A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot

Brunete González, Alberto; Torres Matesanz, José Emilio; Hernando Gutiérrez, Miguel y Gambao Galán, Ernesto (2008). A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot. "International Journal of Information Acquisition", v. 5 (n. 2); pp. 111-126. ISSN 0219-8789. https://doi.org/10.1142/S0219878908001533.

Descripción

Título: A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot
Autor/es:
  • Brunete González, Alberto
  • Torres Matesanz, José Emilio
  • Hernando Gutiérrez, Miguel
  • Gambao Galán, Ernesto
Tipo de Documento: Artículo
Título de Revista/Publicación: International Journal of Information Acquisition
Fecha: Junio 2008
Volumen: 5
Materias:
Palabras Clave Informales: Modular, multicon_gurable, heterogeneous, pipe-inspection, behavior-based
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (3MB) | Vista Previa

Resumen

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing.

Más información

ID de Registro: 2811
Identificador DC: http://oa.upm.es/2811/
Identificador OAI: oai:oa.upm.es:2811
Identificador DOI: 10.1142/S0219878908001533
URL Oficial: http://www.worldscinet.com/ijia/05/0502/S0219878908001533.html
Depositado por: Memoria Investigacion
Depositado el: 11 May 2010 11:23
Ultima Modificación: 20 Abr 2016 12:27
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM