相关论文: ACES: A Teleoperated Robotic Solution to Pipe Insp…
The task of detecting and classifying damages in sewer pipes offers an important application area for computer vision algorithms. This paper describes a system, which is capable of accomplishing this task solely based on low quality and…
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…
The huge advantage of in-pipe robots is that they are able to measure from inside the pipes, and to sense the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
Rehabilitating cast iron pipes through lining offers several advantages, including increased durability, reduced water leaks, and minimal disruption.This approach presents a cost effective and environmentally friendly solution by sealing…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for steel bridge inspection requires human intervention to assist in the control and navigation. In this…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
This paper describes a prototype software and hardware platform to provide support to field operators during the inspection of surface defects of non-metallic pipes. Inspection is carried out by video filming defects created on the same…
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…
This paper reports a practical articulated wheeled in-pipe inspection robot "AIRo-7.1" which is waterproof and dustproof, and can adapt to 3 to 4 in inner diameters. The joint torque can be adjusted by a PWM open-loop control. The middle…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…
Teleoperation is becoming an essential feature in automated vehicle concepts, as it will help the industry overcome challenges facing automated vehicles today. Teleoperation follows the idea to get humans back into the loop for certain rare…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Robotic inspection of radioactive areas enables operators to be removed from hazardous environments; however, planning and operating in confined, cluttered environments remain challenging. These systems must autonomously reconstruct the…