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

科研成果: 期刊稿件 › 文章 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	172-181
页数	10
期刊	Mechanisms and Machine Science
卷	79
DOI	https://doi.org/10.1007/978-981-15-0142-5_18
出版状态	已出版 - 2020
已对外发布	是

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

@article{ea563b38d6cc45bc9aaac3cbdc655552,

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.",

keywords = "Precise operation, SimMechanics, UVMS",

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",

language = "英语",

volume = "79",

pages = "172--181",

journal = "Mechanisms and Machine Science",

issn = "2211-0984",

publisher = "Springer Netherlands",

}

TY - JOUR

T1 - The Design and Analysis of Autonomous Underwater Pipeline Inspection Robots

AU - Yu, Fujie

AU - Chen, Yuan

PY - 2020

Y1 - 2020

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.

KW - Precise operation

KW - SimMechanics

KW - UVMS

UR - https://www.scopus.com/pages/publications/85072794514

U2 - 10.1007/978-981-15-0142-5_18

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

摘要

访问文件

其它文件与链接

指纹图谱

引用此