Transmission optimization design of mini-multi-module crawler robot

Abstract

Power transformer is one of the most important equipments for the power distribution system, and it is of crucial significance to guard electricity safety. A small wireless controlled robot was developed for the internal detection of oilimmersed transformer, which improves the automation and intelligent level of oil-immersed transformer fault detection and maintenance. Conventional FastSLAM is known to degenerate over time in terms of accuracy due to the particle depletion in resampling phase. In order to achieve a precise and efficient SLAM for mobile robots in high similarity environments, a Particle Swarm Optimization (PSO) SLAM algorithm is applied to the robot. Simulations verify its effectiveness and feasibility.

Optimized Gait of Climbing Caterpillar Robots in Terms of Enhanced Obstacle-crossing Ability and Stability

“…Obstacle-crossing ability and stability are significant properties of caterpillar robots. For instance, the crawler robot is required to pass over obstacles in certain cable tunnels abounding with cables and trash [9]. In another study, the obstacle-surmounting performance of cable-type climbing robots is especially vital if a cable surface is damaged, which results in pits and bumps [10].…”

Design and Development of an Inspection Robot for Oil and Gas Applications

“…However, since some or a majority of pipelines are fixed underground, performing maintenance in the pipeline directly becomes tough for people. Several methods have been developed to help individuals perform pipeline maintenance [15][16][17][18]. If a pipe wall is subjected to water and impurities in the natural gas, rust or oxidisation happens on the interior wall the pipeline.…”