Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

Kazeminasab, Saber; Sadeghi, Neda; Janfaza, Vahid; Razavi, Moein; Ziadidegan, Samira; Banks, M. Katherine

doi:10.1109/access.2021.3130233

Cited by 21 publications

(11 citation statements)

References 149 publications

(166 reference statements)

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“…Wheeled type inpipe robots are classified as simple structure type, wall pressed type, screw drive type. Wall pressed wheeled type robot has large traction force and better climbing capability as compared to simple structure wheel type robot [1,2]. Caterpillar type robot has no ability to climb and bigger in size, snake type robot has complex in structure and difficult to control, legged type robot has complex in structure and needs more actuator, inchworm type robots are simple in structure but lower speed mobility whereas PIG type robots has uncontrolled motion state as its motion depends on the flowing medium inside the pipe [3].…”

Section: Existing In-pipe Robotsmentioning

confidence: 99%

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Nikhade,

Jha,

Admane

et al. 2024

Scientia Iranica

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This paper presented a novel mechanism and dynamic model of cam operated in-pipe robot (CIPR) as a proof of concept. The CIPR would be useful for in-pipe inspection for detecting the defects like cracks, surface wear, damage, scaling etc. Based on the dynamic model, a gripping mechanism actuated by a three-lobed cam has been developed. A special three-lobed cam provides sufficient frictional force to maneuver and stop the robot inside the pipe of diameter 250 mm during inspection and cleaning task. A proposed dynamic model determines the frictional force and torque required to move the robot. A specially designed three-lobed cam makes the overall mechanism compact as compared to available inpipe robots. A single cam is adequate to exert uniform gripping force between the contact surface of the wheel and the inner surface of the pipe. In the present work, solid model of the CIPR is used to analyze and simulate the dynamics of the CIPR using ADAMS. The model is tested in simulated environment for vertical motion to determine the frictional force and wheel torque characteristics. The simulation results are in line with the analytical results. Further, the prototype is successfully maneuvering inside the pipefor different orientations.

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Section: Existing In-pipe Robotsmentioning

confidence: 99%

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Nikhade,

Jha,

Admane

et al. 2024

Scientia Iranica

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“…The success of leakage localization using in-pipe robots depends both on the localization techniques and the leak detection methods. This work will only cover the detection methods as reviews for in-pipe localization methods are extensive [19], [20], [21].…”

Section: In-pipe Robotsmentioning

confidence: 99%

Recent Developments of Subsurface Small-Leak Detection Techniques in Water Distribution Networks: A Review

Qi,

Cao,

Yntema

2024

IEEE Robot. Automat. Mag.

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The urban population grappling with water scarcity is projected to reach two billion people by 2050. Therefore, mitigating leaks in the water distribution networks (WDNs) becomes crucial for better future water security. This review article summarizes the present detection capabilities concerning small leaks (less than 1 L/s). The scope of the review encompasses experiments and simulations carried out using in-pipe robots as well as sensor networks that are capable of continuous monitoring. This aids future research efforts in gaining a clearer understanding of existing detection techniques' strengths and limitations with small-leak detections.

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“…This requires considerable adaptation to existing pipelines and increases the construction costs of new ones. The second technique uses special probes (e.g., SmartBall and Sahara) to explore the pipeline [ 10 , 11 ]. To facilitate the insertion/retrieval of these probes, special devices have to be built, and the pressure has to be reduced.…”

Section: Introductionmentioning

confidence: 99%

Performance Assessment of Pneumatic-Driven Automatic Valves to Improve Pipeline Fault Detection Procedure by Fast Transient Tests

Castellani,

Capponi,

Brunone

et al. 2024

Sensors

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The use of fast transients for fault detection in long transmission networks makes the generation of controlled transients crucial. In order to maximise the information that can be extracted from the measured pressure time history (pressure signal), the transients must meet certain requirements. In particular, the manoeuvre that generates the transient must be fast and repeatable, and must produce a pressure wave that is as sharp as possible, without spurious pressure oscillations. This implies the use of small-diameter valves and often pneumatically operated automatic valves. In the present work, experimental transient tests are carried out at the Water Engineering Laboratory (WEL) of the University of Perugia using a butterfly valve and a ball pneumatic-driven valve to generate pressure waves in a pressurised copper pipe. A camera is used to monitor the valve displacement, while the pressure is measured by a pressure transducer close to the downstream end of the pipe where the pneumatic valve is installed. The experimental data are analysed to characterise the valve performance and to compare the two geometries in terms of valve closing dynamics, the sharpness of the generated pressure wave and the stability of the pressure time history. The present work demonstrates how the proposed approach can be very effective in easily characterising the transient dynamics.

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Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

Cited by 21 publications

References 149 publications

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Recent Developments of Subsurface Small-Leak Detection Techniques in Water Distribution Networks: A Review

Performance Assessment of Pneumatic-Driven Automatic Valves to Improve Pipeline Fault Detection Procedure by Fast Transient Tests

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