Abstract

International audience; The application of robots for the inspection of pipelines are of greater significance in industries such as nuclear, chemical and sewage. The major problem in the design of these robots lies in the selection of a suitable locomotion principle, selection of an articulation unit that facilitates the robot to pass through pipe bends and management of cables. In this context, the design of a new bio-inspired piping inspection robot that resembles an elephant trunk has been presented. With the help of leg mechanisms and actuators, a caterpillar locomotion is used within this trunk for establishing adaptive contact points with the walls of pipeline. For the passage through bends and junctions, several case studies of existing researches have been taken into account for the design of an articulation unit. Two solutions, (i) a passive tensegrity structure and (ii) an active tensegrity structure have been proposed for the robot to pass through pipe bends and junctions. A detailed design analysis of the passive solution that uses a universal joint has been presented in this article. Document type: Part of book or chapter of book

Abstract

This quarterly report documents work performed under Tasks 15, 16, and 18 through 23 of the project entitled: ''Technologies to Enhance the Operation of Existing Natural Gas Compression Infrastructure''. The project objective is to develop and substantiate methods for operating integral engine/compressors in gas pipeline service, which reduce fuel consumption, increase capacity, and enhance mechanical integrity. The report first documents a survey site test performed on a TCVC10 engine/compressor installed at Dominion's Groveport Compressor Station. This test completes planned screening efforts designed to guide selection of one or more units for design analysis and testing with emphasis on identification and reduction of compressor losses. The report further presents the validation of the simulation model for the Air Balance tasks and outline of conceptual manifold designs. Document type: Report