Jiawei Li , Zhaojin Liu , Sicen Li, Jikai Jiang, Yuxiao Li, Changda Tian, Gang Wang
{"title":"Motion planning for a quadruped robot in heat transfer tube inspection","authors":"Jiawei Li , Zhaojin Liu , Sicen Li, Jikai Jiang, Yuxiao Li, Changda Tian, Gang Wang","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":"168 ","pages":"Article 105753"},"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.
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.