<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster more efficient locomotion. This motivates development of snake robots that actively use terrain locomotion, i.e., obstacle-aided In order to accurately model understand this phenomenon, paper presents a novel nonsmooth (hybrid) mathematical wheel-less robots, which allows robot push against external obstacles...

SUMMARY Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or dangerous for personnel operate. During last 10–15 years, published literature on snake has increased significantly. The purpose of this paper is give a survey various mathematical models motion patterns presented robots. Both purely kinematic including dynamics are investigated. Moreover, different approaches...

This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The consists of series identical modules interconnected by two degree freedom active joints. A set wheels on each module provides propulsion. Horizontal motion is achieved through train-like scheme, while vertical spanning the alternatingly with modules. design capability horizontal validated experiments.

In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that mimic this behaviour could be fitted with sensors transport tools to hazardous or confined areas other humans are unable access. order carry out such tasks, snake must have high degree awareness their surroundings (i.e., perception-driven locomotion) capable efficient obstacle exploitation obstacle-aided gain propulsion. These aspects pivotal in realise the large variety possible...

A nonsmooth (hybrid) 3-D mathematical model of a snake robot (without wheels) is developed and experimentally validated in this paper. The based on the framework dynamics convex analysis that allows us to easily systematically incorporate unilateral contact forces (i.e., between ground surface) friction Coulomb's law dry friction. Conventional numerical solvers cannot be employed directly due set-valued force laws possible instantaneous velocity changes. Therefore, we show how implement for...

This paper presents the latest developments in project Next Generation Subsea Inspection, Maintenance and Repair (IMR). IMR operations are frequently carried out offshore oil gas business. Increased efficiency such will reduce time of costs. Autonomous functionalities constitute an enabler for reduction. To this end, is focusing on technologies, algorithms methods required enabling right level autonomy human-machine interaction operations. includes new perception, localization,...

In the years to come, large power grid operators will operate and maintain an ever-increasing asset base. New innovative solutions are needed increase quality efficiency of management avoid corresponding growth in resources cost. To this end, autonomous unmanned aerial vehicles (UAVs) provide a range possibilities. Here, we present novel prototype solution for remotely operated inspection missions with resident drones on electrical substations, comprising: (1) drone sense robustness harsh...

In this paper we provide insights and methods for using image segmentation the purposes of automatic corrosion damage detection. Automatic analysis is needed in order to process all data retrieved from drone-driven industrial inspections. To end three main contributions. First, 608 images with damages are instance-wise annotated binary masks construct a dataset. Second, novel, two-stage augmentation scheme developed empirically shown significantly reduce overfitting. Finally, Mask R-CNN...

Snake robots may one day play a crucial role in search and rescue operations fire-fighting where it either be too narrow or to dangerous for personnel operate. Properties such as high terrainability, redundancy, the possibility of complete sealing body robot, make snake very interesting practical applications hence research topic. During last ten fifteen years, published literature on has increased vastly. However, no thorough review theory presented this period regarding mathematical...

Snake robots with active wheels provide interesting opportunities within many areas such as inspection and maintenance search rescue operations. The highly-articulated body of a snake robot combined the advantages wheeled locomotion makes it ideal for in, example, pipes other narrow or constricted structures. In this paper we present mathematical model dynamics together novel path-following approach robots. includes both how to find desired turning angle head given reference path, module...

In this paper, we present a comparison of performance for different convolutional neural networks (CNN) automatic classification corrosion and coating damages on bridge constructions from images. Image recordings were taken during inspections. Through manual categorization data augmentation, total 9300 images collected divided into five classes. Four CNNs trained using transfer learning in MATLAB. We have evaluated test through the metrics recall, precision, accuracy F1 score. Test was also...

This paper considers the problem of model based control joints a snake robot without wheels. The potential range applications for robots are numerous, and delicate operations such as inspection maintenance in industrial environments or performing search rescue require precise joints. To this end we present controller that asymptotically stabilizes to desired reference trajectory. is on input-output linearization plant dynamics also developed paper. In addition, provide formal Lyapunov-based...

This paper presents a novel concept for remote inspection and maintenance operations on next generation normally-unmanned offshore oil platforms. The is presented through the design of robotic lab facility automated teleoperated by robot manipulators — ranging from simple tasks to advanced operations. built around two cooperating equipped with sensors measuring temperature, vibrations, gas concentration sound, that automatically changes between tools operate valves, exchange batteries in...

Snake robots equipped with sensors and tools could potentially contribute to applications such as fire-fighting, industrial inspection, search-and-rescue more. Such capabilities would require that a snake robot has high degree of awareness its surroundings (i.e. perception-driven locomotion) is able exploit objects irregularities in environment gain propulsion obstacle-aided locomotion). In this work, simplified model proposed deal lower-dimensional system allows for establishing the...

The paper considers the problem of obstacle aided locomotion for snake robots, as taking advantage obstacles is an enabling technique robots to enter challenging environments like earthquaked areas and mines search rescue missions. To this end, presents a novel non-smooth (hybrid) 2D mathematical model which incorporates that robot can come in contact with external apart from flat ground. verified through back-to-back comparison between numerical simulations experimental results. It...

Remote controlled robots on offshore oil and gas platforms can potentially reduce costs improve environment, health safety issues. A key to successful remote control is provide onshore operators with a sufficient overview of the processes offshore. To this end, robot manipulators constitute flexible camera platforms, compared e.g. simple pan-tilt units, for monitoring operations. In paper, we present system solution experimental results real-time active obstacle avoidance industrial based...

Offshore oil and gas industry has a strong incentive to improve its traditional operations move towards more remote controlled automated installations. This allows for improved efficiency, reduced cost quality, safety by removing personnel out of harm's way. The use Unmanned Ground Vehicles (UGVs) in these upcoming platforms, is relevant Inspection Maintenance (I&M) operations. Traditionally, UGVs are used only pre-defined tasks have no capabilities replanning, if new task required or any...

Future normally-unmanned oil platforms offer potentially significantly lower commissioning and operation costs than their current manned counterparts. The ability to initiate perform remote inspection maintenance (I&M) operations is crucial for maintaining such platforms. This paper presents a system solution, including key components as 3D robot vision system, tool control architecture I&M on processes similar those topside In particular, case study how automatically replace battery in...

This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers ability handling constraints although requiring relatively significant computational resources. In detail, we show how can be applied to achieve straight line path following robots. The presents simulation results which illustrate performance proposed approach. Moreover, discuss advantages and disadvantages as a approach for

Increased use of autonomy is considered crucial for continued growth in maritime industries like oil- and gas, waterborne transport, fisheries- aquaculture. This article presents a method called Autonomous Job Analysis (AJA), which purpose to guide the design autonomous marine operations. AJA breaks down operation, focuses on early phase. The uses elements from Hierarchical Task (HTA), execution analysis influenced by HAZard OPerability (HAZOP) studies. proposed illustrated through...