The Design and Analysis of Autonomous Underwater Pipeline Inspection Robots

Fujie Yu; Yuan Chen

doi:10.1007/978-981-15-0142-5_18

The Design and Analysis of Autonomous Underwater Pipeline Inspection Robots

Fujie Yu
, Yuan Chen

University of Shandong University at Weihai

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

In recent years, some research institutes have proposed the use of cable-free autonomous underwater vehicle-manipulator system (UVMS) for pipeline inspection. However, there are still some problems in applying conventional UVMS to the pipeline inspection and maintenance. According to the requirements of pipeline inspection mission, we have proposed a novel UVMS with adsorption capacity. Compared with the conventional UVMS, the UVMS can be adapted to a pipeline having a diameter of Φ500–1000 mm when adsorbed, so the end effector has higher operational precision compared to the floating state. Furthermore, the kinematics and the dynamic models of UVMS are established. Among them, the dynamic model of UVMS is established by the SimMechanics toolbox under MATLAB/Simulink, which overcomes the complexity of high-dimensional and dynamic interactions of UVMS.

Original language	English
Pages (from-to)	172-181
Number of pages	10
Journal	Mechanisms and Machine Science
Volume	79
DOIs	https://doi.org/10.1007/978-981-15-0142-5_18
State	Published - 2020
Externally published	Yes

Keywords

Precise operation
SimMechanics
UVMS

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10.1007/978-981-15-0142-5_18

Cite this

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title = "The Design and Analysis of Autonomous Underwater Pipeline Inspection Robots",

abstract = "In recent years, some research institutes have proposed the use of cable-free autonomous underwater vehicle-manipulator system (UVMS) for pipeline inspection. However, there are still some problems in applying conventional UVMS to the pipeline inspection and maintenance. According to the requirements of pipeline inspection mission, we have proposed a novel UVMS with adsorption capacity. Compared with the conventional UVMS, the UVMS can be adapted to a pipeline having a diameter of Φ500–1000 mm when adsorbed, so the end effector has higher operational precision compared to the floating state. Furthermore, the kinematics and the dynamic models of UVMS are established. Among them, the dynamic model of UVMS is established by the SimMechanics toolbox under MATLAB/Simulink, which overcomes the complexity of high-dimensional and dynamic interactions of UVMS.",

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author = "Fujie Yu and Yuan Chen",

note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd.",

year = "2020",

doi = "10.1007/978-981-15-0142-5\_18",

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AU - Chen, Yuan

PY - 2020

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N2 - In recent years, some research institutes have proposed the use of cable-free autonomous underwater vehicle-manipulator system (UVMS) for pipeline inspection. However, there are still some problems in applying conventional UVMS to the pipeline inspection and maintenance. According to the requirements of pipeline inspection mission, we have proposed a novel UVMS with adsorption capacity. Compared with the conventional UVMS, the UVMS can be adapted to a pipeline having a diameter of Φ500–1000 mm when adsorbed, so the end effector has higher operational precision compared to the floating state. Furthermore, the kinematics and the dynamic models of UVMS are established. Among them, the dynamic model of UVMS is established by the SimMechanics toolbox under MATLAB/Simulink, which overcomes the complexity of high-dimensional and dynamic interactions of UVMS.

AB - In recent years, some research institutes have proposed the use of cable-free autonomous underwater vehicle-manipulator system (UVMS) for pipeline inspection. However, there are still some problems in applying conventional UVMS to the pipeline inspection and maintenance. According to the requirements of pipeline inspection mission, we have proposed a novel UVMS with adsorption capacity. Compared with the conventional UVMS, the UVMS can be adapted to a pipeline having a diameter of Φ500–1000 mm when adsorbed, so the end effector has higher operational precision compared to the floating state. Furthermore, the kinematics and the dynamic models of UVMS are established. Among them, the dynamic model of UVMS is established by the SimMechanics toolbox under MATLAB/Simulink, which overcomes the complexity of high-dimensional and dynamic interactions of UVMS.

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KW - UVMS

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DO - 10.1007/978-981-15-0142-5_18

M3 - 文章

AN - SCOPUS:85072794514

SN - 2211-0984

VL - 79

SP - 172

EP - 181

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

The Design and Analysis of Autonomous Underwater Pipeline Inspection Robots

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Keywords

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