Mobile Inspection Robot

2013 ◽  
Vol 319 ◽  
pp. 385-392 ◽  
Author(s):  
Michał Ciszewski ◽  
Tomasz Buratowski ◽  
Mariusz Giergiel ◽  
Krzysztof Kurc ◽  
Piotr Małka
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Cross Section ◽  
Design Process ◽  
Laboratory Tests ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Positioning System ◽  
Pipe Inspection ◽  
Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.

scholarly journals Design, Modelling and Laboratory Testing of a Pipe Inspection Robot

2015 ◽  
Vol 62 (3) ◽  
pp. 395-408 ◽  
Author(s):  
Michał Ciszewski ◽  
Michał Wacławski ◽  
Tomasz Buratowski ◽  
Mariusz Giergiel ◽  
Krzysztof Kurc
Keyword(s):  
Energy Consumption ◽  
Work Environment ◽  
Cross Section ◽  
Laboratory Testing ◽  
Laboratory Tests ◽  
Kinematic Model ◽  
Positioning System ◽  
Pipe Inspection ◽  
Inspection Robot

Abstract This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.

A New Method for the Path Planning of an In-Pipe Inspection Robot

2003 ◽  
Author(s):  
Vincent Artigue ◽  
Madeleine Pascal
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Cylindrical Body ◽  
Robot Motion ◽  
Pipe Inspection ◽  
Curved Pipe ◽  
Prismatic Joint ◽  
Inspection Robot ◽  
Dc Motors ◽  
Locking Phenomena

A mobile robot designed for in-pipe inspection is considered. The robot consists of a cylindrical body with six links, each ended by a driven wheel. For each link, a spring connected to a jack (prismatic joint) is used to push the wheel against the wall of the pipe. The robot is actuated by DC motors applied on the wheels. The aim of the study is to define the trajectory of the robot in a curved pipe. Several experiments have shown that in this case, the robot may be stopped in some parts of the elbows. The path planning is performed assuming that the robot motion is very slow. An energetic method is used in order to detect the locking zones, and to define the best trajectories avoiding these locking phenomena.

A novel mobile robot for finned tubes inspection

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 691-695 ◽  
Author(s):  
Yanming Li ◽  
Peisun Ma ◽  
Changjun Qin ◽  
Jun Xu ◽  
XueGuan Gao
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Finned Tube ◽  
Finned Tubes ◽  
Inspection Robot ◽  
Narrow Space ◽  
And Control

A novel mobile robot FTIR (Finned Tube Inspection Robot) for finned tube inspecting is presented in this paper. FTIR can move in both x- and y-direction on the top layer of the tubing that is installed in layers. The snake-like arms mounted on the robot can be lowered into the narrow space between the tubes and the tubing can be inspected through the device installed in the end of the arms. The moving mechanisms, inspecting device applied in narrow space and control system are introduced.

scholarly journals Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model

2018 ◽  
Vol 12 (3) ◽  
pp. 232-236
Author(s):  
Leszek Baranowski ◽  
Michał Siwek
Keyword(s):  
Mobile Robot ◽  
Vision System ◽  
Geometrical Parameters ◽  
Functional Tests ◽  
Pipe Inspection ◽  
Sewer Pipes ◽  
3D Simulations ◽  
Inspection Robot ◽  
Real Robot ◽  
Inclined Pipe

Abstract The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3D simulations. Next methods and processes of making designed components was described. Finally, functional tests of a constructed real robot model such as speed tests, inclined pipe test was carried out. The robot was specifically designed to inspect sewer pipelines. The mobile robot is equipped with a vision system. The structure of the pipe inspection robot allows adjustments to the geometrical parameters of the robot to suit the sewer pipes diameters by using in the construction of a pneumatic system with an actuator.

Developing and Research on Motor Driving System of Wheeled Mobile Robot

2011 ◽  
Vol 201-203 ◽  
pp. 1891-1897
Author(s):  
Rui Li Chang ◽  
Jun Han
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Driving System

In this paper, according to the wheeled mobile robot with three wheels, the motor driving system of robot is researched. Based on robot kinematics and dynamics, a motor driving system of wheeled mobile robot is designed and developed. The results of experiments show that the system is steady and reliable at work, and it is very useful in practice.

Profil Penyakit Malaria Di Rumah Sakit Islam Siti Rahmah Padang Tahun 2018

2020 ◽  
Vol 2 (2) ◽  
pp. 08-15
Author(s):  
Rahma Triyana ◽  
Salmi Salmi
Keyword(s):  
Observational Study ◽  
Frequency Distribution ◽  
Cross Section ◽  
Laboratory Tests ◽  
Age Group ◽  
Normal Range ◽  
Cross Sectional ◽  
West Sumatra ◽  
Severity Of The Disease

Malaria is one of the health problems in Indonesia, especially West Sumatra. Determination of the description of Malaria disease in an area is needed to determine the spread and severity of the disease. This study aims to determine the frequency distribution according to age, sex and place of residence, description of the types of Plasmodium causes of Malaria and hematological features in Malaria patients at Siti Rahmah Padang Hospital in 2018. This type of research is a descriptive observational study with an approach or design cross section (cross sectional). The frequency distribution of Malaria sufferers in Siti Rahmah Padang Hospital in 2018 according to the highest age was in the age group 21-30 years as many as 28 cases (36.8%), the highest sex among men was 46 (60.5%) and the highest number of residences was found in Koto Tangah sub-district there were 31 cases (40.8%). The type of Plasmodium found in Malaria cases in Siti Rahmah Padang Hospital in 2018 was P. vivax (73 cases (96.05%)) and P. falciparum (3 cases (3.95%)). The results of laboratory tests on Hb, hematocrit, platelet and leukocyte levels in Malaria positive patients in Siti Rahmah Padang Hospital in 2018 were in the normal range.

Profil Penyakit Malaria di Rumah Sakit Islam Siti Rahmah Padang Tahun 2018

2020 ◽  
Vol 2 (2) ◽  
pp. 08-15
Author(s):  
Rahma Triyana Y ◽  
Salmi Salmi
Keyword(s):  
Observational Study ◽  
Frequency Distribution ◽  
Cross Section ◽  
Laboratory Tests ◽  
Age Group ◽  
Normal Range ◽  
Cross Sectional ◽  
West Sumatra ◽  
Severity Of The Disease

Malaria is one of the health problems in Indonesia, especially West Sumatra. Determination of the description of Malaria disease in an area is needed to determine the spread and severity of the disease. This study aims to determine the frequency distribution according to age, sex and place of residence, description of the types of Plasmodium causes of Malaria and hematological features in Malaria patients at Siti Rahmah Padang Hospital in 2018. This type of research is a descriptive observational study with an approach or design cross section (cross sectional). The frequency distribution of Malaria sufferers in Siti Rahmah Padang Hospital in 2018 according to the highest age was in the age group 21-30 years as many as 28 cases (36.8%), the highest sex among men was 46 (60.5%) and the highest number of residences was found in Koto Tangah sub-district there were 31 cases (40.8%). The type of Plasmodium found in Malaria cases in Siti Rahmah Padang Hospital in 2018 was P. vivax (73 cases (96.05%)) and P. falciparum (3 cases (3.95%)). The results of laboratory tests on Hb, hematocrit, platelet and leukocyte levels in Malaria positive patients in Siti Rahmah Padang Hospital in 2018 were in the normal range.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

Sign in / Sign up

Export Citation Format

Share Document