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Kamal Youcef-Toumi. Fish, Ryan J Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2017-10-04T14:47:25Z 2017-10-04T14:47:25Z 2017 2017 http://hdl.handle.net/1721.1/111697 1004850810 Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 103-105). Pipelines are used around the world to transport raw materials, waste products, and, critically, potable water. Protecting the pipes from the elements often leaves them difficult to inspect for leaks and corrosion, which can cause costly, even deadly, damage. Currently, typical inspection methods are costly, interrupt service, and have highly limited inspection range. This thesis details the continuing development of a robotic platform capable of actively maneuvering inside an in-service, potable-water pipe, for the purpose of providing continuous, autonomous, long-range inspection of a pipe network. Complete inspection of municipal water pipelines requires a compact robot capable of maneuvering junctions around 100mm in diameter, with flows that can exceed 1m/s. This work focuses on several additions to prior work at the Massachusetts Institute of Technology, which developed a hull and planar propulsion system. The addition of ailerons allows full 3-dimensional control of the robot. A custom-built, wireless embedded controller runs a customized real-time OS to provide closed-loop control, as well as data-logging and remote access. A generic task architecture is designed to simplify the addition of real-time software modules. by Ryan J. Fish. S.M. 105 pages eng Massachusetts Institute of Technology MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. A real-time robotic platform for pipeline inspection Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="f63acd7b-37f7-468b-97b6-5384b888da20"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>A real-time robotic platform for pipeline inspection</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2017</PublicationDate> <Authors> <Author> <DisplayName>Fish, Ryan J</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <Abstract>Pipelines are used around the world to transport raw materials, waste products, and, critically, potable water. Protecting the pipes from the elements often leaves them difficult to inspect for leaks and corrosion, which can cause costly, even deadly, damage. Currently, typical inspection methods are costly, interrupt service, and have highly limited inspection range. This thesis details the continuing development of a robotic platform capable of actively maneuvering inside an in-service, potable-water pipe, for the purpose of providing continuous, autonomous, long-range inspection of a pipe network. Complete inspection of municipal water pipelines requires a compact robot capable of maneuvering junctions around 100mm in diameter, with flows that can exceed 1m/s. This work focuses on several additions to prior work at the Massachusetts Institute of Technology, which developed a hull and planar propulsion system. The addition of ailerons allows full 3-dimensional control of the robot. A custom-built, wireless embedded controller runs a customized real-time OS to provide closed-loop control, as well as data-logging and remote access. A generic task architecture is designed to simplify the addition of real-time software modules.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>