A novel robotic laser scanning system for the inspection of large underwater hydroelectric structures is proposed. This system has been developed at the Hydro Quebec Research Institute and consists of a laser camera mounted on a 2-D Cartesian manipulator. Mechanical, electronic, and software design aspects; overall operational modalities; and proof of concept results are presented. We evaluated the performances of the system in the course of laboratory experiments and inspection trials carried out under normal operating conditions at the site of three of Hydro Quebec's hydroelectric dams.
A novel robotic 3D imaging system for the inspection of large underwater hydroelectric structures is proposed. This
system has been developed at the Research Institute of Hydro-Quebec and is based on a camera-laser ensemble mounted
on a mobile platform. Mechanical, electronic and software design aspects, overall operational modalities, and proof of
concept results are presented. These results were obtained in the course of inspection trials carried out under normal
operating conditions at the site of two Hydro-Quebec hydroelectric dams.
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