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Mathematical model to analyze the geometric limitations of mechatronic devices moving in curved pipe sections

Zwierzyński Adam Jan

Journal of Geotechnology and Energy

2024

Vol. 41, no. 4

27--34

This article presents a method enabling the determination of the minimum radius of pipe bending in which it is possible to move freely a cylinder with defined dimensions. A respective mathematical model has been presented. The below-described method can be useful in the future, while designing mechatronic tools for working in lateral bores starting from a vertical bore, and also while designing inspection robots moving in pipes and pipelines.

Trajectory determination for pipelines using an inspection robot and pipeline features

Zhang Shuo, Dubljevic Stevan

Metrology and Measurement Systems

2021

Vol. 28, nr 3

439--453

Geographic trajectory of a pipeline is important information for pipeline maintenance and leak detection. Although accurate trajectory of a ground pipeline usually can be directly measured by using global positioning system technology, it is much difficult to determine trajectory for an underground pipeline where global positioning system signal cannot be received. In this paper, a new method to determine trajectory for an underground pipeline by using a pipeline inspection robot is proposed. The robot is equipped with a low-cost inertial measurement unit and odometers. The kinematic model, measurement model and error propagation model are established for estimating position, velocity and attitude of the robot. The path reconstruction algorithm for the robot is proposed to improve accuracy of trajectory determination based on pipeline features. The experiment is given to illustrate that the position errors of the proposed method are less than 40% of that of the standard extended Kalman filter.