{"id":"https://openalex.org/W4387886291","doi":"https://doi.org/10.1109/access.2023.3327269","title":"Design of an In-Pipe Robot Coupled With Multiple Cams","display_name":"Design of an In-Pipe Robot Coupled With Multiple Cams","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387886291","doi":"https://doi.org/10.1109/access.2023.3327269"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3327269","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3327269","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10292862.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10292862.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085644031","display_name":"Qizhi Xie","orcid":"https://orcid.org/0000-0002-8818-2026"},"institutions":[{"id":"https://openalex.org/I124841900","display_name":"Xuzhou University of Technology","ror":"https://ror.org/02315by94","country_code":"CN","type":"education","lineage":["https://openalex.org/I124841900"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qizhi Xie","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Xuzhou University of Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8818-2026","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Xuzhou University of Technology, Xuzhou, China","institution_ids":["https://openalex.org/I124841900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078704167","display_name":"Song Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Cui","raw_affiliation_strings":["School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091240306","display_name":"Peilin Cheng","orcid":"https://orcid.org/0000-0002-8480-6751"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Cheng","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100329408","display_name":"Qiang Liu","orcid":"https://orcid.org/0000-0001-8912-8286"},"institutions":[{"id":"https://openalex.org/I124841900","display_name":"Xuzhou University of Technology","ror":"https://ror.org/02315by94","country_code":"CN","type":"education","lineage":["https://openalex.org/I124841900"]},{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Liu","raw_affiliation_strings":["School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","School of Physics and New Energy, Xuzhou University of Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Physics and New Energy, Xuzhou University of Technology, Xuzhou, China","institution_ids":["https://openalex.org/I124841900"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085644031"],"corresponding_institution_ids":["https://openalex.org/I124841900"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7436,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67555911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"118639","last_page":"118651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9560999870300293,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7650188207626343},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7260181307792664},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.601382315158844},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.5522635579109192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5128624439239502},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4860577881336212},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46349191665649414},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4624742269515991},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45007210969924927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4198755919933319},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4180462062358856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3987877666950226},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37932899594306946},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2245892882347107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18033772706985474},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16379836201667786}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7650188207626343},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7260181307792664},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.601382315158844},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.5522635579109192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5128624439239502},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4860577881336212},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46349191665649414},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4624742269515991},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45007210969924927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4198755919933319},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4180462062358856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3987877666950226},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37932899594306946},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2245892882347107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18033772706985474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16379836201667786},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3327269","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3327269","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10292862.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:000e4f06385d4264891dc2ada150d714","is_oa":true,"landing_page_url":"https://doaj.org/article/000e4f06385d4264891dc2ada150d714","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 118639-118651 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3327269","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3327269","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10292862.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5363106295","display_name":null,"funder_award_id":"19KJB460026","funder_id":"https://openalex.org/F4320335440","funder_display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China"}],"funders":[{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320335440","display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387886291.pdf","grobid_xml":"https://content.openalex.org/works/W4387886291.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1567274950","https://openalex.org/W1969635768","https://openalex.org/W1982378494","https://openalex.org/W1999647022","https://openalex.org/W2083165838","https://openalex.org/W2111777046","https://openalex.org/W2114424297","https://openalex.org/W2295651002","https://openalex.org/W2436889540","https://openalex.org/W2539578877","https://openalex.org/W2600803066","https://openalex.org/W2622106568","https://openalex.org/W2763257153","https://openalex.org/W2765091582","https://openalex.org/W2952637877","https://openalex.org/W2955877662","https://openalex.org/W2974577080","https://openalex.org/W2989567921","https://openalex.org/W3198517673","https://openalex.org/W3200626400","https://openalex.org/W4229038893","https://openalex.org/W4281488069","https://openalex.org/W4283815205","https://openalex.org/W4293094382","https://openalex.org/W4294068704","https://openalex.org/W4304140004","https://openalex.org/W4308709079","https://openalex.org/W4311111677","https://openalex.org/W4361291645","https://openalex.org/W4362654148","https://openalex.org/W4367187056","https://openalex.org/W4380487923"],"related_works":["https://openalex.org/W4380433113","https://openalex.org/W4386072068","https://openalex.org/W252339960","https://openalex.org/W2390529043","https://openalex.org/W2378320433","https://openalex.org/W2358343511","https://openalex.org/W2051877971","https://openalex.org/W1970117064","https://openalex.org/W1787170397","https://openalex.org/W4292347844"],"abstract_inverted_index":{"The":[0,53,148],"inchworm":[1,43,94,145],"in-pipe":[2,21,44,95,146],"robot":[3,45,54,126,171],"has":[4],"the":[5,17,25,34,67,78,86,93,108,111,117,120,125,139,170],"advantages":[6],"of":[7,20,28,36,92,141],"stable":[8],"support,":[9],"low":[10],"walking":[11,154,157],"resistance,":[12],"and":[13,63,90,101,155,160],"high":[14],"flexibility.":[15],"However,":[16],"gait":[18,142],"motion":[19,88,143],"robots":[22],"relies":[23],"on":[24,47,107],"precise":[26],"coordination":[27],"three":[29],"motors,":[30],"which":[31,136],"greatly":[32],"increases":[33],"complexity":[35],"control.":[37],"To":[38],"solve":[39],"this":[40],"problem,":[41],"an":[42],"based":[46],"a":[48,132,174],"multi-cam":[49],"combination":[50],"is":[51],"proposed.":[52],"needs":[55],"only":[56],"one":[57],"motor":[58,134],"to":[59,84,164],"achieve":[60,128,173],"active":[61],"support":[62],"bidirectional":[64,129],"crawling":[65],"for":[66,72,144,152],"pipe":[68],"wall,":[69],"mainly":[70],"used":[71],"detecting":[73],"straight":[74],"pipelines,":[75],"such":[76,166],"as":[77,167],"main":[79],"drainage":[80],"pipeline.":[81],"In":[82],"order":[83],"obtain":[85],"periodic":[87],"law":[89],"characteristics":[91],"robot,":[96],"structure":[97],"design,":[98],"constraint":[99],"analysis,":[100],"dynamic":[102],"simulation":[103],"were":[104],"carried":[105],"out":[106],"robot.":[109],"Finally,":[110],"principle":[112],"prototype":[113],"was":[114],"tested":[115],"in":[116,179],"transparent":[118],"pipe,":[119],"test":[121],"results":[122],"indicate":[123],"that":[124],"can":[127,137,172],"creep":[130],"under":[131],"single":[133],"drive,":[135],"simplify":[138],"control":[140],"robots.":[147],"average":[149],"displacement":[150],"errors":[151],"horizontal":[153,180],"vertical":[156],"are":[158],"2.0%":[159],"11.3%,":[161],"respectively,":[162],"due":[163],"factors":[165],"gravity.":[168],"Therefore,":[169],"more":[175],"accurate":[176],"step":[177],"distance":[178],"pipelines.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
