Water utilities across the globe are concerned with inspection and replacement of buried metallic water pipes due to corrosion-related structural damages. Internal pipe linings commonly used as a renewal method improve strength they regarded be less expensive alternative costly time-consuming replacements. However, also prone failure well. Therefore, authorities regularly monitor lining perform...

Abstract To realize the real-time monitoring of pipelines, this paper designs a pneumatic soft pipeline outer wall-crawling robot composed OMCA (outer multi-cavity actuator) based on motion inchworm. The consists torso and two grippers. It is controlled by three air pumps can linear motion. Use ABAQUS to perform finite element analysis measure its key geometric parameters under different pressu...

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on 3D complexly shaped pipe structures, therefore it is necessary to provide 3D visualization tools for the user who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the en...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...