Pipe inspection robots with sensors significantly enhance the maintenance of water systems
by enabling early defect detection and reducing the risks of leaks and environmental …

This paper reports on the use of a circular microphone array to analyze the reflections from a
pipe defect with enhanced resolution. A Bayesian maximum a posteriori algorithm is …

Acoustic sensing system deployed on an autonomous platform (also referred to as robot) for
accurate condition monitoring and fault detection in pipes requires the knowledge of wave …

Robot localization in buried pipes presents many challenges, including the unavailability of
sensing methods, such as a global positioning system, and the limited perspective of …

This paper describes an application of a micro-electromechanical system (MEMS) vector
hydrophone to detect 10–20 mm wall damage in a 300 mm diameter ductile iron pipe used …

Multi-target direction of arrival (DoA) estimation is an important and challenging task for
sonar signal processing. In this study, we propose a method called learning direction of …

Autonomous robots equipped with long-range acoustic sensing are revolutionizing the
inspection of extensive sewer networks by accurately detecting and mapping artefacts and …

This paper studies the acoustic wave scattering and attenuation in a cylindrical waveguide
(pipe) with wall roughness varying along all three dimensions and roughness height smaller …

Buried sewer pipe networks present many challenges for robot localization systems, which
require non-standard solutions due to the unique nature of these environments: they cannot …

Monitoring the technical state of an urban drainage (UD) system is at the core of asset
management, the deployment of visual inspection technology (either using direct visual …