Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model

Baranowski, Leszek; Siwek, Michał

doi:10.2478/ama-2018-0036

Cited by 6 publications

(5 citation statements)

References 10 publications

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“…Furthermore, in the case of AGV robots, the precision of the final positioning is crucial for successful loading and unloading of transported goods in typical industrial applications [ 20 ]. Designers of robotics systems use advanced tools to assist in the design process of control systems [ 21 , 22 , 23 , 24 , 25 ] to provide the expected functionality of the robot. The working environment has a particular impact on the change in the operating parameters of the robot.…”

Section: Related Workmentioning

confidence: 99%

Identification of Differential Drive Robot Dynamic Model Parameters

et al. 2023

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The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

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Section: Related Workmentioning

confidence: 99%

Identification of Differential Drive Robot Dynamic Model Parameters

et al. 2023

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“…In their approach, the inspection data collected by the mobile robot-based platform could support and be used to design the repairing strategy and the respective robot path. More research focusing on the techniques and applications related to the mobile robot-based platform for structural damage inspection and various purposes has been widely conducted as presented in Table 3, such as non-structural damage inspection, 94 pipeline inspection, 95,96 localization techniques of inspection-aimed mobile robots. 97 These previous studies demonstrated that increasing attention is paid to mobile robot technology which can be applied in practice for damage inspection in various scenarios, and is able to perform more tasks, such as repair of pipelines.…”

Section: Mobile Robot Application In Damage Inspectionmentioning

confidence: 99%

“…In their approach, the inspection data collected by the mobile robot‐based platform could support and be used to design the repairing strategy and the respective robot path. More research focusing on the techniques and applications related to the mobile robot‐based platform for structural damage inspection and various purposes has been widely conducted as presented in Table 3, such as non‐structural damage inspection, 94 pipeline inspection, 95,96 localization techniques of inspection‐aimed mobile robots 97 …”

Section: Literature Reviewmentioning

confidence: 99%

A review study on unmanned aerial vehicle and mobile robot technologies on damage inspection of reinforced concrete structures

Wang

Ueda

2023

Structural Concrete

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For damaged buildings that had suffered from a destructive earthquake, timely damage inspection is essential to evaluate their residual seismic safety as well as to assess the long-term maintenance capacity for planning a suitable structural rehabilitation strategy for further service. However, the conventional inspection method by human hands is time-consuming, highly costly, and risky for inspectors in the fieldwork. Thus, in this present study, the current situation for structural damage inspection is summarized, the future potentials of newly developed technology in this field are explored, and the application and usage of robotic technologies with unmanned aerial vehicles (UAVs) and mobile robots that are rapidly developed recently have been reviewed and evaluated. In this work an overview is given of the practical applications of the UAV-and mobile robot-based damage inspection, in which these robotic machines are employed as useful tools to inspect and monitor the damaged condition of infrastructure facilities or buildings by collecting photography data. In addition, a conceptual comparison with the conventional approach is given to allow a better understanding of the advantages and limitations of a robotic technology-aimed damage inspection approach. Also, a discussion on instructions, recommendations, existing challenges, and future directions to address the robotic technology-aimed damage inspection approach into further practice is presented.

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“…Based on the structural analysis carried out at the stage of construction of the support frame of the mobile module in the initial variant of the developed model, and on the basis of experience gained during the assembly of the frame, it was found necessary to introduce changes in the detailed design and assembly of this module [2,4]. The basic and most important change was the modernization of the support frame.…”

Section: Drive Modulementioning

confidence: 99%

Development of a mobile robot demonstrator for inspection and engineering works in sewage pipes

et al. 2019

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Implementation of inspection and engineering works in sewage pipes is a serious logistic and technological challenge. The development of mobile robot construction technology makes it possible to use them in this type of tasks. The paper presents the results of work aimed at developing the construction of an inspection and engineering robot, intended for inspection, repair and installation of tele-technical wires (fiber optic) in sewer pipes with a diameter range of 200÷800 mm. The design of the robot as well as the modules of the demonstrator are described (driving module, carrier module, technological module) and the results of tests aimed at verifying the work parameters of the developed demonstrator.

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Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model

Cited by 6 publications

References 10 publications

Identification of Differential Drive Robot Dynamic Model Parameters

Identification of Differential Drive Robot Dynamic Model Parameters

A review study on unmanned aerial vehicle and mobile robot technologies on damage inspection of reinforced concrete structures

Development of a mobile robot demonstrator for inspection and engineering works in sewage pipes

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