We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classi ed, where classi cation is allowed to be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot ...

The heat pipe applications have been coupled with the renewable energy such as solar energy, waste heat and geothermal energy. Thermosyphon Rankine Cycle (TRC) is a vertical wickless heat pipe engine. In this engine, the turbine is installed between the insulated section and a condenser section of thermosyphon. The mechanical energy developed by the turbine can be converted to electricity, by d...

In this paper, we formulate a mathematical model to study the dynamics of submerged and inclined concentric pipes with diierent lengths. The governing equations of motion for the inner pipe are derived under small deformation assumptions and with the consideration of gravitational forces, turbulent boundary layer thickness of external ow, uid frictional forces, and inertia eeects. We obtain dis...

This paper presents a new approach to approximating the ows of continuous time dynamic systems from sets of initial conditions. The reachable set, or ow pipe, over a time interval 0; t f ] is approximated by the union of a sequence of convex polyhedra. Each poly-hedron contains a segment of the ow pipe. Properties of the approximation technique are discussed and illustrated with examples for li...

This paper describes a vision processing architecture which together with a robotic camera platform and control subsystem comprise a multi-processor real-time system for research into active vision. Experimentation in time-critical aspects of the active vision paradigm over several years has demonstrated the flexibility of “pipe-groups” used as the building block in the system. The design of th...

Inspector Systems is a specialist in manufacturing of tethered self-propelled pipe robots for internal inspection, non-destructive testing and machining of pipeline systems. Our industrial sectors, which originates from 30 year experience in the nuclear industry, are Gas & Oil (On-/Offshore, Refineries), Chemical, Petrochemical, Water etc. The pipe robots are able to get inserted through poor a...

In this paper a previously developed theoretical model of the measurement process performed by a transittime ultrasonic anemometer is applied to a fluid flowing through a circular section pipe. This model considers the influence of the shift of the acoustic pulse trajectory from straight propagation due to the flow on the measured speed. The aim of this work is to estimate the errors induced in...

We proposed an economic, cost-constrained optimal design of a water distribution system (WDS) that maximizes seismic reliability while satisfying pressure constraints. The model quantifies the seismic reliability of a WDS through a series of procedures: stochastic earthquake generation, seismic intensity attenuation, determination of the pipe failure status (normal, leakage, and breakage), pipe...

A novel capsule pipeline transportation system using a linear synchronous motor, called Magplane MagPipe, is under development with the intention to replace trucks and railways for hauling materials from the mine to the rail head, power plant or processing plant with reduced operating cost and energy consumption. The initial demonstration of a MagPipe line in Inner Mongolia will be a 500 meter ...

According to flexibility of pneumatic conveying systems with respect to other types of transmission systems, this system has wide application in industry and agriculture processes. One important application of this system is in the loading and unloading tankers and powdery bulk materials such as trucks carrying cement, plaster and sand. Conveying efficiency is associated with pressure, which in...