Abstract This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired robot that moves like caterpillar was designed and developed at LS2N, France. By addition tensegrity mechanisms between motor modules, mobile becomes flexible to pass through bends. However, existing units prove be oversized passing pipe bends 90 deg. Thus, three cascading pro...

Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, example, pipes. This article deals with snake robot moving pipe using so-called trapezium-like travelling wave. In this paper, we present mathematical model locomotion the rectangular cross-section. Subsequently, designed control algorithm Within introduced mot...

Spatially regulated transcription of the pipe gene in ventral cells of the Drosophila ovary follicle cell epithelium is a key event that specifies progeny embryo dorsal-ventral (DV) polarity. pipe encodes ten putative protein isoforms, all of which exhibit similarity to vertebrate glycosaminoglycan-modifying enzymes. Expression of one of the isoforms, Pipe-ST2, in follicle cells has previously ...