[article]
| Titre : |
Development and fuzzy control of a pipe inspection robot |
| Type de document : |
texte imprimé |
| Auteurs : |
Huang, Han-Pang, Auteur ; Yan, Jiu-Lou, Auteur ; Cheng, Teng-Hu, Auteur |
| Article en page(s) : |
pp. 1088 - 1095 |
| Note générale : |
Génie électrique |
| Langues : |
Anglais (eng) |
| Mots-clés : |
Fuzzy control Modular design Pipe inspection robot |
| Index. décimale : |
621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X |
| Résumé : |
A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportional-integral-derivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator. |
| DEWEY : |
621.38 |
| ISSN : |
0278-0046 |
| En ligne : |
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256303 |
in IEEE transactions on industrial electronics > Vol. 57 N° 3 (Mars 2010) . - pp. 1088 - 1095
[article] Development and fuzzy control of a pipe inspection robot [texte imprimé] / Huang, Han-Pang, Auteur ; Yan, Jiu-Lou, Auteur ; Cheng, Teng-Hu, Auteur . - pp. 1088 - 1095. Génie électrique Langues : Anglais ( eng) in IEEE transactions on industrial electronics > Vol. 57 N° 3 (Mars 2010) . - pp. 1088 - 1095
| Mots-clés : |
Fuzzy control Modular design Pipe inspection robot |
| Index. décimale : |
621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X |
| Résumé : |
A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportional-integral-derivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator. |
| DEWEY : |
621.38 |
| ISSN : |
0278-0046 |
| En ligne : |
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5256303 |
|
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