Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Dertien, Edwin; Foumashi, Mohammad Mozaffari; Pulles, Kees

doi:10.1109/icra.2014.6907610

Cited by 49 publications

(23 citation statements)

References 13 publications

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“…This configuration leads to a drastic miniaturization to 3-4 in. in the inner diameter of pipes and is even adaptable to winding pipelines and T-branch [14][15][16][17][18][19].…”

Section: Figurementioning

confidence: 99%

Robotic Search and Rescue through In-Pipe Movement

Kakogawa¹,

Ma²

2020

Unmanned Robotic Systems and Applications

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So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screwdrive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer's point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages.

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“…This configuration leads to a drastic miniaturization to 3-4 in. in the inner diameter of pipes and is even adaptable to winding pipelines and T-branch [14][15][16][17][18][19].…”

Section: Figurementioning

confidence: 99%

Robotic Search and Rescue through In-Pipe Movement

Kakogawa¹,

Ma²

2020

Unmanned Robotic Systems and Applications

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“…The kinematics for a 4 mecanum wheeled vehicle on a flat surface have been derived by Muir and Neuman [13] in the robot coordinate frame, giving the robot velocities in x (V x ), y (V y ) and about z (ω z ), as shown in equation (1). These are given in terms of the wheel radius (R), wheel speed (ω w i) and the distances from the center of mass to each wheel along the x (L x ) and y (L y ) axes.…”

Section: A Kinematic Modelmentioning

confidence: 99%

“…The application of robotic systems within Non-Destructive Testing (NDT) is an active and diverse area of research, with examples including the PIRATE scanner [1], Magnebike [2] and the remote sensing agents (RSAs) from Friedrich et al [3]. The research is driven by many industries, including aerospace and oil and gas, which can benefit from robotic inspection systems for safety and reduced plant downtime [4].…”

Section: Introductionmentioning

confidence: 99%

“…This work aims to develop an inspection platform for industrial plant (see Fig 1), focusing on the ultrasonic inspection of pipes whilst avoiding gravitational drift or slip. Numerous examples exist of robots for internal [1] and external [5] [3], tracks [6] and inchworm systems [7] are among the many locomotion methods used for external climbing robots, applying adhesion principles such as: vacuum [8], frames [9], and magnetic attraction [2]. The choice of adhesion and locomotion system are driven by the environmental conditions and mobility requirements, with magnetic adhesion still preferred for ferromagnetic operation.…”

Section: Introductionmentioning

confidence: 99%

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A reduced actuation mecanum wheel platform for pipe inspection

Blyth

Barr

Baena

2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-This paper focuses on the design, development and assessment of a novel, 2 degrees-of-freedom magnetic pipe inspection robot. It consists of 4 mecanum wheels, with the diagonals functionally coupled and the system rotation constrained by the surface geometry, maintaining full translational mobility with reduced control and actuation requirements. The system uses positional encoding that is decoupled from the transmission system to overcome the main sources of positional/positioning errors when using mecanum wheels. The kinematic and dynamic models of the system are derived and integrated within the controller. The prototype robot is then tested and shown to follow a scan path at 20mm/s within ±1.5mm whilst correcting for gravitational drift and slip events.

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“…The mechanism of differential drive is designed considering steerability to increase the adaptability of the robot with any pipeline configurations. Dertien et al 18 discuss about the design of the wheeled robots that is omnidirectional and has active stabilizing control.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

et al. 2020

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SUMMARY In this paper, two strategies are proposed to optimize the energy consumption of a new screw in-pipe inspection robot which is steerable. In the first method, optimization is performed using the optimal path planning and implementing the Hamilton–Jacobi–Bellman (HJB) method. Since the number of actuators is more than the number of degrees of freedom of the system for the proposed steerable case, it is possible to minimize the energy consumption by the aid of the dynamics of the system. In the second method, the mechanics of the robot is modified by installing some turbine blades through which the drag force of the pipeline fluid can be employed to decrease the required propulsion force of the robot. It is shown that using both of the mentioned improvements, that is, using HJB formulation for the steerable robot and installing the turbine blades can significantly save power and energy. However, it will be shown that for the latter case this improvement is extremely dependent on the alignment of the fluid stream direction with respect to the direction of the robot velocity, while this optimization is independent of this case for the former strategy. On the other hand, the path planning dictates a special pattern of speed functionality while for the robot equipped by blades, saving the energy is possible for any desired input path. The correctness of the modeling is verified by comparing the results of MATLAB and ADAMS, while the efficiency of the proposed optimization algorithms is checked by the aid of some analytic and comparative simulations.

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Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Cited by 49 publications

References 13 publications

Robotic Search and Rescue through In-Pipe Movement

Robotic Search and Rescue through In-Pipe Movement

A reduced actuation mecanum wheel platform for pipe inspection

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

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