Autonomous Tank and Void Inspection Technique

Goal of our Phase I effort will be to demonstrate capabilities and perform design for an inspection package comprised of a robot and an inspection software. The robot is intended to be able to move in a tank or void, reach small recesses, climb on walls and move across manholes, while collecting images of tank and void surfaces. The inspection software will be tasked with storing the inspection images for later inspector review, performing automatic corrosion assessment, and prioritizing the inspection results by severity, so that an inspector will focus first on the most critical tanks and voids. The software will also automatically populate the proper records for the CCIMS database, allow the user to upload historical inspection records for a tank and void, and download into CCIMS the new inspection results. The collected images will be maintained outside of CCIMS in an appropriate repository.