Miniature Mobile Bristled In-Pipe Machine

Ostertag, Oskar; Ostertagová, Eva; Kelemen, Michal; Kelemenová, Tatiana; Buša, Ján; Virgala, Ivan

doi:10.5772/59499

Cited by 13 publications

(16 citation statements)

References 26 publications

(44 reference statements)

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“…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%

“…For characteristics or descriptions of friction or friction resistance, a dimensionless quantity called the coefficient of friction (COF) is used. The coefficient of friction, according to [19,20], is defined as the ratio of the friction force to the normal force that acts perpendicularly to the two surfaces in contact. This coefficient measures the difficulty with which one material slides on another material.…”

Section: Motivation and Goalsmentioning

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: Motivation and Goalsmentioning

confidence: 99%

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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“…Conventional robots based on a wheeled or tank-belted undercarriage are suitable for many applications, and they are simple from the perspective of control [1]. There are also many pipe mechanisms based on biological mechanisms [2]. However, there are many situations where they cannot be used, for instance in terrain with large height differences or very narrow spaces such as pipelines or channels.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

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“…Modern advanced sensing systems based on "smart camera sensors" have been quickly spread into many fields of industry, such as general process control, 4 general object identification and recognition, 5 quality check (Stejskal, Bayraktar, Alghamdi), [5][6][7] reading texts and codes (e.g. car identification plate), 8,9 face recognition (Park), 10 robot control via gestures 10 and general pose control of robots using visual servoing, 3 visual navigation of single/multiple mobile robot/s (Kim, Ostertag, Mikulova, Roberti), [11][12][13][14] collision detection and perception (Lehnhardt), 15 many applications in food industry, and online process control and monitoring (Kosinar) 16 using component recognition (Stipancic, Scholz-Reiter). 17,18 Smart sensors are key elements for visual inspection of parts or visual navigation of robots for assembly tasks that has been manually done by human operators before.…”

Section: Introductionmentioning

confidence: 99%

Case study: Performance analysis and development of robotized screwing application with integrated vision sensing system for automotive industry

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et al. 2020

International Journal of Advanced Robotic Systems

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Industrial cameras starting to play a significant role in current industrial environment and they represent a strong tool for robotics mainly in cases when they are combined with high-speed robots. However, there are still some difficulties in vision system integration. The capability of such system (e.g. assembly or technological system) depends on several factors, for instance, the camera position, lightning conditions, pattern recognition algorithms, precise setup, as well as well-trained programmer and engineer. The skills of the engineering staff and the precise analysis of conditions and process requirements seem to be crucial for successful solution, what was proved also in our experimental test. The main aim of the article is development and complex performance analysis of robotized screwing application with integrated vision system, concretely the case study of automated assembly system in automotive industry—bolting tightening robotized station as a part of car seat assembly process. The main key elements of the designed workplace are industrial robot FANUC M-20 iA/20M with integrated iRVision system containing the industrial camera Sony XC-56. The real influence of inaccuracies during the design process, gradual “step-by-step” refinement, and final influence of all changings on the final quality and efficiency of designed system was demonstrated. At the end, we reached the point where the total number of screwing operations with NOK results (not OK / negative results) is about six single negative results per day, which represents less than 0.1% of all recognitions (overall reliability is higher than 99.9%).

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Miniature Mobile Bristled In-Pipe Machine

Cited by 13 publications

References 26 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

Investigation of Snake Robot Locomotion Possibilities in a Pipe

Case study: Performance analysis and development of robotized screwing application with integrated vision sensing system for automotive industry

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