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ZENODO; Mechatronics
Article . 2021 . Peer-reviewed
License: Elsevier TDM
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A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Authors: Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.;

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Abstract

This paper investigates the inspection-of-pipe topic in a new framework, by rotation around a pipe, peculiar to industrial sites and refineries. The evolution of the ultimate system requires prototype design and preliminary tests. A new benchmark has been designed and built to mimic the rotation around a pipe, with the main purpose of assessing the different types of rotors and control systems. The benchmark control system presents a mechatronics package including mechanical design and machining, electronics and motor drive, motor-blade installation, computer programming, and control implementation. The benchmark is also modular, working with two modes of one- and two-degree-of-freedom (DoF), easily interchangeable. To cover a full rotation, conventional fixed-pitch drones fail to provide negative thrusts; nonetheless, variable-pitch (VP) rotor quad- copters can produce that in both directions. A closed-loop nonlinear optimal method is chosen as a controller, so- called, “the state-dependent Riccati equation (SDRE)” approach. Optimal control policies are challenging for experimentation though it has been successfully done in this report. The advantage of the VP is also illustrated in a rotation plus radial motion in comparison with fixed-pitch rotors while a wind gust disturbs the inspection task. The proposed VP system compensated the disturbance while the fixed pitch was pushed away by the wind gust. The solution methods to the SDRE were mixed, a closed-form exact solution for the one-DoF system, and a numerical one for the two-DoF. Solving the Riccati online in each time step is a critical issue that was effectively solved by the implementation approach, through online communication with MATLAB software. Both simula- tions and experiments have been performed along with a discussion to prove the application of VP systems in rotary-motion pipe inspection

Agencia Estatal de Investigación española RTI2018-102224-B-I00

European Union (UE). H2020 779411

Article number 102641

Country
Spain
Related Organizations
Subjects by Vocabulary

Microsoft Academic Graph classification: Computer science law.invention law Control theory business.industry Rotor (electric) Control engineering Mechatronics Modular design Optimal control Control system Benchmark (computing) business Rotation (mathematics)

Keywords

Quadrotor, Electrical and Electronic Engineering, Inspection, Mechanical Engineering, Mechatronics system, Optimal control, Computer Science Applications, SDRE, variable-pitch, mechatronics system, inspection, quadrotor, optimal control., Control and Systems Engineering, SDRE, Variable-pitch

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  • citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    12
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Top 10%
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
12
Top 10%
Top 10%
Top 10%
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