• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.576-579
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• 1997

In order to repair sewage pipes, it is necessary to dig up the damaged sewage pipes, which results in traffic jams. Since digging up the pipes takes too much time and cost, this method is inefficient. So, in stead of digging up the damaged pipes, a robot is sent down to the pipe to do the repair works. For big pipes, human workers go into the pipe and do to repair works, but for small pipes, it is impossible for human worker to go inside the pipe. In this case, mobile robots have used. The procedures for repairing pipes are as follows : First, the condition of the sewage pipes is observed by a robot. Second, appropriate steps for repair are determined according to the types of the damage. While repairing procedures, a newly-developed packer is sent into the sport to be repaired inside the pipe. Then, the packer is filled with air by a V-shaped wrinkel pipe. This makes the packer inflates uniformly and adhere closely to the inside wall of the pipe in large area. This increases the area that can be repaired. Therefore, the newly-developed packer will be very helpful for sewage pipe repair works.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1270-1274
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• 2012

The pipe laid underground more than three decades ago are already starting to reveal the problem like corrosion. There have been many studies to design robotic system for a cost-effective revival of old pipes. And the ability to inspect in the pipes, the ability to treat and repaint the pipes and the fault-tolerant robotic system are well known important factors for the robotic system. It's real hard part to manage the underground pipes for companies because it needs high technical and too much money. According to this reasons, in this paper, we had design an in-pipe robotic system having abilities to inspect outworn pipes, to treat and paint old pipes. This new robot system is pressing wall type robot, and it has a good carrying power for working.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.173.1-173
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• 2001

This paper proposes the methodology in image processing algorithm that estimates the pose of the pipe crawling robot. The pipe crawling robots are usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light varies with the robot posture. The algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• Smart Structures and Systems
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• v.13 no.6
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• pp.1041-1063
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• 2014

This work introduces a two-module robotic pipe inspection system with ultrasonic NDE device to evaluate the integrity of pipe structures. The proposed robotic platform has high mobility. The two module mobile robot platform overcomes pipe obstacle structures such as elbow, or T-branch joints by cooperative maneuvers. Also, it can climb up the straight pipeline at a fast speed due to the wheel driven mechanism. For inspection of pipe structure, SH-waves generated by EMAT are applied with additional signal processing methods. A wavelet transform is implemented to extract a meaningful and specific signal from the superposed SH-wave signals. Intensity ratio which is normalized the defect signals intensity by the maximum intensity of directly transmitted signals in the wavelet transforms spectrum is applied to evaluate defects quantitatively. It is experimentally verified that the robotic ultrasonic inspection system with EMAT is capable of non-destructive inspection and evaluation of defects in pipe structure successfully by applying signal processing method based on wavelet transform.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.283-284
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.309-310
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.727-728
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.323-324
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• 2011

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.3
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• pp.223-231
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• 2008

This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe in-SPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MRINSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.178-182
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• 2022

Post-tension duct in nuclear reactor containment building is filled with grease to prevent steel strand from corroding. If grease leaks by break of duct, steel strand will corrode and cause problem in building safety. Therefore, grease leak should be checked preventatively. But currently used method is inefficient, since it has to remove grease and strand to check. And other methods for checking post-tension dust are not well-researched. In this paper, we develop screw-propelled robot that can move in grease and detect grease duct directly. Also, we make the test environment that is similar to real post-tension duct of containment building and test robot in that environment to verify that our robot is feasible in the post-tension duct. The robot can move forward and backward in grease duct by twin screw mechanism and has mount for sensors to detect grease leakage and strand corrosion.