In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used water quality monitoring in distribution systems (WDS). The proposed synchronizes a wireless communication suitable harsh environments of soil, water, and rock with multi-phase control algorithm. new “wireless algorithm” facilitates “smart navigation” “near real-time data transmissi...

The splicing pipe is an important hardware on multi-split transmission lines. quality of its crimping and internal structure directly affects the normal stable operation line. online flaw detection robot for means to realize automatic pipe. This paper basis proposing a mechanism configuration suitable line detection, aiming at matching relationship between imaging plate movement joint driving t...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

A distributed Brillouin fiber sensor has been employed to detect localized pipe-wall buckling in an energy pipe by measuring the longitudinal and hoop strain distributions along the outer surface of the pipe for the first time. The locations of the localized pipe-wall buckling are found and distinguished using their corresponding strain-load data. The formation of the buckling process for the c...

The paper describes KURT, an autonomous robot platform prototype that is able to navigate through a network of sewage pipes. KURT is a six-wheeled vehicle; it has modular, layered hardware and control architectures. Its sensor connguration consists mainly of stationary and one exible ultrasound transducers and of two inclinometers. In experiments run in a test sewerage system consisting of conc...

Buried water and gas pipe systems form part of critical infrastructure providing essential services to the community. In many global population centres including in Australia, this vital infrastructure has been installed several decades ago, and dealing with frequent pipe failures become a major problem. There are clear evidences that pipe failures significantly depend on pipe strains induced b...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

In order to achieve the nonsmooth surface drag reduction structure on the inner polymer coating of oil and gas pipelines and improve the efficiency of pipeline transport, a structural model of the machining robot on the pipe inner coating is established. Based on machining robot, an experimental technique is applied to research embossing and coating problems of rolling-head, and then the moldin...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...