TY - GEN
T1 - A Self-Rescue Mechanism for an In-Pipe Robot for Large Obstacle Negotiation in Water Distribution Systems
AU - Kazeminasab, Saber
AU - Razavi, Moein
AU - Dehghani, Sajad
AU - Khosrotabar, Morteza
AU - Banks, Katherine
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a 'self-rescue' mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.
AB - Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a 'self-rescue' mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.
KW - in-pipe robot
KW - self-rescue mechanism
KW - stabilizer controller
KW - wall-press mechanism
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U2 - 10.1109/ICMERR54363.2021.9680831
DO - 10.1109/ICMERR54363.2021.9680831
M3 - Conference contribution
AN - SCOPUS:85125668434
T3 - 2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
SP - 91
EP - 96
BT - 2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
Y2 - 11 December 2021 through 13 December 2021
ER -