Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration

Round 1

Reviewer 1 Report

Correct the manuscript:

1. The relevance of the research is associated with an increase in the effective use of robotic equipment for examining the condition of pipelines and metal structures, and the novelty is with the development of a caterpillar-type mover and the use of machine vision to analyze the surface of metal objects. The authors present the concept of a new device and refer to successful experimental studies of its individual components, but the manuscript lacks details, diagrams, and photographs of experiments on the supposed movement of the robot through pipes and obstacles. There is no assessment of the reliability of the new device, compared with analogues. It is very important to assess how much the indicator of reliability, durability and maintainability of the robot can change compared to analogues. Now these calculations are not in the manuscript;
2. The advantages of using the LIDAR system and neural networks to detect the structural elements of pipelines and classify their defects are not fully shown. It is necessary to reflect in detail the process of classifying objects with specific examples and photographs (Figures 8 to 10 are not informative);
3. Figures 1a, 1b and 1c should contain links to sources (if not original ones), the ordinate scale of the graph in Figure 10 must be redone - multiply the data by x1000, and add text information to Figure 14 for ease of perception by the reader;
4. Add “machine vision” to the keywords, and indicate the type of neural network in the annotation;
5. in the conclusions and annotations, add an assessment of the reliability of the new device and quantitative indicators of improving the information content of the survey and reducing labor intensity

Author Response

Point 1: The relevance of the research is associated with an increase in the effective use of robotic equipment for examining the condition of pipelines and metal structures, and the novelty is with the development of a caterpillar-type mover and the use of machine vision to analyze the surface of metal objects. The authors present the concept of a new device and refer to successful experimental studies of its individual components, but the manuscript lacks details, diagrams, and photographs of experiments on the supposed movement of the robot through pipes and obstacles. There is no assessment of the reliability of the new device, compared with analogues. It is very important to assess how much the indicator of reliability, durability and maintainability of the robot can change compared to analogues. Now these calculations are not in the manuscript.

Response 1: We have added details, diagrams, and photographs of experiments on the supposed movement of the robot through pipes and obstacles on pages 15-17 of the latest version of manuscript. The special flexible shape of the wheel with the magnet inside makes it possible to overcome obstacles, but its design is not considered separately due to the process of getting patent rights. We consider only the prototype device, therefore the indicator of reliability, durability and maintainability of the robot cannot be precisely determined. However, we have noted some information about it on page 8.

Point 2: The advantages of using the LIDAR system and neural networks to detect the structural elements of pipelines and classify their defects are not fully shown. It is necessary to reflect in detail the process of classifying objects with specific examples and photographs (Figures 8 to 10 are not informative).

Response 2: The information about the advantages of using the LIDAR system and neural networks to detect the structural elements of pipelines and classify their defects is added on pages 9-17.

Point 3: Figures 1a, 1b and 1c should contain links to sources (if not original ones), the ordinate scale of the graph in Figure 10 must be redone - multiply the data by x1000, and add text information to Figure 14 for ease of perception by the reader.

Response 3: Figures 1a, 1b and 1c are original ones (we added “copyrighted by authors”), the figures are redone, too.

Point 4: Add “machine vision” to the keywords, and indicate the type of neural network in the annotation.

Response 4: We have added “machine vision” to the keywords, and indicated the type of neural network in the annotation.

Point 5: In the conclusions and annotations, add an assessment of the reliability of the new device and quantitative indicators of improving the information content of the survey and reducing labor intensity.

Response 5: Done. See annotation and conclusions.

Reviewer 2 Report

In this work, a robot crawler prototype capable of moving on complex curvilinear surfaces and evaluating the thickness of pipe metal was investigated. In my opinion, the research work is interesting and novel for pipeline system, in fact I enjoyed reading it. There are some comments as follows:

The authors introduced many pipeline systems and metal structures of complex spatial configuration. However, the detailed investigation should be focused on one or two typical cases.

1. The part of theoretical analysis seems to be less connection with the research object. The authors should add some descriptions or explanation.
2. The format of references is not uniform, and should be re-checked and corrected.
3. The conclusion should be reorganized and focuses on the main content of the research work.
4. Some corresponding references on pipeline system and metal structures with damping and vibration situations are missed. For example, Shen et al. Damping energy dissipation and parameter identification of the bellows structure covered with elastic-porous metal rubber. Shock and Vibration 2021, 8831099.  Xue et al. Nonlinear dynamic modelling of two-Point and symmetrically supported pipeline brackets with elastic-porous metal rubber damper, Symmetry-Basel, 2019, 11, 1479; doi:10.3390/sym11121479.  Yang, et al. Vibration reliability characterization and damping capability of annular periodic metal rubber in the non-molding direction, Mechanical Systems and Signal Processing. 2019,132: 622–639.

Author Response

Please see the attachment.

Author Response File: Author Response.docx

Round 2

Reviewer 1 Report

The manuscript has improved.