Matches in SemOpenAlex for { <https://semopenalex.org/work/W2964346346> ?p ?o ?g. }
Showing items 1 to 53 of
53
with 100 items per page.
- W2964346346 abstract "As a part of a project with AREVA, an inspection robot for 50-94 mm diameter range pipelines have been developed. By using leg mechanisms, DC motors, spindle drive, and control boards, the robot accomplishes the locomotion of a caterpillar. Two algorithms can be classified for the control of this robot via Displacement control algorithm and Force control algorithm. The former deals with the estimation of the position of a robot inside a known environment and it requires sensors for identifying position as well as for initiation procedures. In the case of force control, the algorithm is highly suitable for a robot that moves inside an unknown or closed environment. Using a BeagleBone (BB) black board, the force control algorithm is developed for the inspection robot under study. As the robot works inside pipelines of unknown diameters, the reconfigurable pins of BB black are employed to apply a voltage in order to achieve the desired clamping force for having contact with pipeline walls. By setting threshold limits, the voltage and current supply to the motors can be cutoff at the end of clamping or retraction operations. With the help of ADC, the output voltage can be displayed to the user on a computer. For smooth functioning of the robot, the parameters of the motor such as the maximum velocity, direction of rotation and nominal current are calibrated prior to the start of experiments. The output voltage and currents of the motors are generated and plotted for a locomotion cycle of the robot inside a 74 mm diameter straight pipeline." @default.
- W2964346346 created "2019-07-30" @default.
- W2964346346 creator A5019311859 @default.
- W2964346346 creator A5023228352 @default.
- W2964346346 creator A5039524439 @default.
- W2964346346 date "2019-08-26" @default.
- W2964346346 modified "2023-10-17" @default.
- W2964346346 title "Prototyping a piping inspection robot using a BeagleBone black board" @default.
- W2964346346 hasPublicationYear "2019" @default.
- W2964346346 type Work @default.
- W2964346346 sameAs 2964346346 @default.
- W2964346346 citedByCount "1" @default.
- W2964346346 countsByYear W29643463462020 @default.
- W2964346346 crossrefType "proceedings-article" @default.
- W2964346346 hasAuthorship W2964346346A5019311859 @default.
- W2964346346 hasAuthorship W2964346346A5023228352 @default.
- W2964346346 hasAuthorship W2964346346A5039524439 @default.
- W2964346346 hasBestOaLocation W29643463461 @default.
- W2964346346 hasConcept C111919701 @default.
- W2964346346 hasConcept C127413603 @default.
- W2964346346 hasConcept C149635348 @default.
- W2964346346 hasConcept C154945302 @default.
- W2964346346 hasConcept C2779095084 @default.
- W2964346346 hasConcept C41008148 @default.
- W2964346346 hasConcept C78519656 @default.
- W2964346346 hasConcept C90509273 @default.
- W2964346346 hasConceptScore W2964346346C111919701 @default.
- W2964346346 hasConceptScore W2964346346C127413603 @default.
- W2964346346 hasConceptScore W2964346346C149635348 @default.
- W2964346346 hasConceptScore W2964346346C154945302 @default.
- W2964346346 hasConceptScore W2964346346C2779095084 @default.
- W2964346346 hasConceptScore W2964346346C41008148 @default.
- W2964346346 hasConceptScore W2964346346C78519656 @default.
- W2964346346 hasConceptScore W2964346346C90509273 @default.
- W2964346346 hasLocation W29643463461 @default.
- W2964346346 hasLocation W29643463462 @default.
- W2964346346 hasLocation W29643463463 @default.
- W2964346346 hasOpenAccess W2964346346 @default.
- W2964346346 hasPrimaryLocation W29643463461 @default.
- W2964346346 hasRelatedWork W1606571145 @default.
- W2964346346 hasRelatedWork W2048559504 @default.
- W2964346346 hasRelatedWork W2092522664 @default.
- W2964346346 hasRelatedWork W2372546313 @default.
- W2964346346 hasRelatedWork W2385777912 @default.
- W2964346346 hasRelatedWork W2614019867 @default.
- W2964346346 hasRelatedWork W2642647287 @default.
- W2964346346 hasRelatedWork W2899084033 @default.
- W2964346346 hasRelatedWork W415128147 @default.
- W2964346346 hasRelatedWork W2460600108 @default.
- W2964346346 isParatext "false" @default.
- W2964346346 isRetracted "false" @default.
- W2964346346 magId "2964346346" @default.
- W2964346346 workType "article" @default.