Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part of the robot sub-system responsible of the locomotion. Firstly, three architectures are chosen from the literature and their properties are described. Then, a method using a multi-objective optimization is proposed to determine the best architecture and the optimal geometric parameters of a leg taking into account environmental and design constraints. In this context, the objective functions are the minimization of the mechanism size and the maximization of the transmission force factor. Representations of the Pareto front versus the objective functions and the design parameters are given. Finally, the CAD model of several solutions located on the Pareto front are presented and discussed.Comment: Proceedings of the ASME 2014 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Buffalo : United States (2014

AUTONOMOUS PIPELINE ROBOT

ABSTRACT Crack inspection is an important task in the maintenance of pipe line and it is closel

Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system

Numerical and Experimental Validation of the Prototype of A Bio-Inspired Piping Inspection Robot

Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterpillar type piping inspection robot was developed at Laboratoire des Sciences du Num&eacute rique de Nantes (LS2N), France. Using DC motors and leg mechanisms, the robot accomplishes the locomotion of a caterpillar in six-steps. With the help of Coulomb&rsquo s law of dry friction, a static force model was written and the contact forces between legs of robot and pipeline walls were determined. The actuator forces of the DC motors were then estimated under static phases for horizontal and vertical orientations of the pipeline. Experiments were then conducted on the prototype where the peak results of static force analysis for a given pipe diameter were set as threshold limits to attain static phases inside a test pipeline. The real-time actuator forces were estimated in experiments for similar orientations of the pipeline of static force models and they were found to be higher when compared to the numerical model. Document type: Articl

Miniature Mobile Systems for Inspection of Ferromagnetic Structures

Power plants require periodical inspections to control their state. To ensure a safe operation, parts that could fail before the next inspection are repaired or replaced, since a forced outage due to a failure can cost up to millions of dollars per day. Non-Destructive Testing (NDT) methods are used to detect different defects that could occur, such as cracks, thinning, corrosion or pitting. Some parts are inspected directly in situ, but may be difficult to access; these can require opening access holes or building scaffoldings. Other parts are disassembled and inspected in workshops, when the required inspection tools cannot be moved. In this thesis, we developed innovative miniature mobile systems able to move within these small and complex installations and inspect them. Bringing sensors to difficult-to-access places using climbing robots can reduce the inspection time and costs, because some dismantling or scaffolding can be eliminated. New miniature sensors can help to inspect complex parts without disassembling them, and reduce the inspection costs, as well. To perform such inspections, miniature mobile systems require a high mobility and keen sensing capabilities. The following approach was used to develop these systems. First, different innovative climbing robots are developed. They use magnetic adhesion, as most structures are made of ferromagnetic steel. Then, vision is embedded in some of the robots. Performing visual inspections becomes thus possible, as well as controlling the robots remotely, without viewing them. Finally, non-visual NDT sensors are developed and embedded in some of the robots, allowing them to detect defects that simple vision cannot detect. Achieving the miniaturization of the developed systems requires strong system integration during these three steps. A set of examples for the different steps has been designed, implemented and tested to illustrate this approach. The Tripillars robots, for instance, use caterpillars, and are able to climb on surfaces of any inclination and to pass inner angles. The Cy-mag3Ds robots use an innovative magnetic wheel concept, and are able to climb on surfaces of any inclination and to pass inner angles, outer angles and surface flips. The Tubulos robots move in tubes of 25 mm diameter at any inclination. All robots embed the required electronics, actuators, sensors and energy to be controlled remotely by the user. Wireless transmission of the commands signals allows the systems to maintain their full mobility without disturbing cables. Integrating Hall sensors near the magnetic systems allows them to measure the adhesion force. This information improves the security of the robots, since when the adhesion force becomes low, the robots can be stopped before they fall. The Tubulo II uses Magnetic Switchable Devices (MSDs) for adhesion. An MSD is composed of a ferromagnetic stator and one or more moving magnets; it has the advantage of requiring only a low force to switch on or off a high adhesion force. MSDs have the advantage of being easy to clean of the magnetic dust that is present in most real environments and that sticks strongly to magnetic systems. As an additional step toward inspection, a camera is embedded on the Cy-mag3D II and the Tubulos. It allows these robots to inspect visually the structures the robots move in, and to control them remotely. The perspective of a climbing robot in an unknown environment is often not enough to give the user a sense of its scale, and to move efficiently in it. A distance sensor is designed and embedded on the Cy-mag3D II, which increases the user's perception of the environment substantially; Finally, an innovative miniature Magnetic Particle Inspection (MPI) system was developed to inspect turbine blades without disassembling them. An MSD is used to perform the required magnetization. The system can automatically inspect a flat surface, performing all the required steps of MPI: magnetize, spray magnetic particles, record images under UV light and demagnetize. Thanks to the strong integration and miniaturization, the system can potentially inspect complex parts such as steam turbines

The Design and Development of a Mobile Colonoscopy Robot

The conventional colonoscopy is a common procedure used to access the colon. Despite it being considered the Gold Standard procedure for colorectal cancer diagnosis and treatment, it has a number of major drawbacks, including high patient discomfort, infrequent but serious complications and high skill required to perform the procedure. There are a number of potential alternatives to the conventional colonoscopy, from augmenting the colonoscope to using Computed Tomography Colonography (CTC) - a completely non-invasive method. However, a truly effective, all-round alternative has yet to be found. This thesis explores the design and development of a novel solution: a fully mobile colonoscopy robot called “RollerBall”. Unlike current passive diagnostic capsules, such as PillCam, this device uses wheels at the end of adjustable arms to provide locomotion through the colon, while providing a stable platform for the use of diagnostic and therapeutic tools. The work begins by reviewing relevant literature to better understand the problem and potential solutions. RollerBall is then introduced and its design described in detail. A robust prototype was then successfully fabricated using a 3D printing technique and its performance assessed in a series of benchtop experiments. These showed that the mechanisms functioned as intended and encouraged the further development of the concept. Next, the fundamental requirement of gaining traction on the colon was shown to be possible using hexagonal shaped, macro-scale tread patterns. A friction coefficient ranging between 0.29 and 0.55 was achieved with little trauma to the tissue substrate. The electronics hardware and control were then developed and evaluated in a series of tests in silicone tubes. An open-loop strategy was first used to establish the control algorithm to map the user inputs to motor outputs (wheel speeds). These tests showed the efficacy of the locomotion technique and the control algorithm used, but they highlighted the need for autonomy. To address this, feedback was included to automate the adjusting of the arm angle and amount of force applied by the device; a forward facing camera was also used to automate the orientation control by tracking a user-defined target. Force and orientation control were then combined to show that semi-autonomous control was possible and as a result, it was concluded that clinical use may be feasible in future developments

Queensland University of Technology: Handbook 1996

The Queensland University of Technology handbook gives an outline of the faculties and subject offerings available that were offered by QUT

Queensland University of Technology: Handbook 1997

The Queensland University of Technology handbook gives an outline of the faculties and subject offerings available that were offered by QUT