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Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a self-rescue mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we present the
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of highly uncer
In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed wireless com
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local vie
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, w