Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection
Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection
复制标题
用于管道检查的自走式胶囊系统的概念验证原型开发
DOI：
10.1007/s11012-017-0801-3
复制
发表时间：
2017-11
期刊：
影响因子：
2.7
通讯作者：
Yusupov A.
中科院分区：
文献类型：
--
作者：
Yan Y.;Liu Y.;Paez Chavez J.;Zonta F.;Yusupov A.
本文研究了在外部阻力作用下利用自激振动和冲击驱动的自推进胶囊系统的样机研制。该项目旨在验证其在管道环境中的运动概念，以减轻当前压力驱动管道检测技术带来的技术复杂性和困难。采用非光滑多体动力学描述了航天器系统的运动，并考虑了摩擦和碰撞两种非光滑非线性。设计了一个由一个周期性激励杆的推式螺线管驱动的自推进胶囊系统的原型，以验证建模方法。该原型包含一个微控制器，一个电源和一个无线控制模块，已通过远程控制在透明uPVC管中进行了测试。对冲击刚度、激振频率和激振幅值等控制参数进行了实验研究，得到了系统的最快前进速度。
This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.
登录
查看更多内容
DOI：
10.1145/103147.103149
发表时间：
1991-03
期刊：
ACM Trans. Math. Softw.
影响因子：
--
作者：
L. Shampine;I. Gladwell;R. Brankin
通讯作者：
L. Shampine;I. Gladwell;R. Brankin
影响因子：
3.4
作者：
R. Muscia
通讯作者：
R. Muscia
DOI：
10.1016/j.jappmathmech.2008.04.014
发表时间：
2008-08
期刊：
Journal of Applied Mathematics and Mechanics
影响因子：
--
作者：
F. L. Chernous’ko
通讯作者：
F. L. Chernous’ko
影响因子：
5.6
作者：
Liu, Yang;Paez Chavez, Joseph
通讯作者：
Paez Chavez, Joseph
DOI：
10.1109/iconac.2016.7604899
发表时间：
2016-09
期刊：
2016 22nd International Conference on Automation and Computing (ICAC)
影响因子：
--
作者：
A. Yusupov;Yang Liu
通讯作者：
A. Yusupov;Yang Liu