Acoustic and Ultrasonic Characterisation of Blockages and Defects in Underground Pipes

This paper explores sensing methodologies for the detection and characterisation of blockages in pipes by small robotic platforms. It proposes the use of low frequency acoustic measurements to detect blockages at range, while a higher frequency ultrasonic array is used to characterise them at closer range. The paper explores how these systems may be optimised for such a process, through the number of elements in both the acoustic and Ultrasonic array. This ensures that the developed sensing approach is suitable for application in this difficult environment.