Micro inspection robot for 1-in pipes

Suzumori, Koichi; Miyagawa, T.; Kimura, Michio; Hasegawa, Y.

doi:10.1109/3516.789686

Cited by 178 publications

(76 citation statements)

References 13 publications

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“…The developments of the miniaturized segment robots or ambulatory micro-robots have been applied to medical endoscopes, rescue robots, hazardous environment exploration, and industrial inspection systems [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Song

Lee

2015

Applied Sciences

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Abstract:We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

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Section: Introductionmentioning

confidence: 99%

Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Song

Lee

2015

Applied Sciences

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“…The author has taken the latter approach, using the actual WAF lens [9], [10]. Many industrial applications of vision sensing require the wideangle FOV and high resolution at the same time, for image processing, surveillance, and monitoring [11]- [13]. However, almost all of them just use a narrow-angle image sensor with pan-tilt/zoom control or a wide-angle image sensor without sufficient resolution.…”

Section: Introductionmentioning

confidence: 99%

Wide-Angle Foveation for All-Purpose Use

Shimizu

2008

IEEE/ASME Trans. Mechatron.

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Abstract-This paper proposes a model of a wide-angle spacevariant image that provides a guide for designing a fovea sensor. First, an advanced wide-angle foveated (AdWAF) model is formulated, taking all-purpose use into account. This proposed model uses both Cartesian (linear) coordinates and logarithmic coordinates in both planar projection and spherical projection. Thus, this model divides its wide-angle field of view into four areas, such that it can represent an image by various types of lenses, flexibly. The first simulation compares with other lens models, in terms of image height and resolution. The result shows that the AdWAF model can reduce image data by 13.5%, compared to a log-polar lens model, both having the same resolution in the central field of view. The AdWAF image is remapped from an actual input image by the prototype fovea lens, a wide-angle foveated (WAF) lens, using the proposed model. The second simulation compares with other foveation models used for the existing log-polar chip and vision system. The third simulation estimates a scale-invariant property by comparing with the existing fovea lens and the log-polar lens. The AdWAF model gives its planar logarithmic part a complete scale-invariant property, while the fovea lens has 7.6% error at most in its spherical logarithmic part. The fourth simulation computes optical flow in order to examine the unidirectional property when the fovea sensor by the AdWAF model moves, compared to the pinhole camera. The result obtained by using a concept of a virtual cylindrical screen indicates that the proposed model has advantages in terms of computation and application of the optical flow when the fovea sensor moves forward.Index Terms-Active sensing, all-purpose use, biomimetics, fovea sensor, image processing, wide-angle foveation (WAF).

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“…544, I-Tech, Vienna, Austria, EU, September 2007 2002; Suzumori et al, 1998;Kawaguchi et al, 1995;Suzumori, et al, 1999;Tsubouchi et al, 2000;Scholl et al, 2000;Mhramatsu et al, 2000;Ong et al, 2001;Choi & Ryew, 2002;Ryew et al, 2000;Roh et al, 2001;Roh et al, 2002;Roh et al, 2005;Schempf & Vradis, 2005;Schempf, 2002;Gamble & Wiesman, 1996). Fig.…”

Section: Introductionmentioning

confidence: 99%