A review on various types of in-pipe inspection robot

Policymakers need to consider the impacts that robots and artificial intelligence (AI) technologies have on humans beyond physical safety. Traditionally, the definition of safety has been interpreted to exclusively apply to risks that have a physical impact on persons' safety, such as, among others, mechanical or chemical risks. However, the current understanding is that the integration of AI in cyber-physical systems such as robots, thus increasing interconnectivity with several devices and cloud services, and influencing the growing human-robot interaction challenges how safety is currently conceptualised rather narrowly. Thus, to address safety comprehensively, AI demands a broader understanding of safety, extending beyond physical interaction, but covering aspects such as cybersecurity, and mental health. Moreover, the expanding use of machine learning techniques will more frequently demand evolving safety mechanisms to safeguard the substantial modifications taking place over time as robots embed more AI features. In this sense, our contribution brings forward the different dimensions of the concept of safety, including interaction (physical and social), psychosocial, cybersecurity, temporal, and societal. These dimensions aim to help policy and standard makers redefine the concept of safety in light of robots and AI's increasing capabilities, including human-robot interactions, cybersecurity, and machine learning.

/pdf/redefining-safety-in-light-of-human-robot-interaction-a-2vhjx7w18t.pdf

Redefining Safety in Light of Human-Robot Interaction: A Critical Review of Current Standards and Regulations

A comprehensive review of in-pipe robots

To repair leaking pipelines for oil, natural gas and other dangerous media, a kind of pipeline sealing robot is proposed. The device is mainly divided into a robot drive unit, connection unit, and blocking unit. The robot drive unit is used to pull the blocking unit, allowing it to move in the pipeline. The connection unit is used to connect the robot drive unit and the blocking unit. The blocking unit is used to complete the repair at the leakage point. When the robot operates, the drive unit drags the blocking device to the pipeline leakage location, and the front camera can detect the size and shape of the leakage hole. The sealing unit is located at the leakage point, an airbag is inflated, and the adhesive in it is used to seal and repair the leak. Two performance indices (climbing performance and curve passing performance) are evaluated when the robot drive unit is walking. A 3D model of the robot is established, and the performance index of the robot is simulated and analyzed using virtual prototype technology. An experimental platform is built for verification. The conclusions are as follows: (1) A spring with a 13 N/mm rigidity yielded the best performance, and the robot could crawl up a 37° slope. (2) When the deflection angle of the driving wheel was set to 30°, the robot could smoothly pass a bend with a radius of curvature of 500 mm. Thus, the robot performance met the design requirements.

/pdf/research-on-passing-ability-and-climbing-performance-of-316ob2aplj.pdf

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

The periodic inspection for oil pipelines is required due to the deterioration over time. A multitude of factors brings such a deterioration, from corrosion, leaks, to cracks, which may lead to blowbacks and cause the damages for operators and the environments. With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. Rather than the assignment of human workers in hazardous environments, the deployment of such kinds of inspection robots can take on this duty more time-efficiently and safely, preventing the human workers from the high-risk of the inspection task in the oil pipelines. This paper presents a novel design of a mobile robot for oil pipeline inspection, which is cooperated with the China National Petroleum Corporation (CNPC). With the improvement of the previous inspection robot used in CNPC’s standard oil pipelines, the newly designed robot is composed of six groups of symmetrical supporting wheels, and a more powerful motors as well as a more advanced control system. This new design endows the oil pipeline inspection robot with better performance on six aspects: traction, obstacle-adaptivity, operation endurance, gradeability, visual perception, and stability. The field testing results at multiple oil transfer stations across several months demonstrate the reliability of this mobile robot under various severe situations in China and validate its performance in the studied aspects.

Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

The friction and wear characteristics of aluminum bronze QAl10-4-4 bearing materials are investigated through pin–disk simulation testing under the dry sliding state at the operating conditions with rotating speed, load and temperature using the high-speed and high-temperature friction and wear testing machine (MG-2000). The quality of the pin, the friction coefficient and surface topography of the samples are monitored during the tests. The study results show that the average friction coefficient presents a similar N shape curve with the increase in rotating speed and temperature and a hook shape curve with the increase in load. The wear extent increases linearly with the increase in rotating speed, increases firstly and then decreases with the increase in load and presents a similar N shape trend with the increase in temperature. The main wear mechanisms of QAl10-4-4 bearing materials under high-temperature dry sliding conditions are discussed; the rotating speed mainly influences the friction and wear characteristics of the material by sliding heat. The loads mainly affect the friction and wear characteristics of the material through the actual contact area, and wear debris. The influence of temperature on the friction and wear characteristics of the material mainly depended on the surface layer properties.

Friction and wear characteristics of aluminum bronze (QAl10-4-4) bearing materials under high-temperature dry sliding conditions

This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties

Controlling an underactuated robot is always an important research and engineering issue, especially when the robot is suffering from multiple sources of uncertainties, such as unmodeled dynamics, ...

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties:

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Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

Friction and wear characteristics of aluminum bronze (QAl10-4-4) bearing materials under high-temperature dry sliding conditions

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties: