Abstract
The paper deals with a concept and design of a mobile robot capable of inspecting ventilation ducts made of steel sheet. The robot can operate in several modes including: autonomous, manual, and training one. Some subsystems are briefly outlined. Mobility of the robot is achieved by four wheels that include permanent magnets. There are 2 DOFs associated to each wheel. The detection system assesses the internal state of the robot and its subsystems, and perceives the surrounding environment, providing the control system with vital data that allows completing inspection tasks. The robot is also equipped with environment recognition system that collects data whose meaning is twofold. Primarily, it allows assessing actual condition of the ducts being inspected. Further on, the data makes possible creating plans of long-term movements that are required in order to complete the mission. The work of all these systems is coordinated by the control system. It is based on behaviors that are selected or combined by a neural controller. The controller is able to learn better behaviors from examples. These issues are discussed in details in other papers presented at this event.
This research has been financed by the Ministry of Science and Higher Education and carried out within the Multi-Year Programme PW-004 “Development of innovativeness systems of manufacturing and maintenance 2004–2008” — grant No. PW-004/02/2005/2/UW-2005.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Adamczyk M.: “Mechanical carrier of a mobile robot for inspecting ventilation ducts”. Proc. of the 7th Int. Conference “Mechatronics 2007”.
Adamczyk M., Bzymek A., Przystałka P, Timofiejczuk A.: “Environment detection and recognition system of a mobile robot for inspecting ventilation ducts.” Proc. of the 7th Int. Conference “Mechatronics 2007”.
Arkin, R. C. 1989 Neuroscience in motion: the application of schema theory to mobile robotics. [In:] Visuomotor coordination: amphibians, comparisons, models and robots (ed. J.-P. Ewert & M. A. Arbib), pp. 649–671. New York: Plenum.
Brooks, R. A., “A Robust Layered Control System for a Mobile Robot.” IEEE Journal of Robotics and Automation, Vol. RA-2, No. 1(1986), 14–23.
Panfil W., Przystałka P.: “Behavior-based control system of a mobile robot for the visual inspection of ventilation ducts.” Proc. of the 7th Int. Conference “Mechatronics 2007”.
Przystałka P., Adamczyk M.: “EmAmigo framework for developing behavior-based control systems of inspection robots.” Proc. of the 7th Int. Conference “Mechatronics 2007”.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Moczulski, W., Adamczyk, M., Przystałka, P., Timofiejczuk, A. (2007). Mobile robot for inspecting ventilation ducts. In: Jabłoński, R., Turkowski, M., Szewczyk, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73956-2_10
Download citation
DOI: https://doi.org/10.1007/978-3-540-73956-2_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73955-5
Online ISBN: 978-3-540-73956-2
eBook Packages: EngineeringEngineering (R0)