• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.439-440
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.361-362
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• 2010

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.1
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• pp.8-15
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• 2003

The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.1
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• pp.175-183
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• 2008

In this paper, a new in-pipe inspection robot was developed for inspecting a large number of circular pipe insides of the sea plant, ships, and buildings. A new pressure generation system was devised to inspect circular pipes with different diameters and to move up and down slant or perpendicular slopes inside of the pipe. Also, a design method was analyzed to decide the capacity of driving motor for the robot if the mass and maximum velocity of the robot are identified. According to the design specification, a robot was developed and was tested to verify the performance of the pressure generation system. For tests, a control system was developed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.3
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• pp.602-607
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• 2009

Most of explorer robot in past has the fixed magnitude and communicate with wire communication method. In case of various range of pipe's width and various angle in pipe inter structure, the exploring work is very difficult. Thus, in this paper, we design as dealing with spring tension with pushing out pipe exterior, and applied RF communication. We can accept good performance both structure change and improvement of ability, monitor and collect the defaults data in pipe inter structure. Newly designed and developed pipe explorer robot is very advantageous to carrying and driving as being small and law weight.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.87-95
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• 2006

The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by a high pressure steam flow inside the pipe, which is a well known degradation mechanism called a FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends close to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper describes a mobile feeder pipe inspection robot that can minimize the irradiation dose to human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on to the pipe, one extendable and contractible actuator, and a rotation actuator connected to the two gripper bodies to move forward and backward, and to rotate in a circumferential direction.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1029-1034
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• 2006

In this paper, the tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder is studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopt a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer is also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.5
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• pp.662-671
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• 2009

In this paper, a robot was developed for in-pipe cleaning and inspecting a large number of circular in-pipes of sea plants, ships, and buildings. A pressure generation mechanism was devised to inspect circular in-pipes with different diameters and to move up and down slant or perpendicular slopes in-pipes. For inspection of the dark inner side of the pipe, a light system using LED which dissipats small electricity was developed. Also, a design method was analyzed to decide the capacity of driving motor for the robot when the mass and maximum velocity of the robot are identified. The robot developed based on the design specification, was tested to verify the performance of the pressure generation mechanism. In addition, a control system was developed for the test.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.2
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• pp.58-65
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• 2021

Most pipe-inspection robots have fixed sizes and use a wired cable system. Pipelines are generally composed of various structures, including bent pipes, vertical pipes, branch pipes, and holes, and it is difficult to explore the insides of such modular piping structures. In an offshore plant pipeline, a robot that can pass through the pipe hole in the downward direction or avoid obstacles, such as a measuring instruments, has not been introduced yet. In this study, an inspection robot that can travel through most pipelines in offshore plants is proposed. This robot uses mecanum wheels; upward, downward, and rotary motion; and a novel rotatable mechanism. Moreover, the robot is designed to be compact and lightweight to include additional devices in the middle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.725-726
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• 2008