Highly compact robots for inspection of power plants

Caprari, Gilles; Breitenmoser, Andreas; Fischer, Wolfgang; Hürzeler, Christoph; Tâche, Fabien; Siegwart, Roland; Nguyen, Olivier Truong-Dat; Moser, R.; Schoeneich, Patrick; Mondada, Francesco

doi:10.1002/rob.21411

Cited by 44 publications

(18 citation statements)

References 28 publications

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“…Due to the large adhesion area of the caterpillar track, the robot can carry a 500 g payload (the weight of the robot is 180 g for reference). The speed without the payload was measured to be 6 cm s −1 , which is relatively higher than other types of climbing robots (Bi, Guan, Chen, Zhu, & Zhang, ; Caprari et al., ; Guan et al., ; Kim et al., ; Seo, Cho, Kim, Kim, & Kim, ; Tâche et al., ; Zhang et al., ).…”

Section: Robotic Systemsmentioning

confidence: 83%

Series of Multilinked Caterpillar Track‐type Climbing Robots

Lee

Kim

Seo

et al. 2014

Journal of Field Robotics

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Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheeltype climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high-rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel-type climbing robot for different surface materials, robot size, and computational costs. C 2014 Wiley Periodicals, Inc.

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Section: Robotic Systemsmentioning

confidence: 83%

Series of Multilinked Caterpillar Track‐type Climbing Robots

Lee

Kim

Seo

et al. 2014

Journal of Field Robotics

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“…Autonomous mobile robots are often used in industry for diverse applications such as safety inspection of complex infrastructures like pipes, turbines in power plants [17,18], or detection of gas leaks in chemical industrial plants [19]. We take inspiration from them and we consider that we can also benefit from mobile systems for intrusion detection in wireless mesh networks, not only limited to industrial deployments.…”

Section: Mobility Of the Idsmentioning

confidence: 99%

DogoIDS

Carmo

Hollick

2013

Proceedings of the 2nd ACM Workshop on Hot Topics on Wireless Network Security and Privacy

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Wireless Mesh Networks (WMN) are particularly vulnerable to attacks, since they feature constraint nodes, multi-hop communication, and an open wireless communication channel. These features limit the feasibility of the deployment of contemporary Intrusion Detection Systems (IDS): centralized systems fail because there is no strict network boundary, and distributed and/or cooperative systems challenge the limited resources of the nodes. As a result, practical IDSs for WMNs are scarce, and existing systems are limited with respect to detection capabilities. In this paper we present the design, implementation, and evaluation of "DogoIDS": an open source, mobile, activeprobing-based intrusion detection system. Exploiting mobility allows to mitigate the limitations of distributed, node-dependent systems. The active nature of the system achieves detection capabilities beyond that of a purely passive system. We show the accuracy and speed of our prototype in a testbed WMN-based on the IEEE 802.11s standard-under realistic attacks.

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“…The collective progress in robotics has enabled the potential of autonomous robotic exploration and mapping missions to expand into an ever increasing set of applications in both the civilian and military domains alike. Aerial and ground robots are currently employed in a multitude of search and rescue (Balta et al, 2017; Delmerico et al, 2019; Michael et al, 2012; Tomic et al, 2012), industrial inspection (Balaguer et al, 2000; Bircher et al, 2015; Bircher, Kamel, Alexis, Burri et al, 2016; Caprari et al, 2012; Gehring et al, 2019; Hutter et al, 2018; Kolvenbach et al, 2019; Sawada et al, 1991), surveillance (Grocholsky et al, 2006), and commercial applications (Rao et al, 2016). Despite the significant progress in both systems and methods, a variety of critical environments remain particularly challenging for robotic access and resilient autonomy.…”

Section: Introductionmentioning

confidence: 99%

Graph‐based subterranean exploration path planning using aerial and legged robots

Dang

Tranzatto

Khattak

et al. 2020

Journal of Field Robotics

133

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Autonomous exploration of subterranean environments remains a major challenge for robotic systems. In response, this paper contributes a novel graph-based subterranean exploration path planning method that is attuned to key topological properties of subterranean settings, such as large-scale tunnel-like networks and complex multibranched topologies. Designed both for aerial and legged robots, the proposed method is structured around a bifurcated local-and global-planner architecture. The local planner utilizes a rapidly exploring random graph to reliably and efficiently identify paths that optimize an exploration gain within a local subspace, while simultaneously avoiding obstacles, respecting applicable traversability constraints and honoring dynamic limitations of the robots. Reflecting the fact that multibranched and tunnel-like networks of underground environments can often lead to dead-ends and accounting for the robot endurance, the global planning layer works in conjunction with the local planner to incrementally build a sparse global graph and is engaged when the system must be repositioned to a previously identified frontier of the exploration space, or commanded to return-to-home. The designed planner is detailed with respect to its computational complexity and compared against state-of-the-art approaches. Emphasizing field experimentation, the method is evaluated within multiple real-life deployments using aerial robots and the ANYmal legged system inside both long-wall and room-and-pillar underground mines in the United States and in Switzerland, as well as inside an underground bunker. The presented results further include missions conducted within the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, a relevant competition on underground exploration.

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Highly compact robots for inspection of power plants

Cited by 44 publications

References 28 publications

Series of Multilinked Caterpillar Track‐type Climbing Robots

Series of Multilinked Caterpillar Track‐type Climbing Robots

DogoIDS

Graph‐based subterranean exploration path planning using aerial and legged robots

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