The Experts below are selected from a list of 2862 Experts worldwide ranked by ideXlab platform
Byung-ju Yi - One of the best experts on this subject based on the ideXlab platform.
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CASE - A linkage type mechanical clutch synthesis for Pipeline Inspection robot
2012 IEEE International Conference on Automation Science and Engineering (CASE), 2012Co-Authors: Youngsik Kwon, Byung-ju YiAbstract:Retrieval function is very important in operation of Pipeline Inspection robot to remove the possibility of being stuck inside Pipelines. This paper presents synthesis of linkage type mechanical clutches (LMC) which are used for retrieving Pipeline Inspection robots. Initially, the working principle of LMC is described and 5 types of LMC is suggested, which can be used for Pipelines with its diameter less than 100mm. Through simulation and experimentation, feasibility of LMC is verified.
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a flat Pipeline Inspection robot with two wheel chains
International Conference on Robotics and Automation, 2011Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot that has multiple sensors for Inspection of 80–100mm Pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed Pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.
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ICRA - A flat Pipeline Inspection robot with two wheel chains
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot that has multiple sensors for Inspection of 80–100mm Pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed Pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.
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a Pipeline Inspection robot with a linkage type mechanical clutch
Intelligent Robots and Systems, 2010Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot with a linkage type mechanical clutch, which is designed for Inspection of Pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the Pipeline Inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.
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IROS - A Pipeline Inspection robot with a linkage type mechanical clutch
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot with a linkage type mechanical clutch, which is designed for Inspection of Pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the Pipeline Inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.
Youngsik Kwon - One of the best experts on this subject based on the ideXlab platform.
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CASE - A linkage type mechanical clutch synthesis for Pipeline Inspection robot
2012 IEEE International Conference on Automation Science and Engineering (CASE), 2012Co-Authors: Youngsik Kwon, Byung-ju YiAbstract:Retrieval function is very important in operation of Pipeline Inspection robot to remove the possibility of being stuck inside Pipelines. This paper presents synthesis of linkage type mechanical clutches (LMC) which are used for retrieving Pipeline Inspection robots. Initially, the working principle of LMC is described and 5 types of LMC is suggested, which can be used for Pipelines with its diameter less than 100mm. Through simulation and experimentation, feasibility of LMC is verified.
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a flat Pipeline Inspection robot with two wheel chains
International Conference on Robotics and Automation, 2011Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot that has multiple sensors for Inspection of 80–100mm Pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed Pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.
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ICRA - A flat Pipeline Inspection robot with two wheel chains
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot that has multiple sensors for Inspection of 80–100mm Pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed Pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.
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a Pipeline Inspection robot with a linkage type mechanical clutch
Intelligent Robots and Systems, 2010Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot with a linkage type mechanical clutch, which is designed for Inspection of Pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the Pipeline Inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.
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IROS - A Pipeline Inspection robot with a linkage type mechanical clutch
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Youngsik Kwon, Incheol Whang, Byung-ju YiAbstract:This paper presents a new Pipeline Inspection robot with a linkage type mechanical clutch, which is designed for Inspection of Pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the Pipeline Inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.
Dalei Wu - One of the best experts on this subject based on the ideXlab platform.
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node localization in robotic sensor networks for Pipeline Inspection
IEEE Transactions on Industrial Informatics, 2016Co-Authors: Dalei Wu, Dimitris M Chatzigeorgiou, Kamal Youceftoumi, Rached BenmansourAbstract:Robotic sensor networks provide an effective approach for underground Pipeline Inspection. Such networks are comprised of sensor nodes (SNs) and relay nodes (RNs) carried by robots for information sensing and communication, and are able to perform accurate and realtime Inspection, especially in adverse environments. SN localization is critical in such networks because localization results can be used not only for locating and pinpointing leaks, but also for maneuvering mobile SNs in a Pipeline of complex configuration. However, both the underground operational environment and the limited resources of the SNs pose significant challenges for SN localization. This paper presents algorithms for SN localization in robotic sensor networks for underground Pipeline Inspection. Specifically, self-localization of underground in-pipe SNs were investigated by taking into account SN movement dynamics, and using the measurements of the SN’s velocity and the received signal strength (RSS) of the radio signal from aboveground RNs. Depending on the availability of the RSS at the SN, different localization algorithms based on the Kalman filter are proposed for different scenarios. Simulation results show the efficacy of the proposed algorithms. The framework also provides insight into the design of robotic sensor networks for the Inspection and maintenance of other types of Pipeline systems, such as oil and gas Pipelines.
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channel aware relay node placement in wireless sensor networks for Pipeline Inspection
IEEE Transactions on Wireless Communications, 2014Co-Authors: Dalei Wu, Samir Mekid, Dimitris M Chatzigeorgiou, Kamal Youceftoumi, Rached BenmansourAbstract:Wireless sensor networks (WSNs) provide an effective approach for underground Pipeline Inspection. Such WSNs comprise sensor nodes (SNs) and relay nodes (RNs) for information sensing and communication. WSNs can perform accurate and realtime Inspection, especially in adverse environments. However, transmitting information between underground and aboveground nodes is very challenging. First, in-pipe SNs conducting controlled maneuvers underground are mobile. Second, SNs need to transmit the information wirelessly to aboveground base stations (BSs). In addition, radio propagation is complex because radio waves travel in a multi-medium environment. Finally, the SNs have limited energy supply. Therefore, proper deployment of a WSN is critical to providing reliable communications and efficient Inspection. This paper presents a channel-aware methodology for deploying aboveground RNs in WSNs for underground Pipeline Inspection. Specifically, first, the paper provides a path loss model for radio propagation over multiple transmission media. Then, based on the path loss model a method is developed for optimum placement of the RNs so as to minimize the energy use of SNs and allow reliable communications. This method takes into account characteristics of the wireless channels, power consumption constraint, Pipeline coverage requirement, and the limit of the number of the RNs. We provide an algorithm for optimization of RN placement and SN's power consumption. Simulation results show the efficacy of the proposed framework.
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relay node placement in wireless sensor networks for Pipeline Inspection
American Control Conference, 2013Co-Authors: Dalei Wu, Samir Mekid, Kamal Youceftoumi, Rached Ben MansourAbstract:Wireless sensor networks (WSNs) provide an effective approach for underground Pipeline Inspection. Such WSNs comprise of sensor nodes (SNs) and relay nodes (RNs) for information sensing and communication. WSNs can perform accurate and realtime Inspection, especially in adverse environments. However, transmitting information between underground and aboveground nodes is very challenging due to the mobility and limited energy supply of the SNs as well as complex radio propagation environment. Therefore, proper deployment of a WSN is critical to provide reliable communications and efficient Inspection. This paper presents a methodology for deploying aboveground RNs in WSNs. Specifically, it provides an optimum placement of RNs along with energy use so as to allow reliable communications. This method takes into account characteristics of the wireless channels, energy consumption, Pipeline coverage requirements, and SN's transmission power levels. The paper provides a path loss model for radio propagation over multiple transmission media and an algorithm for optimization of RN placement and SN's transmission power. Simulation results show the efficacy of the proposed framework.
Azat Yusupov - One of the best experts on this subject based on the ideXlab platform.
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proof of concept prototype development of the self propelled capsule system for Pipeline Inspection
Meccanica, 2018Co-Authors: Florent Zonta, Joseph Paez Chavez, Azat YusupovAbstract:This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in Pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven Pipeline Inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.
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ICAC - Development of a self-propelled capsule robot for Pipeline Inspection
2016 22nd International Conference on Automation and Computing (ICAC), 2016Co-Authors: Azat YusupovAbstract:This paper introduces a current research project carried out in the Robert Gordon University for developing the prototype of the vibro-impact capsule robot for Pipeline Inspection. The project aims to address the technical bottlenecks which have been encountered by current Pipeline technologies with a particular focus on oil industry. In order to verify the concept, a dummy capsule prototype with a diameter of 80 mm is designed and manufactured for testing in a 2.5 meter long section of 140 mm nominal diameter clear PVCu pipe with a flow velocity up to 0.3 m/s. By using the experimental test bed, the prototype of the capsule system can be tested at various flow rates, and the experimental results could be used for comparing with CFD simulation results for optimization.
Joseph Paez Chavez - One of the best experts on this subject based on the ideXlab platform.
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proof of concept prototype development of the self propelled capsule system for Pipeline Inspection
Meccanica, 2018Co-Authors: Florent Zonta, Joseph Paez Chavez, Azat YusupovAbstract:This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in Pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven Pipeline Inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.