TY - GEN
T1 - Mobile robot for inspecting ventilation ducts
AU - Moczulski, W.
AU - Adamczyk, M.
AU - Przystałka, P.
AU - Timofiejczuk, A.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84890029862
U2 - 10.1007/978-3-540-73956-2_10
DO - 10.1007/978-3-540-73956-2_10
M3 - Conference contribution
AN - SCOPUS:84890029862
SN - 9783540739555
T3 - Recent Advances in Mechatronics
SP - 47
EP - 51
BT - Recent Advances in Mechatronics
T2 - 7th International Symposium on Mechatronics
Y2 - 19 September 2007 through 21 September 2007
ER -