Robotic Inspection of Underground Utilities for Construction Survey Using a Ground Penetrating Radar

Robotic Subsurface Mapping Using Ground Penetrating Radar

The goal of our research is to develop an autonomous robot for subsurface mapping. We are motivated by the growing need for mapping buried pipes, hazardous waste, landmines and other buried objects. Most of these are large scale mapping problems, and to manually construct subsurface maps in these cases would require a significant amount of resources. Therefore, automating the subsurface mapping...

Underground Utility Analysis and Soil Characterization Using Ground Penetrating Radar

This paper describes modern, non-invasive data acquisition methods of underground utility detection. Basic parameters, methods and their influence on the acquisition speed and data quality are defined. This data can be used for development of complex Geographic Information Systems. The aim of this paper is to show data extraction from the hyperbolic reflection on the radargram. These data are u...

Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures

This paper describes the design process of a 200 MHz Ground Penetrating Radar (GPR) and a battery powered concrete vertical concrete surface climbing mobile robot. The key design feature is a miniaturized 200 MHz dipole antenna using additional radiating arms and procedure records a reduction of 40% in length compared to a conventional antenna. The antenna set is mounted in front of the robot u...

Ground Penetrating Radar Survey Design

Efficient Large-scale Underground Utility Mapping Using a New Multi-channel Ground-penetrating Imaging Radar System

Ground-penetrating imaging radar (“GPiR”) is a new technology that combines standard GPR (Ground-Penetrating Radar) with accurate positioning and advanced signal processing to create three­ dimensional (3D) images of the shallow subsurface. These images can reveal soil conditions and buried infrastructure—such as utility lines and conduits—down to depths of about 2 to 3 m (in typical organic so...