Development of an Adaptive In-Pipe Inspection Robot with Rust Detection and Localization

Diaz, Julianne Alyson I.; Ligeralde, Manuel I.; Antonio, Micah Antoinette B.; Mascardo, Philix Anton R.; Maningo, Jose Martin Z.; Fernando, Arvin H.; Vicerra, Ryan Rhay P.; Dadios, Elmer P.

doi:10.1109/tencon.2018.8650073

Cited by 11 publications

(7 citation statements)

References 12 publications

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“…The first used a modified corner tracking procedure in a quasi-cylindrical view, and the second tracked line segments and determined corners from the junction of two-line segments. In [79], they proposed a method for localization. They used a pre-generated map that aid the robot.…”

Section: Landmark Detectionmentioning

confidence: 99%

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Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

Kazeminasab¹,

Sadeghi

Janfaza

et al. 2021

IEEE Access

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Section: Landmark Detectionmentioning

confidence: 99%

“… A-KAZE Feature Extraction [169].  Non-straight Configuration Detection [79] [22] [114].  Visual Simultaneous Localization and Mapping (VSLAM) [53].…”

Section: Localization Ultrasonic Sensormentioning

confidence: 99%

Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

Kazeminasab¹,

Sadeghi

Janfaza

et al. 2021

IEEE Access

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“…Wireless robotic sensors are advantageous over other methods as longer distances of the network can be inspected while the sensor measurements can be transmitted during operation. There are also other localization and navigation methods for in-pipe robots that remove the need for wireless communication in which work based on the information from the surrounding environment using ultrasonic sensors [15], camera [16], or laser rangefinder [17] sensors. The information from these sensors is used with the recent numerical methods (e.g.…”

Section: Introductionmentioning

confidence: 99%

A Localization and Navigation Method for an In-Pipe Robot in Water Distribution System Through Wireless Control Towards Long-Distance Inspection

Kazeminasab

Banks

2021

IEEE Access

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In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed wireless communication system that is suitable for harsh environments of soil, water, and rock with a multi-phase control algorithm. The new ''wireless control algorithm'' facilitates ''smart navigation'' and ''near real-time wireless data transmission'' during operation for our in-pipe robot in WDS. The smart navigation enables the robot to pass through different configurations of the pipeline with long inspection capability with a battery in which is mounted on the robot. To this end, we have divided the operation procedure into five steps that assign a specific motion control phase and wireless communication task to the robot. We describe each step and the algorithm associated with that step in this paper. The proposed robotic system defines the configuration type in each pipeline with the pre-programmed pipeline map that is given to the robot before the operation and the wireless communication system. The wireless communication system includes some relay nodes that perform bi-directional communication in the operation procedure. The developed wireless robotic system along with operation procedure facilitates localization and navigation for the robot toward long-distance inspection in WDS. INDEX TERMSIn-pipe robots, wireless control algorithm, smart navigation, water quality monitoring, water distribution systems.

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“…Self-propelled in-pipe mobile robots can be roughly classified into two types: wheeled robots driven by electricity [4][5][6][7][8][9][10] and wave propagation robots driven by air [11][12][13][14][15]. Wheeled robots move by rotating wheels with motors.…”

Section: Introductionmentioning

confidence: 99%

Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

Sato¹,

Uchiyama

Mano

et al. 2021

IEEE Access

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This paper describes the development of a compact pneumatic valve that can obtain a high flow rate in a periodically pneumatically driven pipe-moving robot. Plumbing facilities around the world have fallen into disrepair in recent years. Pneumatically driven mobile robots are widely used as an inspection method due to the small inner diameter and complicated shape of the pipes. Various types of robots have been studied, such as earthworm, inchworm, and spiral tube robots. However, these robots are driven by existing pneumatic valve technologies, such as needle-type and solenoid valves, which limit the use of small mobile robots. Small pneumatic valves have a low flow rate, and the entire system is complicated because multiple air pressures are controlled by multiple electrical systems. Thus, focusing on the structure and periodic motion of the ball valve, we developed a pneumatic valve that can periodically apply pressure to multiple pneumatic actuators using only rotational motion with one degree of freedom. We also applied this pneumatic valve to a wave propagation robot and discussed the theoretical running speed of the robot with this valve.

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Development of an Adaptive In-Pipe Inspection Robot with Rust Detection and Localization

Cited by 11 publications

References 12 publications

Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

A Localization and Navigation Method for an In-Pipe Robot in Water Distribution System Through Wireless Control Towards Long-Distance Inspection

Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

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