Abstract of Thesis presented at COPPE/UFRJ as a partial fulfillment of the requirements for the degree of Master of Science (M.Sc.)

Robotic System for Pipelines Internal Inspection

Marisol Elias de Barros Plácido

October/2005

Advisors:

Fernando Cesar Lizarralde Ramon Romankevicius Costa

Department:

Eletrical Engineering

      Pipelines are part of the basic infrastructure of cities and industries. The pipeline operation depends, in part, of the accomplishment of an adequate maintenance. To guarantee the correct functioning of the system, inspections of the pipes internal conditions are necessary. In several cases, inspections can only be carried using robotics systems. In this dissertation, a survey of the most relevant robotics systems for pipeline internal inspection of ducts is presented, where the more relevant characteristics, such as measuring systems, power source, traction and control systems, are described. This work intends to assist in the specification, design and development of a robotic system for pipeline internal inspection. Some existing robotic solutions are also analyzed and discussed.