Development of an Inspection Robot for Spherical Storage Tanks

Development of spherical ultrasonic motor for pipe inspection robot

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasoni...

A Robotic End Effector for Inspection of Storage Tanks

development and implementation of an optimized control strategy for induction machine in an electric vehicle

in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...

Development of an inspection robot for small diameter distribution mains

This work discusses the design and construction of a robot for moving in small diameter pipes (down to 57 mm inside diameter), capable of negotiating curves, diameter changes, sharp bends and T-joints, intended for (semi) autonomous inspection of gas distribution mains. A number of fundamental design changes and improvements will be shown with respect to earlier designs. The new design is fully...

Construction cost estimation of spherical storage tanks: artificial neural networks and hybrid regression—GA algorithms

One of the most important processes in the early stages of construction projects is to estimate the cost involved. This process involves a wide range of uncertainties, which make it a challenging task. Because of unknown issues, using the experience of the experts or looking for similar cases are the conventional methods to deal with cost estimation. The current study presents data-driven metho...