Advance of Hazardous Operation Robot and its Application in Special Equipment Accident Rescue

Zeng, Qin-Da; Zhou, Wei; Zheng, Geng-Feng

doi:10.1142/9789814740616_0040

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…In most routing algorithms to achieve the goal in a way the robot turns around Obstacles. However, in some cases, robot is required to cross over the obstacle, (for example using rescue robots to assist the injured have to cross the barriers) [13], [14]. We decided to design an algorithm that contain minimal cost while maintaining robot performance (The robot to reach the goal cross over the obstacles that have less degree of difficulty).…”

Section: Introductionmentioning

confidence: 99%

Safety and Effectiveness of Riboon-Like Wind Turbine

2020

University of Thi-Qar Journal of Medicine

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In this paper, solved a robot path planning problem in known environment using anew algorithm called the Fuzzy Probalistic Road Map Star PRM* algorithm. In this algorithm, we have modeled the workplace including obstacles As fuzzy. Here, we develop PRM algorithm, so that it can run in a fuzzy environment.We assign a weight for each obstacle (fuzzy number) which represents the obstaclemeasures, meaning that whenever this weight is larger, the obstacle becomes more impassable (or more dangerous). This algorithm has been designed for using by robot's movement in difficult areas (such as areas full with obstacles in which the robot requiresto crossover these obstacles to reach its goal). By compare the FPRM* withnormal PRM we found that modeling the environment as fuzzy helps to improve the path.

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Section: Introductionmentioning

confidence: 99%

Safety and Effectiveness of Riboon-Like Wind Turbine

2020

University of Thi-Qar Journal of Medicine

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“…Therefore, many institutes had devoted much effort into developing nuclear rescue robots. [6][7][8] However, there was still no robot for a nuclear reaction pool welding reported due to dangerous experimental environment and a long-time cost. Of these, a numerical simulation can be useful to improve the mechanism design and performance for reducing time in developing ROV.…”

Section: Introductionmentioning

confidence: 99%

Analysis of cable force on steady-state motion of remotely operated vehicle for reaction pool underwater welding

Tao

Sun

et al. 2019

International Journal of Advanced Robotic Systems

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Remotely operated vehicle is a reliable and efficient tool in routing inspection of reactor pools of nuclear power plants. While, there is still no study on steady-state motion of remotely operated vehicle which is crucial for reaction pool underwater welding reported. In practice, the cable force has been considered as a critical factor affecting the vehicle’s operation. To evaluate and predict the disturbing effect caused by the cable mounted on the tailing of a vehicle, a numerical simulation can be employed. In this work, we set up a theoretical model of a cable partially in reaction pool water and air to validate the remotely operated vehicle design and reduce the prototype developing time. We programmed the model governed by an ordinary differential equation set, which was considered as an initial value problem following a dimensionless treatment to be solved. The influence by factors (i.e. velocity, water depth, entry water angle, water density and cable length on tension, normal shear force, and binormal moment) was quantified by a numerical method. The test of a cable force was carried out to verify an authenticity of the three-dimensional mechanical model and a numerical method. The results demonstrated that the presented method could be used to evaluate the effect of real environment factors on a remotely operated vehicle steady-state motion and held a potential to improve the remotely operated vehicle design and control strategy.

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Advance of Hazardous Operation Robot and its Application in Special Equipment Accident Rescue

Cited by 2 publications

References 5 publications

Safety and Effectiveness of Riboon-Like Wind Turbine

Safety and Effectiveness of Riboon-Like Wind Turbine

Analysis of cable force on steady-state motion of remotely operated vehicle for reaction pool underwater welding

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