University of Twente Student Theses


Wireless state feedback and control of a pipe inspection robot

Doggen, C. (2010) Wireless state feedback and control of a pipe inspection robot.

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Abstract:Inspection of gas distribution mains in urban areas is a time consuming and expensive task. This is why a first robot prototype has been built at the Control Engineering Group of the University of Twente. Goal of this robot, called PIRATE, is to inspect the low pressure gas distribution network in theNetherlands from inside the pipe autonomously on leaks or other damages. The goal of this project is to use mostly the internal state data to perform this complex task of autonomous navigation. The development is done partially on the robot itself and partially outside the robot in the 20sim environment. A bidirectional wireless communication channel operating in the 2,4GHz range is set up to perform wireless state feedback to the outside world. Furthermore, the link is used for sending parameters to the robot. The state data is transmitted to a prototype of a docking station which will in turn transmit this data to a PC. In this way the pirate robot can be monitored and controlled wirelessly which enables the user to getmore insight in the complex tasks of tackling environmental features like T-joints or 90 degree bends. On the PC side world modeling is done using the 20simenvironment. The 3D animation editor is used to construct a graphical representation of the pirate robot and can perform a realtime animation. In the world model a pipe diameter and environmental feature estimation is made which can be used for further development of an autonomous inspection robot.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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