Barrelyzer: Design and Implementation of a Low-Cost Tank Barrel Inspection System

Rivadeneira F.; Godinez D.; Carcausto D.; Ruiz S.; Ivazeta B.; Quiroz D.; Balbuena J. · Lecture Notes in Networks and Systems (2024) · DOI: 10.1007/978-3-031-69228-4_35

Resumen

Maintaining confined spaces such as 10 cm barrels and pipes is a challenging task to perform without the use of intelligent systems. However, these devices are high-priced and require special training for the operators. Hence, the present paper proposes the design of a low-cost cannon barrel inspection robot. An important factor to consider in the design is the rifling of the cannon barrels. As a result, the robot was implemented and able to navigate on a simulated environment through rifling, measuring the position of the robot with an error of 4% with a confidence level of 99% and detecting defects using Convolutional Neural Networks with an F1-Score of 82.70% using AdamW optimizer. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Instituciones: Pontificia Universidad Católica del Perú