Design, Characterization, and Control of a Size Adaptable In-pipe Robot for Water Distribution Systems

Saber Kazeminasab, Ali Akbari, Roozbeh Jafari, M. Katherine Banks

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 design of the central processor, characterize and control the robot based on the condition of operation in highly pressurized environment of pipelines with the presence of high-speed flow. To this aim, an extreme operation condition is simulated with computational fluid dynamics (CFD) and the spring mechanism is characterized to ensure sufficient stabilizing force during operation based on the extreme operating condition. Also, an end-to-end method is suggested for power considerations for our robot that calculates minimum battery capacity and operation duration in the extreme operating condition. Finally, we design a novel LQR-PID based controller based on the system's auxiliary matrices that retains the robot's stability inside pipeline against disturbances and uncertainties during operation. The ADAMS-MATLAB co-simulation of the robot-controller shows rotational velocity with -4°/sec and +3°/sec margin around x, y, and z axes while the system tracks different desired velocities in pipelines (i.e. 0.12m/s, 0.17m/s, and 0.35m/s). Also, experimental results for four iterations in a 14-inch diameter PVC pipe show that the controller brings initial values of stabilizing states to zero and oscillate around it with a margin of ±2° and the system tracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makes the robot dexterous in uncertain and highly disturbed environment of pipelines during operation.

Original languageEnglish (US)
Title of host publicationProceedings - 2021 22nd IEEE International Conference on Industrial Technology, ICIT 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages39-46
Number of pages8
ISBN (Electronic)9781728157306
DOIs
StatePublished - Mar 10 2021
Event22nd IEEE International Conference on Industrial Technology, ICIT 2021 - Valencia, Spain
Duration: Mar 10 2021Mar 12 2021

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2021-March

Conference

Conference22nd IEEE International Conference on Industrial Technology, ICIT 2021
CountrySpain
CityValencia
Period3/10/213/12/21

Keywords

  • In-pipe robots
  • Leak detection
  • LQR-PID controller
  • Modular robots
  • Water quality monitoring

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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