{"title":"受生物启发的管道检测机器人，具有基于摩擦的移动能力","authors":"Nihar Masurkar, Ankit Das, Manoj Rudraboina, Drake Morris-Sjolund, Fernando Alvidrez, Ehsan Dehghan-Niri, Hamid Marvi","doi":"10.1007/s41315-024-00370-x","DOIUrl":null,"url":null,"abstract":"<p>The aging power plants are critical infrastructures that require regular inspection to ensure their longevity. Automated inspection, in particular, can save a significant amount of time and cost, and eliminate the safety concerns of manual inspection. For this purpose, we propose a biologically-inspired robot that integrates friction-based mobility and sensing. It is capable of traversing horizontal and vertical boiler tubes as well as tubes with a <span>\\(45^{\\circ }\\)</span> bend. Furthermore, the friction pads on the robot fingers allow for locomotion on the rough surfaces of the boiler tubes. These pads also provide grip on non-magnetic tubes enabling the robot to be deployed on tubes made of any material. In addition, this robot has electromagnetic acoustic transducers (EMAT) embedded in all of its fingers that enable defect detection during locomotion. The presented platform can inspect complex tubular structures and considerably reduce the time, cost, and hazards experienced in manual inspection.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":"45 1","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2024-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A biologically-inspired tube inspection robot with friction-based mobility\",\"authors\":\"Nihar Masurkar, Ankit Das, Manoj Rudraboina, Drake Morris-Sjolund, Fernando Alvidrez, Ehsan Dehghan-Niri, Hamid Marvi\",\"doi\":\"10.1007/s41315-024-00370-x\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The aging power plants are critical infrastructures that require regular inspection to ensure their longevity. Automated inspection, in particular, can save a significant amount of time and cost, and eliminate the safety concerns of manual inspection. For this purpose, we propose a biologically-inspired robot that integrates friction-based mobility and sensing. It is capable of traversing horizontal and vertical boiler tubes as well as tubes with a <span>\\\\(45^{\\\\circ }\\\\)</span> bend. Furthermore, the friction pads on the robot fingers allow for locomotion on the rough surfaces of the boiler tubes. These pads also provide grip on non-magnetic tubes enabling the robot to be deployed on tubes made of any material. In addition, this robot has electromagnetic acoustic transducers (EMAT) embedded in all of its fingers that enable defect detection during locomotion. The presented platform can inspect complex tubular structures and considerably reduce the time, cost, and hazards experienced in manual inspection.</p>\",\"PeriodicalId\":44563,\"journal\":{\"name\":\"International Journal of Intelligent Robotics and Applications\",\"volume\":\"45 1\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-08-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Robotics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1007/s41315-024-00370-x\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00370-x","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
A biologically-inspired tube inspection robot with friction-based mobility
The aging power plants are critical infrastructures that require regular inspection to ensure their longevity. Automated inspection, in particular, can save a significant amount of time and cost, and eliminate the safety concerns of manual inspection. For this purpose, we propose a biologically-inspired robot that integrates friction-based mobility and sensing. It is capable of traversing horizontal and vertical boiler tubes as well as tubes with a \(45^{\circ }\) bend. Furthermore, the friction pads on the robot fingers allow for locomotion on the rough surfaces of the boiler tubes. These pads also provide grip on non-magnetic tubes enabling the robot to be deployed on tubes made of any material. In addition, this robot has electromagnetic acoustic transducers (EMAT) embedded in all of its fingers that enable defect detection during locomotion. The presented platform can inspect complex tubular structures and considerably reduce the time, cost, and hazards experienced in manual inspection.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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