Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection |
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| Authors: | Yao Yan,Yang Liu,Joseph Páez Chávez author-information" >,Florent Zonta,Azat Yusupov |
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| Affiliation: | 1.School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chengdu,China;2.College of Engineering Mathematics and Physical Sciences,University of Exeter,Exeter,UK;3.Center for Applied Dynamical Systems and Computational Methods (CADSCOM), Faculty of Natural Sciences and Mathematics,Escuela Superior Politécnica del Litoral,Guayaquil,Ecuador;4.Center for Dynamics, Department of Mathematics,TU Dresden,Dresden,Germany;5.Electrical Engineering,Blaise Pascal University,Clermont-Ferrand,France;6.School of Engineering,Robert Gordon University,Aberdeen,UK |
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| Abstract: | This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained. |
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