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Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

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journal contribution
posted on 13.08.2009, 15:22 authored by J.K. Ong, David Kerr, Kaddour Bouazza-Marouf
This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

ONG, J.K., KERR, D. and BOUAZZA-MAROUF, K., 2003. Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 217(2), pp. 109-122.

Publisher

Professional Engineering Publishing / © IMECHE

Version

VoR (Version of Record)

Publication date

2003

Notes

This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE ]. It is also available at: http://journals.pepublishing.com/content/119778

ISSN

0959-6518

Language

en