Inspection robot of spherical gas storage tanks.

A Robotic End Effector for Inspection of Storage Tanks

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...

A Consequence Analysis of the Explosion of Spherical Tanks Containing Liquefied Petroleum Gas (LPG)

A consequence analysis was performed in one of the gas refineries in Iran to investigate the risks andpotential losses resulted from accidents. Specifically, the consequences of an explosion in LPGspherical tanks were modeled using PHAST and MATLAB software. In this paper, three methods ofcalculation of PHAST software TNT, multi-energy, and BST were used. The results showed th...

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...

Vehicle Suspension Inspection by Stewart Robot

The suspension system of a vehicle is one of the most important parts which is involved in the process of vehicle designing. When a vehicle suspension system is designed, the evaluation of its performance against the road disturbances such as shocks and bumps are very important. The most commonly used systems consist of four hydraulic Jacks with mobility in vertical line with low speed and l...