SmartCrawler: A Size-Adaptable In-Pipe Wireless Robotic System with Two-Phase Motion Control Algorithm in Water Distribution Systems †

Saber Kazeminasab, M. Katherine Banks

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

Incidents to pipes cause damage in water distribution systems (WDS) and access to all parts of the WDS is a challenging task. In this paper, we propose an integrated wireless robotic system for in-pipe missions that includes an agile, maneuverable, and size-adaptable (9-in to 22-in) in-pipe robot, “SmartCrawler”, with 1.56 m/s maximum speed. We develop a two-phase motion control algorithm that enables reliable motion in straight and rotation in non-straight configurations of in-service WDS. We also propose a bi-directional wireless sensor module based on active radio frequency identification (RFID) working in 434 MHz carrier frequency and 120 kbps for up to 5 sensor measurements to enable wireless underground communication with the burial depth of 1.5 m. The integration of the proposed wireless sensor module and the two-phase motion controller demonstrates promising results for wireless control of the in-pipe robot and multi-parameter sensor transmission for in-pipe missions.

Original languageEnglish (US)
Article number9666
JournalSensors
Volume22
Issue number24
DOIs
StatePublished - Dec 2022

Keywords

  • in-pipe robots
  • multi-phase motion controller
  • wireless control
  • wireless sensor module

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

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