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Recent Trends of the In-Pipe Inspection Robotic System from Academia and
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Recent Trends of the In-Pipe Inspection Robotic System from Academia

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ICATAS-MJJIC 2020 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 1051 (2021) 012034 doi:10.1088/1757-899X/1051/1/012034

Recent Trends of the In-Pipe Inspection Robotic System

from Academia and Industry Perspectives

M Z A Rashid.1,2*, F Yakub.1, S A S Salim.1, S A Roslan.1, H N M Shah.2, A

Yeshmukhametov.3, Y Yamamoto.3
1
iKohza Wind Engineering for (Urban, Artificial, Man-Made) Environment
Laboratory, Malaysia-Japan International Institute of Technology, Universiti
Teknologi Malaysia. Kuala Lumpur, Malaysia.
2
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Melaka,
Malaysia.
3
Department of Precision Engineering, Tokai UniversityHiratsuka, Japan
.

*Corresponding author: zamzuri@utem.edu.my

Abstract. This paper presents the recent designs of the in-pipe inspection robotic system from
the researchers in the academia and industrial fields. The scope of the paper will focus on the
designs, locomotion of the systems and the actuator that will actuate or provide force to drive
the in-pipe robot forward. The study covers the trends of the research from recent years to date.
It is observable that most of the researches conducted by academic researchers focused on the
designs and locomotion of the robots which commonly used wheel drive, screw drive and
modular locomotion method. The screw drive in-pipe robotic system has a set of wheels located
at certain distance apart from the centre of the body with a certain angle so that the system rotates
like a screw when it is actuated. On the contrary, the in-pipe robotic system from the industry like
oil and gas industry uses wheel type robot combined with other parts like disc, cups, scraper and
attached with the sensory system to conduct the inspection.

1. Introduction
Pipe inspection is to maintain the pipe integrity, especially in the gas and water pipeline. The pipe
that had been commissioned and buried underground faced the problem of crack, corrosion,
deformation due to the pre and post-installation, bacterial growth, etc.[1], [2], [3],[4], [5], [6], [7].
The research on the in-pipe inspection robot had been carried out since decades. The academic
researchers studied most of the in-pipe robotic system emphasised on the design like wheel drive
system, screw drive system, caterpillar system as mentioned by [8], [9], [10], [11], [12], [13], [14],
[15].
Historical research on the in-pipe robotic system had been reviewed by [16]. The researchers
had segmented the screw-drive in-pipe robotic system into two segments; passive screw-drive in-
pipe robotic system and active screw-drive in-pipe robotic system. The passive screw drive in-pipe
robotic system is typically divided to two parts, stator and rotor. The system has front driving
wheels attached at certain helical angle linked to the central body by arms, and the rear wheels are
only considered as guiding wheels. The central body is rotated by the driving motor located at the

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ICATAS-MJJIC 2020 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 1051 (2021) 012034 doi:10.1088/1757-899X/1051/1/012034

back of the robot. The active screw drive in-pipe robotic system poses similarity to the passive
system but differs in terms of the actuating force sent to drive the front driving wheels. The active
system uses a planetary gear system to transmit the force from the actuator [16]. The screw drive
in-pipe robotic system can be in the single rigid system or more extended system by connecting
several single rigid systems using joint or springs and form a modular robot. The screw drive in-
pipe robotic system is typically utilized for manoeuvring inside the pipe diameter less than 300mm.
The research and inspection technology by the industry focuses on using In-Line Inspections
(ILI) tools [17]. Another research done by [18] had employed a totally unique smart foam pig and
equipped with the sensory system that had nearly similar abilities like multi-channel pipe inspection
gauge (PIG). A similar design was reported by [19] where the low-cost foam PIG capable of
detecting internal pipe roughness and accessing the corrosion inside pipe. The reliability of the
system had been tested on the 8km pipeline in Italy. Another technique applied by the researcher
from industry to conduct the pipe inspection is by using smart pipe inspection gauge or better
known as smart PIG. The smart pigging is usually conducted to acquire the information of the
abnormalities inside pipe [20].

2. Recent Designs of In-Pipe Inspection Robot from Academia Perspectives

A systematic design approach known as axiomatic design (AD) was carried out by [21] on the
passive and active screw drive in-pipe robotic system where the system is divided to two domains,
physical domain and functional domain. The physical domain is the actuator while the functional
domain is the motion, load ability and steering ability inside a curved pipe. The domains are
essential to show the relationship between the torque generated by an actuator to rotate the system,
and the connection between these two domains can be accomplished by gearing system. The robot
was tested inside the pipe with diameter, D=300mm while the radius of pipe bending is R=225mm.
The validation of the design was done on the straight pipe, U-pipe and an elbow pipe.
The design and prototype development of a wheel drive robot had been done by [9] and named
as Smart Spider. The system had three wheels’ set connected with expansion four-bar linkage arm
mechanism. Each wheelset contains two wheels and driven by independent Direct Current (DC)
motors. The overall length for the robot is 300mm while the robot can expand within the diameter
range of 450mm to 575mm. There is no information mentioned about the pipe wall thickness and
the non- destructive testing (NDT) tool attached at the robot. Another in-pipe robotic system was
developed by [22], [23], [24] named as Airo II, and it moved using wheels. The robot had two
driving units located in front and rear driving wheels. There were three Omni-wheels located in the
middle of the robot’s connection joint, and the robot expanded using springs. The robot could move
in translational and rotate around the pipe. Even though the robot had been tested experimentally,
but the testing inside real pipeline is yet conducted.
On the contrary to the four-bar expansion mechanism such as by [25], design by [26] used a
scissor type expansion mechanism to push the wheels arm and wheels to the pipe wall. The design
had two sets of three wheels located at 120º degree apart for the front and rear part. The robot was
able to expand and grip pipe wall ranging from 8 inches to 10 inches. The force required by the
robot to move was calculated and experiment had been carried out to observe the behaviour of the
robot. However, there is no significant test done on the real pipeline. Pipe inspection robotic system
had been designed and developed by [27] that focused on the gait movement for a reconfigurable
walking robot. The ability of the robot to change formation from walking to climbing by exploiting
its front, middle and rear legs. Reconfigurable in-pipe robotic system using soft material was
investigated by [28]. The system had supporting module, sucker, flexible wrist and scalable
module. The reconfigurable modular in-pipe robot also was mentioned by [29].
Modular in-pipe robotic system had been designed by [30], and the robot was divided to three
segments, front support crawl, hydraulic control unit and rear support crawl. The motion was based
on the elongation and retraction of the front support and rear support mechanism actuated by
hydraulic fluid. Modular robot for climbing pipeline also investigated by [31] and the robot motion

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ICATAS-MJJIC 2020 IOP Publishing
IOP Conf. Series: Materials Science and Engineering 1051 (2021) 012034 doi:10.1088/1757-899X/1051/1/012034

was successfully simulated.

3. Recent Design of In-Pipe Inspection Robot from Industrial Perspectives

Pipeline inspection conducted by the engineer in the oil and gas industry utilized in-pipe robotic
system or better known as pipe inspection gauge (PIG) that is driven by fluid. The system is
launched from a launcher and then will end at the receiver [20], [32], [33]. A few criteria should
be considered before doing the inspection and cleaning using the system such as, internal diameter
of the pipe, radius of pipe bending layout, length, flow and pressure conditions, expected debris
inside pipe, medium of transition to force the movement of in-pipe system either corrosive or not
and pig trap [32], [34]. Figure 1 and Figure 2 show the PIG launcher and receiver produced by [35].

Figure 1. Pipe Inspection Gauge (PIG) launcher [35].

Figure 2. Pipe Inspection Gauge (PIG) receiver [35].

In the early study of the in-pipe inspection robotic system by [36], the researcher had developed
the Smart Acquisition and Analysis Module (SAAM) for pipeline inspection. The system was

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IOP Conf. Series: Materials Science and Engineering 1051 (2021) 012034 doi:10.1088/1757-899X/1051/1/012034

fitted with differential pressure gauge, high and low sensitivity accelerometer, and temperature
sensor. The system developed had a diameter of 100mm, an overall length of 381mm and was tested
inside 8inch pipeline. Another design and development done by [36] had been experimentally
tested to identify its reliability against the stress. Based on the data acquired, the system able to
capture the stress data accurately using a strain gauge.
Several in-pipe inspection robotic system developed by Rosen Group is offered to conduct
pipeline cleaning and inspection. The cleaning and inspection by the system are commonly done
during pre- commissioning, operation and decommissioning [37]. An in-pipe robotic system that
has a few wheels in front and its back while its centre is supported by cups or disc. The system is
developed for cleaning operation accomplished via brush magnet. A system named as Rocombo
MFL-A/XT Service In-Line is used to detect metal loss and anomalies inside the pipeline. The
Rocombo in-pipe robotic system is equipped with magnetic flux leakage (MFL) and mechanical
callipers combined with eddy current based sensor. The system can be launched inside the pipe, and
its speed can be controlled using fluid flow rates inside the pipe between the range of 5m/s up to
10m/s. The diameter for the system can be in the range of 6 inches to 48 inches with a maximum
wall thickness up to 1.26 inches. Any changes inside the pipe can be detected as minimum as
0.03inch. Another product by Rosen Group named as Rocombo MFL-C/XT in-pipe inspection
system also similar as Rocombo MFL-A/XT in terms the sizing and abilities. However, it can
analyse the pipe from geometry and axial circumference direction.
ROSEN’s RoCombo MFL-A/UTWM is equipped with MFL sensor and ultrasonic sensor (UT)
for inspecting pipe bigger than the previous two Rocombo series. The pipe diameter that can be
inspected by using this system range from 6 inches to 56 inches and the accuracy up to 0.2mm
thickness. This product is used detect dents, blisters, girth weld, spiral weld and longitudinal weld.
Rocombo MFL- A/XT, Rocombo MFL-C/XT and RoCombo MFL-A/UTWM require turning
radius or bending radius as minimum as 1.5 x diameter of pipe [37].
The design of the in-pipe inspection robotic system by Dacon Inspection Technologies Co., Ltd
can negotiate 90º bending pipe. The system named as SeeSnake tool is a flexible in-pipe robotic
system equipped with MFL sensor to detect and measure wax, scale and non-magnetic liners inside
pipe [38]. Another previous study about the in-pipe inspection intelligent robotic system had been
designed and tested by [39].
In a study done by [40], wheel calliper that can be attached on the utility and intelligent pig had
been designed to detect and check the deformation inside the pipeline. The pre-tightening force and
pigging’s operation velocity need to be compromised so that the measurement error can be reduced.
4. Comparison of the In-Pipe Robotic System from Academia and Industry
Based on the trends of the in-pipe robotic system, the academic research focus on the designing
and prototyping robotic system with diameter range 100mm (4inches) to 300mm (12inches). On
the other hand, the robot that were used on the field for pipeline inspection ranging from 150mm
(6inches) to 1500mm (60inches). The in-pipe robotic system designed by academic researcher
targeted to identify the behaviour of the robot inside the pipe, the locomotion or how the robot
moves and grips by pushing the wheels on the pipe wall. Most of the robots use the tri-arm wheels
as supporting mechanism and motion of the robot is accomplished by the DC motor. Screw drive
in-pipe robotic system also moves inside pipe using wheels, but the front support wheels are placed
with a certain angle to make the helical movement. Modular in-pipe robots that are designed
connected using joints to ensure the robot moves in horizontal and rotate inside the pipeline. Based
on the discussion, most of the robots designed and developed by the academic researchers not
equipped with the non-destructive testing equipment like MFL and UT.
Conversely, the robot developed by the industrial researcher has more wheels for the front and
rear support. Besides, the body of the robot also is attached with the disc and cup as a supporting
system so that it can withstand the fluid pressure that pushes the robot forward. The centre module
of the industrial in-pipe robot is attached with the inspection sensors or scraper to remove the debris

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IOP Conf. Series: Materials Science and Engineering 1051 (2021) 012034 doi:10.1088/1757-899X/1051/1/012034

and wax inside the pipe. However, the system poses similarity where they are not equipped with
equipment (IoT) that can send data directly to the cloud platform.

5. Conclusion
This paper presents the research trends on the in-pipe inspection robotic system from academic and
industrial perspectives. The academic researchers tend to focus on the design of the robot and the
locomotion of the system like wheel drive, screw drive, modular and reconfigurable walking robot.
Less emphasized on the location of the inspection device and how the NDT tools can be attached to the
robots that are designed by the academic researcher. Contrarily, the industrial in-pipe robotic system
focus on the pipe anomaly, i.e. dents, corrosion, debris and wax built up and many more. The robots
designed by the academic researcher moves inside the hollow pipe without fluid or any irregularities
inside the pipe. Thus, the area of the in-pipe robotic system design that still not explored by the
academic researcher is like, how the robot behaves inside the hollow pipe filled up with fluid, the
wheels slip during the straight or screw drive motion, the vibration of the robot when it moves inside
the irregular pipe.

Acknowledgments
The authors would like to acknowledge that image of third party materials and information
presented in this paper is sourced from available material; internet and publicized material and it is
taken for academic research purposes and not for commercial purpose. The authors do not have
any conflict of interest in any companies mentioned inside this paper.Authors want to express
gratuity to iKohza Wind Engineering for (Urban, Artificial, Man-Made) Environment Laboratory,
Level 10, Malaysia-Japan International Institute of Technology (MJIIT), Universiti Teknologi
Malaysia, Jalan Sultan Yahya Petra, 54100, Kuala Lumpur and Faculty of Electrical Engineering
(FKE), Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal,
Melaka, Malaysia for giving the opportunity to conduct the research.

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