A snake robot for locomotion in a pipe using trapezium-like travelling wave

Virgala, Ivan; Kelemen, Michal; Prada, Erik; Sukop, Marek; Kot, Tomáš; Bobovský, Zdenko; Varga, Martin; Ferenčík, Peter

doi:10.1016/j.mechmachtheory.2020.104221

Cited by 38 publications

(14 citation statements)

References 18 publications

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“…Part (5), which consists of a maximum of four characters, represents a space for the manufacturer to indicate a more detailed specification of the type or selected characteristics of the tire. The last four digits (6) indicate the week and year of manufacture of a particular piece. After further tests on the text in English, it was found that the OCR function has a problem with some fonts, as well as with various reflections, double edges, etc.…”

Section: Verification Of the Equipment Suitabilitymentioning

confidence: 99%

“…Modern advanced sensing systems based on "smart camera sensors" have been quickly spread into many fields of industry, such as general process control [3], general object identification and recognition, reading texts and codes, face recognition [4], robot control via gestures and general pose control of robots using visual servoing [5,6], visual navigation of single/multiple mobile robot/-s, collision detection and perception [7] and many others. Smart sensors are key elements for visual inspection or visual navigation tasks that have previously been undertaken manually by human operators.…”

Section: Introductionmentioning

confidence: 99%

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Approach to Automated Visual Inspection of Objects Based on Artificial Intelligence

et al. 2022

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The article discusses the possibility of object detector usage in field of automated visual inspection for objects with specific parameters, specifically various types of defects occurring on the surface of a car tire. Due to the insufficient amount of input data, as well as the need to speed up the development process, the Transfer Learning principle was applied in a designed system. In this approach, the already pre-trained convolutional neural network AlexNet was used, subsequently modified in its last three layers, and again trained on a smaller sample of our own data. The detector used in the designed camera inspection system with the above architecture allowed us to achieve the accuracy and versatility needed to detect elements (defects) whose shape, dimensions and location change with each occurrence. The design of a test facility with the application of a 12-megapixel monochrome camera over the rotational table is briefly described, whose task is to ensure optimal conditions during the scanning process. The evaluation of the proposed control system with the quantification of the recognition capabilities in the individual defects is described at the end of the study. The implementation and verification of such an approach together with the proposed methodology of the visual inspection process of car tires to obtain better classification results for six different defect classes can be considered as the main novel feature of the presented research. Subsequent testing of the designed system on a selected batch of sample images (containing all six types of possible defect) proved the functionality of the entire system while the highest values of successful defect detection certainty were achieved from 85.15% to 99.34%.

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Section: Verification Of the Equipment Suitabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Approach to Automated Visual Inspection of Objects Based on Artificial Intelligence

et al. 2022

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“…Furthermore, the measurement probability method was exploited in this research work to provide a powerful closed-loop feedback. Virgala et al [17] presented an arithmetical locomotive method for SR in a pipe of rectangular cross section.…”

Section: Existing Work About Bio-inspired Usrsmentioning

confidence: 99%

Locomotion of Bioinspired Underwater Snake Robots Using Metaheuristic Algorithm

Marie-Sainte¹,

Eisa²,

Al‐Wesabi³

et al. 2022

Computers, Materials &Amp; Continua

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Snake Robots (SR) have been successfully deployed and proved to attain bio-inspired solutions owing to its capability to move in harsh environments, a characteristic not found in other kinds of robots (like wheeled or legged robots). Underwater Snake Robots (USR) establish a bioinspired solution in the domain of underwater robotics. It is a key challenge to increase the motion efficiency in underwater robots, with respect to forwarding speed, by enhancing the locomotion method. At the same time, energy efficiency is also considered as a crucial issue for long-term automation of the systems. In this aspect, the current research paper concentrates on the design of effectual Locomotion of Bioinspired Underwater Snake Robots using Metaheuristic Algorithm (LBIUSR-MA). The proposed LBIUSR-MA technique derives a bi-objective optimization problem to maximize the Forward Velocity (FV) and minimize the Average Power Consumption (APC). LBIUSR-MA technique involves the design of Manta Ray Foraging Optimization (MRFO) technique and derives two objective functions to resolve the optimization issue. In addition to these, effective weighted sum technique is also used for the integration of two objective functions. Moreover, the objective functions are required to be assessed for varying gait variables so as to inspect the performance of locomotion. A detailed set of simulation analyses was conducted and the experimental results demonstrate that the developed LBIUSR-MA method achieved a low Average Power Consumption (APC) value of 80.52 W under δ value of 50. The proposed model accomplished the minimum PAC and maximum FV of USR in an effective manner.

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“…The impulse force created at the contact triggers the start of the robot motion, as the equilibrium between the forces is disrupted by this impulse. In the last step of this cycle, the acceleration of the robot is calculated using Equation (2). From here, the velocity and the displacement of the robot can be calculated numerically based on the Euler integration method as well.…”

Section: Numerical Simulationmentioning

confidence: 99%

Chimney Sweeping Robot Based on a Pneumatic Actuator

et al. 2021

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The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the chimney sweeping process, making the job easier for the chimney sweeper. In this paper, an essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The problem of the robot motion was reduced using an in-pipe robot due to the environments and obstacles that the robot has to face. An approach of using a pneumatic actuator for motion is presented along with the mechanical design. The next part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. The simulations were compared with the experimental measurements and a few analyses were conducted describing the simulation model and its differences with the real robot, as well as considering certain parameters and their impact on the performance of the robot. The results are discussed at the end of the paper.

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A snake robot for locomotion in a pipe using trapezium-like travelling wave

Cited by 38 publications

References 18 publications

Approach to Automated Visual Inspection of Objects Based on Artificial Intelligence

Approach to Automated Visual Inspection of Objects Based on Artificial Intelligence

Locomotion of Bioinspired Underwater Snake Robots Using Metaheuristic Algorithm

Chimney Sweeping Robot Based on a Pneumatic Actuator

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