2A2-I09 Development of the new sewer pipe network map generation system : 2nd report:mount waterproof passive arms on a sewer inspection robot(Lccalization a Mapping(2))

2012 ◽  
Vol 2012 (0) ◽  
pp. _2A2-I09_1-_2A2-I09_3
Author(s):  
Masayoshi Honda ◽  
Takehiro Miyazaki ◽  
Amir A. F. Nassiraei ◽  
Kazuo Ishii
Keyword(s):  
Pipe Network ◽  
Sewer Pipe ◽  
Generation System ◽  
Inspection Robot ◽  
Map Generation ◽  
Sewer Inspection

2A1-O13 Map Generation System for Sewer Pipe Network(Localization and Mapping)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A1-O13_1-_2A1-O13_3
Author(s):  
Masayoshi HONDA ◽  
Takehiro MIYAZAKI ◽  
Amir A. F. NASSIRAEI ◽  
Kazuo ISHII
Keyword(s):  
Pipe Network ◽  
Sewer Pipe ◽  
Generation System ◽  
Network Localization ◽  
Localization And Mapping ◽  
Map Generation

NAVIGATION OF AN AUTONOMOUS SEWER INSPECTION ROBOT BASED ON STEREO CAMERA IMAGES AND LASER SCANNER DATA

2007 ◽  
Vol 16 (04) ◽  
pp. 611-625 ◽  
Author(s):  
ALIREZA AHRARY ◽  
LI TIAN ◽  
SEI-ICHIRO KAMATA ◽  
MASUMI ISHIKAWA
Keyword(s):  
Laser Scanner ◽  
Distance Estimation ◽  
Test Field ◽  
Scanner Data ◽  
Sewer Pipe ◽  
Stereo Camera ◽  
Pipe System ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Sewer Inspection

Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

nSIR: A Novel Passive-Active Intelligent Moving Mechanism for Sewer Inspection Robots

2006 ◽  
Author(s):  
Amir A. F. Forough Nassiraei ◽  
Yoshikazu Mikuriya ◽  
Kazuo Ishii
Keyword(s):  
Sewer Pipe ◽  
Passive Damping ◽  
Pipe Inspection ◽  
Straight Pipe ◽  
Sensor Reading ◽  
Modeling Simulation ◽  
Mobility Function ◽  
Diameter Pipe ◽  
Inspection Robots ◽  
Sewer Inspection

In the current sewer pipe inspection technology, all commercial sewer inspection robots have a poor mobility function to pass any kind of pipe-bends such as curves and junctions so that those robots are only capable to move into the straight pipes. In this paper, we describe the design, modeling, simulation and implementation of a compact and novel moving mechanism, called "nSIR mechanism", with capability of moving into the straight pipe and passing different kinds of pipe bends without need to any intelligence of the controller or sensor reading. The design is based on the concept of passive adaptation of robot wheels to the bends in the pipe. This is accomplished by proper wheels orientation and passive damping of springs. In addition, this moving mechanism has capability to pass the different size of pipes in diameter even from a bigger diameter pipe to smaller diameter and also can pass obstacle and go down step. After describing the principle of nSIR mechanism, this paper gives experimentally that a prototype of our robot "KANTARO" includes of this mechanism can realize all the above movement functions.

Dynamic Deterioration Models for Sewer Pipe Network

2011 ◽  
Vol 2 (4) ◽  
pp. 123-131 ◽  
Author(s):  
Syadaruddin Syachrani ◽  
Hyung Seok (David) Jeong ◽  
Colin S. Chung
Keyword(s):  
Pipe Network ◽  
Sewer Pipe

scholarly journals Optimization and feasibility analysis of pico-hydro generation system used in small agricultural pipe network

2021 ◽  
Vol 2030 (1) ◽  
pp. 012005
Author(s):  
Xiaomin Chang ◽  
Keyu Wei ◽  
Longchun Ye ◽  
Jie Ding ◽  
Qi Liu
Keyword(s):  
Feasibility Analysis ◽  
Pipe Network ◽  
Generation System
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