Motion planning for a quadruped robot in heat transfer tube inspection

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-09-14 DOI:10.1016/j.autcon.2024.105753
{"title":"Motion planning for a quadruped robot in heat transfer tube inspection","authors":"","doi":"10.1016/j.autcon.2024.105753","DOIUrl":null,"url":null,"abstract":"<div><p>Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.</p></div>","PeriodicalId":8660,"journal":{"name":"Automation in Construction","volume":null,"pages":null},"PeriodicalIF":9.6000,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0926580524004898/pdfft?md5=a962296765c006030d4a4eab2968a27c&pid=1-s2.0-S0926580524004898-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation in Construction","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0926580524004898","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}
引用次数: 0

Abstract

Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.

查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
四足机器人在热传导管检测中的运动规划
蒸汽发生器(SG)是核电设施中必不可少的设备,需要定期检查以保持其安全性和运行有效性。本文介绍了一种用于检查 SG 传热管的四足机器人。该机器人的点对点爬行运动规划问题是通过将改进的 A* 算法与针对管片环境建立的离线运动姿势库相结合来解决的。规划器可以提供全局路径、每个爬行周期的步长以及支点的战略位置。所提出的方法可以帮助机器人在管片上避开障碍物,无缝适应各种姿势和步长,消除转弯或多余姿势调整的必要性,从而确保爬行效率。通过使用实际的 SG 管片进行模拟和实验,对所提出的规划器的有效性进行了严格验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
期刊最新文献
Robust optimization model for traceable procurement of construction materials considering contract claims Editorial Board Rutting extraction from vehicle-borne laser point clouds Self-supervised monocular depth estimation on construction sites in low-light conditions and dynamic scenes Automated reinforcement of 3D-printed engineered cementitious composite beams
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1