Development of Inspection Robots for Headrace Tunnels

This paper describes an expert system with thinking and judgement abilities equivalent to human intelligence for use in developing an inspection robot for headrace tunnels. The significance of this system is that, based on data obtained by the inspection robot, it obtains the relationship between load conditions acting on the headrace tunnel and the stress that causes cracking in the lining concrete from the lining strength, and then judges the stability of the structure quantitatively.