In-pipe micromachine locomotion via the inertial stepping principle

Yum, Young‐Jin; Hwang, Han-Sub; Kelemen, Michal; Maxim, Vladislav; Frankovský, Peter

doi:10.1007/s12206-014-0734-x

Cited by 24 publications

(15 citation statements)

References 28 publications

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“…The covariance determined by Method A (determined by statistic method) is the standard covariance between inclination angle α T and the time of overpassing the path ∆t is determined by Relation (17) and has a value of cov A (α T , ∆t) = −0.00476606 rad•s.…”

Section: Experimental Examination Of Impact Of Parameters Of Measurement Chain On the Results Of Measurement Of Kinetic Coefficient Of Frmentioning

confidence: 99%

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Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

et al. 2020

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The subject of this paper is the solution to specific problems in the measurement of the coefficient of the sliding friction of material pairs using a variable incidence tribometer. The aim of this work was to solve the questions of the measurement of the static coefficient of friction using a variable incidence tribometer from the perspective of metrology. In particular, we intended to research the expression of the credibility of this measurement and the possibility of increasing the credibility of the measurement. Another problem that needs to be solved is the method of carrying out the measurement, which has an impact on its achieved uncertainty. Sliding friction is a phenomenon that depends on many material properties such as contact area roughness, moisture, lubricants, temperature, and relative motion velocity. If environmental conditions are defined, the main input parameter is the relative motion velocity. For this input quantity, friction force becomes a symmetrical problem, and it is only necessary to explore this phenomenon for positive values of velocities. Symmetry in this area simplifies the research of this science topic.

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Section: Experimental Examination Of Impact Of Parameters Of Measurement Chain On the Results Of Measurement Of Kinetic Coefficient Of Frmentioning

confidence: 99%

“…A much more serious problem is the knowledge of friction in miniature systems. In this case, the identification of friction is a dominant task upon which the overall success of these miniature systems and their implementation in practice depends [17][18][19].…”

Section: Motivation and Goalsmentioning

confidence: 99%

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

et al. 2020

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“…The contribution of this simulation model is mainly the fact that for specific dimensions of the pipe it is then possible with the help of this simulation model to find the optimal geometry of the bristles of in-pipe machines. It is also possible to apply the solution of large deflections of the bristle for other cases of large deformations of construction parts [29][30][31].…”

Section: Resultsmentioning

confidence: 99%

“…The bristled micromachine locomotion is based on the inertial stepping principle, which utilizes the drive force of the two-body impact. The in-pipe micromachine contacts the pipe through the elastic bristles installed on the in-pipe machine and in two lines and crossways with respect to the micromachine axle [31].…”

Section: State Of the Art In Area Of In-pipe Inspection Devicesmentioning

confidence: 99%

Miniature Mobile Bristled In-Pipe Machine

Ostertag

Ostertagová

Kelemen

et al. 2014

International Journal of Advanced Robotic Systems

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The in-pipe machine locomotes in the pipe on the principle of differential friction between the bristles and the pipe wall during the movement of the bristle forwards and backwards. These bristles are very important construction parts of the in-pipe machine. In order to define the locomotion of movement it is important to know the force situation on the bristles caused by its high deformation in the pipe. The determination of force situation brought us to a non-linear differential equation of the second order and determination of conditions for its solution. By this equation it is possible to describe the outline of large deformations of the construction part and to determine the forces affecting this part.

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“…The half-contact of this mechanism limits the applications of micromachines in some special fields, for example, operating a micromachine in blood vessel for thrombolytic therapy. Therefore, an appropriate driving mechanism is highly desired [11][12][13][14]. Here we solved the problem by doping surface modified Fe 3 O 4 nanoparticles in photopolymerizable resins, from which magnetic micromachines are produced by TPP.…”

Section: Introductionmentioning

confidence: 99%

A Laser Fabrication of Magnetic Micromachines by Using Optimized Photosensitive Ferrofluids

Tian

Shao

2016

Journal of Nanomaterials

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We report here a laser fabrication of magnetic micromachines by using optimized photosensitive ferrofluids. Fe3O4nanoparticles were prepared by thermal decomposition and subsequent ligand exchange. And then, they were dispersed into photoresist. As a representative illustration, a magnetic microturbine with high surface flatness was fabricated, and its rotation speed could reach as high as 400 rpm under revolving magnetic field.

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In-pipe micromachine locomotion via the inertial stepping principle

Cited by 24 publications

References 28 publications

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

Miniature Mobile Bristled In-Pipe Machine

A Laser Fabrication of Magnetic Micromachines by Using Optimized Photosensitive Ferrofluids

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