Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31097
Pipelines Monitoring System Using Bio-mimetic Robots

Authors: Seung You Na, Daejung Shin, Jin Young Kim, Seong-Joon Baek, Bae-Ho Lee


Recently there has been a growing interest in the field of bio-mimetic robots that resemble the behaviors of an insect or an aquatic animal, among many others. One of various bio-mimetic robot applications is to explore pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. Special types of mobile robots are necessary for the pipeline monitoring tasks. In order to move effectively along a pipeline, the robot-s movement will resemble that of insects or crawling animals. When situated in massive pipelines with complex routes, the robot places fixed sensors in several important spots in order to complete its monitoring. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions. Areas uncovered by fixed sensors are usually impossible to provide real-time observation and examination, and thus are dependent on periodical offline monitoring. This paper proposes a monitoring system that is able to monitor the entire area of pipelines–with and without fixed sensors–by using the bio-mimetic robot.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Mobile and active monitoring

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1352


[1] J. Yu, M. Tan, S. Wang, and E. Chen, "Development of a biomimetic robotic fish and its control algorithm,"IEEE Trans. on Systems, Man, and Cybernetics-Part B, Vol. 34, pp. 1798-1810, 2004.
[2] D. Shin, S.Y. Na, J.Y. Kim, and S. Baek, "Water pollution monitoring system by autonomous fish robots," WSEAS Trans. on SYSTEM and CONTROL, Issue 1, Vol. 2, 2007, pp. 32-37.
[3] J. J. Gertler, Fault Detection and Diagnosis in Engineering Systems, Marcel Deker, Inc, 1998.
[4] L. Lundgard, B. Skyberg, "Acoustic Diagnosis of SF6 Gas Insulated Substations," IEEE Trans. Power Delivery, 1990.
[5] J. Lin and L. Qu, "Feature Extraction Based on Morlet Wavelet and Its Application for Mechanical Fault Diagnosis," Journal of Sound and Vibration, 2000, pp. 135-148.
[6] J. Shao, G. Xie, L. Wang, and W. Zhang, "Obstacle avoidance and path planning based on flow field for biomimetics robotic fish," AI 2005, LNAI 3809, 2005, pp. 857-860.
[7] Ma, Zhanshan, Krings, Axel W., Hiromoto, Robert E. , "Dragonfly as a model for UAV/MAV flight and communication controls", 2009 IEEE Aerospace conference, pp.1-8, 2009.
[8] Stoianov, I., Nachman, L., Madden, S., Tokmouline, T., Csail, M., "PIPENET: A Wireless Sensor Network for Pipeline Monitoring", IPSN 2007, pp. 264 - 273, 2007.
[9] Changsoo Ok, Thadakamalla, H., Raghavan, U., Kumara, S., Sang-Gook Kim, Xiang Zhang, Bukkapatnam S., "Optimal Transmission Power in Self-sustainable Sensor Networks for Pipeline Monitoring", IEEE International Conference on Automation Science and Engineering, pp. 591 - 596, 2007.
[10] Masataka Suzuki, Shinya Kitai, and Shigeo Hirose, "Basic Systematic Experiments and New Type Child Unit of Anchor Climber: Swarm Type Wall Climbing Robot System", 2008 IEEE International Conference on Robotics and Automation, pp. 3034-3039, 2008.
[11] A. Sadeqi, H. Moradi, and M. Nili Ahmadabadi, "A Human-Inspired Pole Climbing Robot", IROS 2008, pp. 4199 - 4199, 2008.
[12] J. Shao, G. Xie, L. Wang, and W. Zhang, "Obstacle avoidance and path planning based on flow field for biomimetics robotic fish," AI 2005, LNAI 3809, 2005, pp. 857-860.
[13] R.J. Mammone, X. Zhang and R.P. Ramachandran, "Robust Speaker Recognition: A Feature-based Approach," IEEE Signal Processing Magazine, Vol. 13, No. 5, pp. 58-71, 1996.
[14] C. Schauer and H.M. Gross, "Model and application of a 360┬░ sound localization system," Proceedings of the International Joint Conference on Neural Networks, Vol. 2, pp. 1132-1137, 2001.