UN SDGs

Research Keywords

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Projects

ITF: Development of Automated Visual-tracking Gimbal System for AI-based Remote Inspection of Outdoor Pipe

ITF: Optimization of the Service Robot with Jacket-Sealant End Effector (Phase 2)

Cite this