Design of a maneuverable swimming robot for in-pipe missions

You Wu; Antoine Noel; David Donghyun Kim; Kamal Youcef-Toumi; Rached Ben-Mansour

doi:10.1109/IROS.2015.7354061

Design of a maneuverable swimming robot for in-pipe missions

You Wu, Antoine Noel, David Donghyun Kim, Kamal Youcef-Toumi, Rached Ben-Mansour

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

Autonomous underwater robots provide opportunities to perform missions in confined environments such as water pipe networks. They can carry sensors in these pipes and perform tasks such as mapping and inspection. Those robots must have a high level of maneuverability in order to navigate through complex networks of pipes with irregularities due to rust and calcite deposition. We propose a fully integrated, untethered robot capable of carrying sensors and maneuver into water pipe networks. The objective of this paper is to present (i) the optimal shape design and (ii) a propulsion system selection and sizing procedure for such robots. A prototype is built to demonstrate the basic elements of maneuverability, including following straight lines and making sharp turns.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4864-4871
Number of pages	8
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354061
State	Published - 11 Dec 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7354061

Cite this

Wu, Y., Noel, A., Kim, D. D., Youcef-Toumi, K., & Ben-Mansour, R. (2015). Design of a maneuverable swimming robot for in-pipe missions. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4864-4871). Article 7354061 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354061

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title = "Design of a maneuverable swimming robot for in-pipe missions",

abstract = "Autonomous underwater robots provide opportunities to perform missions in confined environments such as water pipe networks. They can carry sensors in these pipes and perform tasks such as mapping and inspection. Those robots must have a high level of maneuverability in order to navigate through complex networks of pipes with irregularities due to rust and calcite deposition. We propose a fully integrated, untethered robot capable of carrying sensors and maneuver into water pipe networks. The objective of this paper is to present (i) the optimal shape design and (ii) a propulsion system selection and sizing procedure for such robots. A prototype is built to demonstrate the basic elements of maneuverability, including following straight lines and making sharp turns.",

author = "You Wu and Antoine Noel and Kim, {David Donghyun} and Kamal Youcef-Toumi and Rached Ben-Mansour",

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year = "2015",

month = dec,

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doi = "10.1109/IROS.2015.7354061",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Wu, Y, Noel, A, Kim, DD, Youcef-Toumi, K & Ben-Mansour, R 2015, Design of a maneuverable swimming robot for in-pipe missions. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7354061, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 4864-4871. https://doi.org/10.1109/IROS.2015.7354061

Design of a maneuverable swimming robot for in-pipe missions. / Wu, You; Noel, Antoine; Kim, David Donghyun et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4864-4871 7354061 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Autonomous underwater robots provide opportunities to perform missions in confined environments such as water pipe networks. They can carry sensors in these pipes and perform tasks such as mapping and inspection. Those robots must have a high level of maneuverability in order to navigate through complex networks of pipes with irregularities due to rust and calcite deposition. We propose a fully integrated, untethered robot capable of carrying sensors and maneuver into water pipe networks. The objective of this paper is to present (i) the optimal shape design and (ii) a propulsion system selection and sizing procedure for such robots. A prototype is built to demonstrate the basic elements of maneuverability, including following straight lines and making sharp turns.

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Wu Y, Noel A, Kim DD, Youcef-Toumi K, Ben-Mansour R. Design of a maneuverable swimming robot for in-pipe missions. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 4864-4871. 7354061. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7354061

Design of a maneuverable swimming robot for in-pipe missions

Abstract

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Bibliographical note

ASJC Scopus subject areas

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