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Kamal Youcef-Toumi. Wu, You, S.M. Massachusetts Institute of Technology Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2014-12-08T18:49:49Z 2014-12-08T18:49:49Z 2014 2014 http://hdl.handle.net/1721.1/92113 895870114 Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014. Cataloged from PDF version of thesis. Includes bibliographical references (pages 115-116). Leaks in pipelines have been causing a significant amount of financial losses and serious damages to the community and the environment. The recent development of in-pipe leak detection technologies at Massachusetts Institute of Technology made it possible to find the accurate location of leaks in underground pipes. However, like all in-pipe leak sensors, they need a maneuverable robot to transport them inside the pipes. In the pipe networks, the robot must be able to perform complicated movements such as sharp turns at Tee junctions. This thesis presents a solution to this in-pipe leak detection challenge and the design and a prototype of such robot. The design and fabrication of a small in-pipe swimming robot of high maneuverability is presented. The robot is equipped with a pair of customized micro RIM driven propellers which provide a powerful and safe propulsion. A prototype robot that operates in 10 cm diameter pipes is built and tested experimentally. This robot demonstrated experimentally abilities to follow straight lines and make turns with radii smaller than a fraction of its body length. by You Wu. S.M. 116 pages eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Design and fabrication of a maneuverable robot for in-pipe leak detection Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="6a124462-7833-466f-b51d-628d6abffe57"> <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>Design and fabrication of a maneuverable robot for in-pipe leak detection</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2014</PublicationDate> <Authors> <Author> <DisplayName>Wu, You, S.M. Massachusetts Institute of Technology</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>Leaks in pipelines have been causing a significant amount of financial losses and serious damages to the community and the environment. The recent development of in-pipe leak detection technologies at Massachusetts Institute of Technology made it possible to find the accurate location of leaks in underground pipes. However, like all in-pipe leak sensors, they need a maneuverable robot to transport them inside the pipes. In the pipe networks, the robot must be able to perform complicated movements such as sharp turns at Tee junctions. This thesis presents a solution to this in-pipe leak detection challenge and the design and a prototype of such robot. The design and fabrication of a small in-pipe swimming robot of high maneuverability is presented. The robot is equipped with a pair of customized micro RIM driven propellers which provide a powerful and safe propulsion. A prototype robot that operates in 10 cm diameter pipes is built and tested experimentally. This robot demonstrated experimentally abilities to follow straight lines and make turns with radii smaller than a fraction of its body length.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>