scholarly journals A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

Micromachines ◽  
2020 ◽  
Vol 11 (9) ◽  
pp. 840
Author(s):  
Lianwu Guan ◽  
Xiaodan Cong ◽  
Qing Zhang ◽  
Fanming Liu ◽  
Yanbin Gao ◽  
...  
Keyword(s):  
Sensor Fusion ◽  
Urban Areas ◽  
Inertial Measurement Unit ◽  
Integrated Management ◽  
Small Diameter ◽  
Cost Effective ◽  
Measurement Unit ◽  
Comprehensive Review ◽  
Inertial Measurement ◽  
Defects Inspection

It is of great importance for pipeline systems to be is efficient, cost-effective and safe during the transportation of the liquids and gases. However, underground pipelines often experience leaks due to corrosion, human destruction or theft, long-term Earth movement, natural disasters and so on. Leakage or explosion of the operating pipeline usually cause great economical loss, environmental pollution or even a threat to citizens, especially when these accidents occur in human-concentrated urban areas. Therefore, the surveying of the routed pipeline is of vital importance for the Pipeline Integrated Management (PIM). In this paper, a comprehensive review of the Micro-Inertial Measurement Unit (MIMU)-based intelligent Pipeline Inspection Gauge (PIG) multi-sensor fusion technologies for the transport of liquids and gases purposed for small-diameter pipeline (D < 30 cm) surveying is demonstrated. Firstly, four types of typical small-diameter intelligent PIGs and their corresponding pipeline-defects inspection technologies and defects-positioning technologies are investigated according to the various pipeline defects inspection and localization principles. Secondly, the multi-sensor fused pipeline surveying technologies are classified into two main categories, the non-inertial-based and the MIMU-based intelligent PIG surveying technology. Moreover, five schematic diagrams of the MIMU fused intelligent PIG fusion technology is also surveyed and analyzed with details. Thirdly, the potential research directions and challenges of the popular intelligent PIG surveying techniques by multi-sensor fusion system are further presented with details. Finally, the review is comprehensively concluded and demonstrated.

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

scholarly journals Development the method of pipeline bending strain measurement based on microelectromechanical systems inertial measurement unit

2020 ◽  
Vol 103 (2) ◽  
pp. 003685042092523
Author(s):  
Rui Li ◽  
Zhensheng Wang ◽  
Pengchao Chen
Keyword(s):  
Inertial Measurement Unit ◽  
Oil And Gas ◽  
Microelectromechanical Systems ◽  
Small Diameter ◽  
Measurement Unit ◽  
Additional Stress ◽  
Routine Practice ◽  
Inertial Measurement ◽  
Bending Strain ◽  
Key Factor

With the development of pipeline construction, the additional stress and strain becomes the key factor to induce the damage for oil and gas pipeline. The in-line inspection of pipeline bending strain which is based on high-end tactical-grade inertial measurement unit has become routine practice for the oil and gas pipelines over recent years. However, these accurate inertial measurement units are large size and high cost limit to use in small diameter pipelines of bending strain inspection. Microelectromechanical systems–based inertial navigation has been applied to mapping the centerline of the small size pipeline, and the accurate trajectory and attitude information become key factors to calculate the bending strain of pipelines. This article proposed a method not only to calculate the pipeline bending strain but also to improve the accuracy for the bending strain based on the wavelet analysis. Tests show that this method can be effectively used in the calculation and optimization of the bending strain, and it will increase the accuracy to within 19.1% of the actual bending strain.

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