{"id":"https://openalex.org/W4412985079","doi":"https://doi.org/10.1109/access.2025.3595951","title":"FOPID-Controlled Self-Propelled Pipeline Inspection Robot for Internal Mapping of Small-Diameter Pipelines","display_name":"FOPID-Controlled Self-Propelled Pipeline Inspection Robot for Internal Mapping of Small-Diameter Pipelines","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412985079","doi":"https://doi.org/10.1109/access.2025.3595951"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3595951","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3595951","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://doi.org/10.1109/access.2025.3595951","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092545436","display_name":"Rizwan Aziz Mangi","orcid":null},"institutions":[{"id":"https://openalex.org/I126131087","display_name":"University of Sindh","ror":"https://ror.org/01d692d57","country_code":"PK","type":"education","lineage":["https://openalex.org/I126131087"]},{"id":"https://openalex.org/I2802220407","display_name":"Chandka Medical College","ror":"https://ror.org/034dczg46","country_code":"PK","type":"education","lineage":["https://openalex.org/I2802220407"]},{"id":"https://openalex.org/I3131820683","display_name":"Shaheed Mohtarma Benazir Bhutto Medical University","ror":"https://ror.org/03nw0tx25","country_code":"PK","type":"education","lineage":["https://openalex.org/I3131820683"]}],"countries":["PK"],"is_corresponding":true,"raw_author_name":"Rizwan Aziz Mangi","raw_affiliation_strings":["Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","Department of Electronic Engineering, University of Larkano, Sindh, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","institution_ids":["https://openalex.org/I2802220407","https://openalex.org/I3131820683"]},{"raw_affiliation_string":"Department of Electronic Engineering, University of Larkano, Sindh, Pakistan","institution_ids":["https://openalex.org/I126131087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020683219","display_name":"Ghulam E Mustafa Abro","orcid":"https://orcid.org/0000-0003-1874-1889"},"institutions":[{"id":"https://openalex.org/I4210112034","display_name":"King Fahd Military Medical Complex","ror":"https://ror.org/01c524129","country_code":"SA","type":"healthcare","lineage":["https://openalex.org/I4210112034"]},{"id":"https://openalex.org/I72054575","display_name":"Cochrane","ror":"https://ror.org/00dbkrq51","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I72054575"]}],"countries":["GB","SA"],"is_corresponding":false,"raw_author_name":"Ghulam E. Mustafa Abro","raw_affiliation_strings":["Interdisciplinary Research Centre for Aviation and Space Exploration (IRC-ASE), KFUPM, Dhahran, Saudi Arabia","Interdisciplinary Research Centre for Aviation and Space Exploration (IRC-ASE), KFUPM, Dhahran, Kingdom of Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0003-1874-1889","affiliations":[{"raw_affiliation_string":"Interdisciplinary Research Centre for Aviation and Space Exploration (IRC-ASE), KFUPM, Dhahran, Saudi Arabia","institution_ids":["https://openalex.org/I4210112034"]},{"raw_affiliation_string":"Interdisciplinary Research Centre for Aviation and Space Exploration (IRC-ASE), KFUPM, Dhahran, Kingdom of Saudi Arabia","institution_ids":["https://openalex.org/I72054575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072292929","display_name":"Sufyan Ali Memon","orcid":null},"institutions":[{"id":"https://openalex.org/I28777354","display_name":"Sejong University","ror":"https://ror.org/00aft1q37","country_code":"KR","type":"education","lineage":["https://openalex.org/I28777354"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sufyan Ali Memon","raw_affiliation_strings":["Department of Defense Systems Engineering, Sejong University, Gwangjin-gu, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-5592-9990","affiliations":[{"raw_affiliation_string":"Department of Defense Systems Engineering, Sejong University, Gwangjin-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I28777354"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018540671","display_name":"Aneela Pathan","orcid":"https://orcid.org/0000-0003-2629-3916"},"institutions":[{"id":"https://openalex.org/I126131087","display_name":"University of Sindh","ror":"https://ror.org/01d692d57","country_code":"PK","type":"education","lineage":["https://openalex.org/I126131087"]},{"id":"https://openalex.org/I2802220407","display_name":"Chandka Medical College","ror":"https://ror.org/034dczg46","country_code":"PK","type":"education","lineage":["https://openalex.org/I2802220407"]},{"id":"https://openalex.org/I3131820683","display_name":"Shaheed Mohtarma Benazir Bhutto Medical University","ror":"https://ror.org/03nw0tx25","country_code":"PK","type":"education","lineage":["https://openalex.org/I3131820683"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Aneela Pathan","raw_affiliation_strings":["Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","Department of Electronic Engineering, University of Larkano, Sindh, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","institution_ids":["https://openalex.org/I2802220407","https://openalex.org/I3131820683"]},{"raw_affiliation_string":"Department of Electronic Engineering, University of Larkano, Sindh, Pakistan","institution_ids":["https://openalex.org/I126131087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077252270","display_name":"Khalil Muhammad Zuhaib","orcid":"https://orcid.org/0000-0003-3750-7772"},"institutions":[{"id":"https://openalex.org/I126131087","display_name":"University of Sindh","ror":"https://ror.org/01d692d57","country_code":"PK","type":"education","lineage":["https://openalex.org/I126131087"]},{"id":"https://openalex.org/I2802220407","display_name":"Chandka Medical College","ror":"https://ror.org/034dczg46","country_code":"PK","type":"education","lineage":["https://openalex.org/I2802220407"]},{"id":"https://openalex.org/I3131820683","display_name":"Shaheed Mohtarma Benazir Bhutto Medical University","ror":"https://ror.org/03nw0tx25","country_code":"PK","type":"education","lineage":["https://openalex.org/I3131820683"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Khalil Muhammad Zuhaib","raw_affiliation_strings":["Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","Department of Electronic Engineering, University of Larkano, Sindh, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The University of Larkano, Larkana, Sindh, Pakistan","institution_ids":["https://openalex.org/I2802220407","https://openalex.org/I3131820683"]},{"raw_affiliation_string":"Department of Electronic Engineering, University of Larkano, Sindh, Pakistan","institution_ids":["https://openalex.org/I126131087"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003816642","display_name":"Maran Marimuthu","orcid":"https://orcid.org/0009-0005-2799-2200"},"institutions":[{"id":"https://openalex.org/I203899302","display_name":"Universiti Teknologi Petronas","ror":"https://ror.org/048g2sh07","country_code":"MY","type":"education","lineage":["https://openalex.org/I203899302"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Maran Marimuthu","raw_affiliation_strings":["Department of Management, Universiti Teknologi PETRONAS, Seri, Iskandar, Perak, Malaysia","Department of Management, Universiti Teknologi PETRONAS, Seri Iskandar, Perak, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Management, Universiti Teknologi PETRONAS, Seri, Iskandar, Perak, Malaysia","institution_ids":["https://openalex.org/I203899302"]},{"raw_affiliation_string":"Department of Management, Universiti Teknologi PETRONAS, Seri Iskandar, Perak, Malaysia","institution_ids":["https://openalex.org/I203899302"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5092545436"],"corresponding_institution_ids":["https://openalex.org/I126131087","https://openalex.org/I2802220407","https://openalex.org/I3131820683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0674,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87970267,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"137931","last_page":"137941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.9672999978065491,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9672999978065491,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13715","display_name":"Power Line Inspection Robots","score":0.9447000026702881,"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/T14257","display_name":"Advanced Measurement and Detection Methods","score":0.9253000020980835,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/pipeline-transport","display_name":"Pipeline transport","score":0.8187683820724487},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7186354398727417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5915589332580566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5390896201133728},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40666821599006653},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23287954926490784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22791829705238342},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16587883234024048}],"concepts":[{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.8187683820724487},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7186354398727417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5915589332580566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390896201133728},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40666821599006653},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23287954926490784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22791829705238342},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16587883234024048},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3595951","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3595951","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ae7042ee4c564b42a6b8905d41d351d0","is_oa":true,"landing_page_url":"https://doaj.org/article/ae7042ee4c564b42a6b8905d41d351d0","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 13, Pp 137931-137941 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3595951","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3595951","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2010301722","https://openalex.org/W2011090719","https://openalex.org/W2036687469","https://openalex.org/W2066201152","https://openalex.org/W2116932110","https://openalex.org/W2119044260","https://openalex.org/W2159215254","https://openalex.org/W2160146756","https://openalex.org/W2166304119","https://openalex.org/W2167059146","https://openalex.org/W2766718428","https://openalex.org/W2996073213","https://openalex.org/W3003474137","https://openalex.org/W3164199695","https://openalex.org/W3196322471","https://openalex.org/W4200194385","https://openalex.org/W4200622713","https://openalex.org/W4225432514","https://openalex.org/W4293094382","https://openalex.org/W4313072061","https://openalex.org/W4313125965","https://openalex.org/W4401109731"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4380433113","https://openalex.org/W4386072068","https://openalex.org/W2390529043","https://openalex.org/W2378320433","https://openalex.org/W2358343511","https://openalex.org/W2071821326","https://openalex.org/W2051877971","https://openalex.org/W1970117064","https://openalex.org/W766580941"],"abstract_inverted_index":{"Conventional":[0],"pipeline":[1,97,134,181,223],"route":[2],"mapping":[3,206],"systems":[4],"frequently":[5],"depend":[6],"on":[7],"external":[8],"sensing":[9,78],"technology,":[10],"like":[11],"cameras":[12],"and":[13,27,37,67,119,123,144,156,160,172,199,214,220],"laser":[14],"scanners.":[15],"Although":[16],"useful":[17],"in":[18,41,60,121,152],"certain":[19],"situations,":[20],"these":[21,82],"devices":[22],"are":[23],"often":[24],"costly,":[25],"cumbersome,":[26],"significantly":[28],"vulnerable":[29],"to":[30,57,80,178],"environmental":[31],"factors,":[32],"such":[33],"as":[34],"inadequate":[35],"lighting":[36],"reflecting":[38],"internal":[39,77],"surfaces\u2014particularly":[40],"constricted":[42],"pipelines.":[43],"These":[44],"constraints":[45],"render":[46],"them":[47],"inappropriate":[48],"for":[49,115],"small-scale":[50],"industrial":[51,212],"pipes,":[52],"generally":[53],"ranging":[54],"from":[55],"3":[56],"4":[58],"inches":[59],"diameter.":[61],"This":[62,187],"paper":[63],"presents":[64],"a":[65,87,106,193],"compact":[66],"cost-effective":[68],"Pipeline":[69,89],"Route":[70],"Mapping":[71],"System":[72],"(PRMS)":[73],"that":[74,93,202],"solely":[75],"uses":[76],"techniques":[79],"tackle":[81],"difficulties.":[83],"The":[84,99,126,163],"design":[85],"features":[86],"self-propelled":[88],"Inspection":[90],"Robot":[91],"(PIR)":[92],"autonomously":[94],"traverses":[95],"restricted":[96],"geometries.":[98],"robot\u2019s":[100],"movement":[101],"is":[102],"meticulously":[103],"controlled":[104],"by":[105,168],"Fractional":[107],"Order":[108],"Proportional":[109],"Integral":[110],"Derivative":[111],"(FOPID)":[112],"controller,":[113],"chosen":[114],"its":[116,176],"superior":[117],"adaptability":[118],"resilience":[120],"nonlinear":[122],"limited":[124],"settings.":[125],"suggested":[127],"method":[128],"facilitates":[129,189],"the":[130,137,190,218],"extraction":[131],"of":[132,139,149,158,192,196,222],"essential":[133],"characteristics,":[135],"encompassing":[136],"identification":[138],"transition":[140],"sites":[141],"between":[142],"linear":[143,150],"curved":[145],"segments,":[146],"precise":[147],"alignment":[148],"sections":[151],"accordance":[153],"with":[154,183],"curvature,":[155],"interpolation":[157],"bends":[159],"directional":[161],"changes.":[162],"system":[164],"has":[165],"been":[166],"validated":[167],"extensive":[169],"MATLAB/Simulink":[170],"simulations":[171],"empirical":[173],"testing,":[174],"demonstrating":[175],"capacity":[177],"accurately":[179],"reconstruct":[180],"pathways":[182],"minimal":[184],"sensor":[185],"hardware.":[186],"research":[188],"development":[191],"novel":[194],"category":[195],"economical,":[197],"compact,":[198],"intelligent":[200],"PIRs":[201],"can":[203],"enhance":[204],"sophisticated":[205],"algorithms.":[207],"Its":[208],"applicability":[209],"encompasses":[210],"several":[211],"inspection":[213],"maintenance":[215],"contexts,":[216],"enhancing":[217],"safety":[219],"efficiency":[221],"infrastructure":[224],"management.":[225]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}