相关论文: SmartCrawler: An In-pipe Robotic System with Wirel…

In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A two-degrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust…

Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…

High-performance industrial automation systems rely on tens of simultaneously active sensors and actuators and have stringent communication latency and reliability requirements. Current wireless technologies like WiFi, Bluetooth, and LTE…

Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…

Real-time control of pumps can be an infeasible task in water distribution systems (WDSs) because the calculation to find the optimal pump speeds is resource-intensive. The computational need cannot be lowered even with the capabilities of…

In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…

Underground water and wastewater pipelines are vital for city operations but plagued by anomalies like leaks and infiltrations, causing substantial water loss, environmental damage, and high repair costs. Conventional manual inspections…

In this paper, we study a wireless networked control system (WNCS) with $N \ge 2$ sub-systems sharing a common wireless channel. Each sub-system consists of a plant and a controller and the control message must be delivered from the…

Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…

Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…

Ensuring the stability of wireless networked control systems (WNCS) with nonlinear and control-non-affine dynamics, where system behavior is nonlinear with respect to both states and control decisions, poses a significant challenge,…

The paper considers a wireless networked control system (WNCS), where a controller sends packets carrying control information to an actuator through a wireless channel to control a physical process for industrial-control applications. In…

As one indispensable use case for the 5G wireless systems on the roadmap, ultra-reliable and low latency communications (URLLC) is a crucial requirement for the coming era of wireless industrial automation. This paper aims to develop…

This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…

This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…

Wireless communication environments comprise passive objects that cause performance degradation and eavesdropping concerns due to anomalous scattering. This paper proposes a new paradigm, where scattering becomes software-defined and,…

In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…