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Application and Standardization Trend of Maintenance and Inspection Robot (MIR) in Nuclear Power Station

Fei Zhao, Yonggang Ma, Yuansong Sun
2017 DEStech Transactions on Engineering and Technology Research  
This paper introduces the current research and application of Maintenance and Inspection Robot (MIR) in nuclear power system both at home and abroad, and then analyses the standardization development trend  ...  With the continuous construction of nuclear power station and the great public attention to the nuclear safety, developing robot of nuclear power has played an important role in the nuclear industry.  ...  Acknowledgements This work was financially supported by the Project of Feasibility study and demand analysis on robots in reactor application (No. 166612) in Reactor Engineering Research Department of  ... 
doi:10.12783/dtetr/ismii2017/16678 fatcat:xlowoxau5jbkbcztfeaxh3jpyu

The underwater swimming manipulator - a bio-inspired AUV

J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen, J. T. Gravdahl
2016 2016 IEEE/OES Autonomous Underwater Vehicles (AUV)  
The successful transition to AUVs for inspection of subsea infrastructure has pushed the technology towards AUVs equipped with robotic arms.  ...  Finally, we present and make use of a newly developed and versatile simulation environment for USMs to assert the applicability of the USM for performing subsea inspections and light intervention.  ...  This combination gives a powerful and flexible way to experiment with different controllers, control parameters, and physical designs, e.g. number of links and various thruster configurations.  ... 
doi:10.1109/auv.2016.7778701 fatcat:6gdceinzvba5lcpad7qonycejy

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

Leah Kelley, Saam Ostovari, Aaron B. Burmeister, Kurt A. Talke, Narek Pezeshkian, Amin Rahimi, Abraham Hart, Hoa G. Nguyen, Robert E. Karlsen, Douglas W. Gage, Charles M. Shoemaker, Grant R. Gerhart
2015 Unmanned Systems Technology XVII  
A novel, multi-segmented magnetic crawler robot has been designed for ship hull inspection.  ...  The controller is designed and tested using Matlab Simulink. It is then implemented and tested on an early two-module magnetic crawler prototype robot.  ...  Magnetic climbing robots for inspection of ferromagnetic surfaces have been designed and tested.  ... 
doi:10.1117/12.2179193 fatcat:r3tbsi5nvba5faz7afvkkqnoym

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
Abstract In this paper, we present control system which is named "Multi-level Control System of a Manipulator for Laparoscopy. This system is a result of cooperation between the  ...  higher-level commands from the ground control and transforms these into low-level commands controlling the motors and gears of the joints of the robot arm.  ...  Peristaltic locomotion: application to a worm-like robot Abstract New solutions in explorative and service robotics are required in many application fields, e.g. medical and inspection/maintenance/rescue  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2018 Systems Science & Control Engineering  
2018) Autonomous robots for harsh environments : a holistic overview of current solutions and ongoing challenges. Systems Science and Control Engineering, 6 (1).  ...  Robots of different characteristics and designs are required to perform different tasks within these environments.  ...  Conversely, single UAV systems have been developed for the purpose of reliable internal (sub)-surface inspections of pressure vessels, tanks and other interior features.  ... 
doi:10.1080/21642583.2018.1477634 fatcat:pkbtyuyy7vaizbuzkmsxs56lg4

Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake

Ming Luo, Zhenyu Wan, Yinan Sun, Erik H. Skorina, Weijia Tao, Fuchen Chen, Lakshay Gopalka, Hao Yang, Cagdas D. Onal
2020 Frontiers in Robotics and AI  
Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, search-and-rescue, and disaster response.  ...  This paper combines soft mobile robot modeling, proprioceptive feedback control, and motion planning to pave the way for functional soft robotic snake autonomy.  ...  IIS-1551219 and CMMI-1728412. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the NSF.  ... 
doi:10.3389/frobt.2020.599242 pmid:33501359 pmcid:PMC7805722 fatcat:5rrebu5k6fhmfgzjiz6ng435r4

An overview of robotics and autonomous systems for harsh environments

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2017 2017 23rd International Conference on Automation and Computing (ICAC)  
Across a wide range of industries and applications, robotics and autonomous systems can fulfil the crucial and challenging tasks such as inspection, exploration, monitoring, drilling, sampling and mapping  ...  Hence, a wide range of robots have been developed and deployed to replace or aid humans in these activities.  ...  [36] discussed the locomotion control behind a modular snake robot, which was composed of multiple identical modules connected by joints.  ... 
doi:10.23919/iconac.2017.8082020 dblp:conf/iconac/WongYYG17 fatcat:dgulqodjdnaxhbdapocu6skfve

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  Li, M., Pose Estimation for Ground Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

The Underwater Swimming Manipulator—A Bioinspired Solution for Subsea Operations

Jorgen Sverdrup-Thygeson, Eleni Kelasidi, Kristin Y. Pettersen, Jan Tommy Gravdahl
2018 IEEE Journal of Oceanic Engineering  
A kinematic and a dynamic model of the USM is derived for the purpose of designing control algorithms, and selected task based control approaches are presented, based on inverse kinematic control.  ...  In this paper, we discuss the most important applications for the USM and the main challenges related to modelling, guidance, and control of this innovative vehicle.  ...  The USM is a snake-like, multi-body robotic mechanism consisting of serially connected links, equipped with longitudinal thrusters and tunnel thrusters along the body.  ... 
doi:10.1109/joe.2017.2768108 fatcat:aumdby6lifcr3ks5oj4vrheegi

Biologically Inspired Robots [chapter]

Fred Delcomyn
2007 Bioinspiration and Robotics Walking and Climbing Robots  
Certainly an amphibious robot can be designed with legs or without, but an advantage of an amphibious snake-like robot is that a similar control system can be used to regulate motion in water and on land  ...  More recent robots use a more flexible control system that allows independent movement of the legs of the robot when this is desirable (e.g., Arena et al., 2002 Arena et al., , 2004)) , leading to a flexible  ...  Biologically Inspired Robots, Bioinspiration and Robotics Walking and Climbing Robots, Maki K.  ... 
doi:10.5772/5506 fatcat:lfmthsi4mngfldxiaiizyvi2ee

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Nabil Simaan, Rashid M. Yasin, Long Wang
2018 Annual Review of Control Robotics and Autonomous Systems  
Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port access surgery are discussed, followed by a presentation of works on magnetic actuation,  ...  Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art.  ...  The opinions expressed in this paper are those of the authors and do not represent the National Science Foundation.  ... 
doi:10.1146/annurev-control-060117-104956 fatcat:irytnewgcremjdk66a3slwwd6q

Development of a Novel Miniaturized Electromagnetic Actuator for a Modular Serial Manipulator

Nader A. Mansour, Buhyun Shin, Bongjo Ryu, Youngshik Kim
2021 Actuators  
Thus, our actuator achieves a torque of 100 mNm at simulation and 80 mNm through experimentation for the same applied current.  ...  As an example application, we used a pair of our EMA in order to generate a miniaturized 4-DOF robotic manipulator.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act10010014 fatcat:jgqphm4upvfodb7ghuiku446ou

Applications of micromechatronics in minimally invasive surgery

F. Tendick, S.S. Sastry, R.S. Fearing, M. Cohn
1998 IEEE/ASME transactions on mechatronics  
The authors' millirobotic system for MIS of the abdomen is used as an example.  ...  Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed.  ...  CONTROL AND SYSTEMS A. Control Some large-scale applications of robotics in surgery require the robot to act with a degree of autonomy.  ... 
doi:10.1109/3516.662866 fatcat:ji7va7q2ere5vepifeim6tauk4

Medical telerobotic systems: current status and future trends

Sotiris Avgousti, Eftychios G. Christoforou, Andreas S. Panayides, Sotos Voskarides, Cyril Novales, Laurence Nouaille, Constantinos S. Pattichis, Pierre Vieyres
2016 BioMedical Engineering OnLine  
A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical  ...  Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology.  ...  Availability of data and supporting materials No data or other supporting materials exist relevant to this work that could be made publicly available.  ... 
doi:10.1186/s12938-016-0217-7 pmid:27520552 pmcid:PMC4983067 fatcat:4tsn4wjkdnbzrjyinciz2shlnu

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu
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