TY - GEN
T1 - Design, Characterization, and Control of a Size Adaptable In-pipe Robot for Water Distribution Systems
AU - Kazeminasab, Saber
AU - Akbari, Ali
AU - Jafari, Roozbeh
AU - Banks, M. Katherine
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/10
Y1 - 2021/3/10
N2 - Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we present the design of the central processor, characterize and control the robot based on the condition of operation in highly pressurized environment of pipelines with the presence of high-speed flow. To this aim, an extreme operation condition is simulated with computational fluid dynamics (CFD) and the spring mechanism is characterized to ensure sufficient stabilizing force during operation based on the extreme operating condition. Also, an end-to-end method is suggested for power considerations for our robot that calculates minimum battery capacity and operation duration in the extreme operating condition. Finally, we design a novel LQR-PID based controller based on the system's auxiliary matrices that retains the robot's stability inside pipeline against disturbances and uncertainties during operation. The ADAMS-MATLAB co-simulation of the robot-controller shows rotational velocity with -4°/sec and +3°/sec margin around x, y, and z axes while the system tracks different desired velocities in pipelines (i.e. 0.12m/s, 0.17m/s, and 0.35m/s). Also, experimental results for four iterations in a 14-inch diameter PVC pipe show that the controller brings initial values of stabilizing states to zero and oscillate around it with a margin of ±2° and the system tracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makes the robot dexterous in uncertain and highly disturbed environment of pipelines during operation.
AB - Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we present the design of the central processor, characterize and control the robot based on the condition of operation in highly pressurized environment of pipelines with the presence of high-speed flow. To this aim, an extreme operation condition is simulated with computational fluid dynamics (CFD) and the spring mechanism is characterized to ensure sufficient stabilizing force during operation based on the extreme operating condition. Also, an end-to-end method is suggested for power considerations for our robot that calculates minimum battery capacity and operation duration in the extreme operating condition. Finally, we design a novel LQR-PID based controller based on the system's auxiliary matrices that retains the robot's stability inside pipeline against disturbances and uncertainties during operation. The ADAMS-MATLAB co-simulation of the robot-controller shows rotational velocity with -4°/sec and +3°/sec margin around x, y, and z axes while the system tracks different desired velocities in pipelines (i.e. 0.12m/s, 0.17m/s, and 0.35m/s). Also, experimental results for four iterations in a 14-inch diameter PVC pipe show that the controller brings initial values of stabilizing states to zero and oscillate around it with a margin of ±2° and the system tracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makes the robot dexterous in uncertain and highly disturbed environment of pipelines during operation.
KW - In-pipe robots
KW - LQR-PID controller
KW - Leak detection
KW - Modular robots
KW - Water quality monitoring
UR - http://www.scopus.com/inward/record.url?scp=85108258899&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85108258899&partnerID=8YFLogxK
U2 - 10.1109/ICIT46573.2021.9453583
DO - 10.1109/ICIT46573.2021.9453583
M3 - Conference contribution
AN - SCOPUS:85108258899
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 39
EP - 46
BT - Proceedings - 2021 22nd IEEE International Conference on Industrial Technology, ICIT 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd IEEE International Conference on Industrial Technology, ICIT 2021
Y2 - 10 March 2021 through 12 March 2021
ER -