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An ultrasonically controlled robot submarine for pipe inspection
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice
Year: 1997 | Conference Paper |
Cited by: Papers (9)
A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed.Show More
An autonomous underwater platform
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice
Year: 1997 | Conference Paper |
For many subsea autonomous underwater vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an autonomous underwater platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re...Show More
Experimental study on ultrasonic signal transmission within the water-filled pipes
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice
Year: 1997 | Conference Paper |
We present the results of system design and experiments carried out in a water tank and water-filled pipes using wireless ultrasonic communication methods. The experimental study by measurement and analysis of multipath ultrasonic transmission within water-filled pipes and its effect on the transmission link are investigated. Pulsed carrier signals of short duration are used to estimate the charac...Show More
An underwater robot for pipe inspection
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice
Year: 1997 | Conference Paper |
Cited by: Papers (11)
This paper describes the design of an autonomous mobile robot for use in the inspection of water-filled pipes. The design is based on ultrasonic communications, thus obviating the need for an umbilical cable. The control of the robot is distributed on a local area network which connects all the actuators and sensors. The robot has four legs, powered by compressed air which allows the robot to 'wal...Show More
Simulation of the data transmission for an ROV
Proceedings of the IEEE International Conference on Industrial Technology (ICIT'96)
Year: 1996 | Conference Paper |
Cited by: Papers (3)
The aim of the work described in this paper is to model an ultrasonic data communications link between a base station and a remotely operated vehicle (ROV), named Pipe Rover, inside a water filled pipe. Due to the complex interaction between the ROV and the environmental components, an emphasis is placed on the simulation of the acoustic channel. The authors present results derived from the mathem...Show More
Line segment patterns Hough transform for circles detection using a 2-dimensional array
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics
Year: 1993 | Conference Paper |
Cited by: Papers (1)
The Hough transform (HT) is a robust technique which is useful in detecting straight lines in an edge-enhanced picture. This paper presents a technique aimed at improving the efficiency and reducing the memory size of the accumulator array of circle detection using HT. The approach centres on the use of approximating a circular image(s) by a set(s) of line segment patterns. It combines the central...Show More
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