{"id":"https://openalex.org/W4404564412","doi":"https://doi.org/10.1109/mra.2024.3487326","title":"Large-Scale Vine Robots for Industrial Inspection: <b>Developing a New Framework to Overcome Limitations With Existing Inspection Methods</b>","display_name":"Large-Scale Vine Robots for Industrial Inspection: <b>Developing a New Framework to Overcome Limitations With Existing Inspection Methods</b>","publication_year":2024,"publication_date":"2024-11-20","ids":{"openalex":"https://openalex.org/W4404564412","doi":"https://doi.org/10.1109/mra.2024.3487326"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2024.3487326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3487326","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"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 Robotics &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009591871","display_name":"William E. Heap","orcid":"https://orcid.org/0000-0002-5979-033X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"William E. Heap","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080160012","display_name":"S.Y. Man","orcid":"https://orcid.org/0009-0007-2102-0667"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Man","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028350484","display_name":"Vedad Bassari","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vedad Bassari","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103005873","display_name":"Steven Nguyen","orcid":"https://orcid.org/0009-0003-3855-6290"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Nguyen","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066265369","display_name":"Elvy B. Yao","orcid":"https://orcid.org/0000-0002-8914-8006"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elvy B. Yao","raw_affiliation_strings":["College of Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","College of Engineering, University of California, Santa Barbara, CA, USA"],"affiliations":[{"raw_affiliation_string":"College of Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"College of Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113706194","display_name":"N. Tripathi","orcid":"https://orcid.org/0009-0008-1746-6372"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neel A. Tripathi","raw_affiliation_strings":["College of Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","College of Engineering, University of California, Santa Barbara, CA, USA"],"affiliations":[{"raw_affiliation_string":"College of Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"College of Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059463904","display_name":"Nicholas D. Naclerio","orcid":"https://orcid.org/0000-0002-7337-3014"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas D. Naclerio","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5009591871"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.7382,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68733394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"32","issue":"3","first_page":"64","last_page":"75"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9728999733924866,"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":0.9728999733924866,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9334999918937683,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10616","display_name":"Smart Agriculture and AI","score":0.932699978351593,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6191648244857788},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5868165493011475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5722690224647522},{"id":"https://openalex.org/keywords/vine","display_name":"Vine","score":0.4527847468852997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43608492612838745}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6191648244857788},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5868165493011475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5722690224647522},{"id":"https://openalex.org/C2781214258","wikidata":"https://www.wikidata.org/wiki/Q917284","display_name":"Vine","level":2,"score":0.4527847468852997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43608492612838745},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2024.3487326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3487326","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"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 Robotics &amp; Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W242324333","https://openalex.org/W2575311593","https://openalex.org/W2588727045","https://openalex.org/W2734595964","https://openalex.org/W2737491236","https://openalex.org/W2738152005","https://openalex.org/W2771265794","https://openalex.org/W2896056663","https://openalex.org/W2919013143","https://openalex.org/W2946871295","https://openalex.org/W2981404116","https://openalex.org/W3003868926","https://openalex.org/W3105818082","https://openalex.org/W3132227494","https://openalex.org/W3183244442","https://openalex.org/W3200626400","https://openalex.org/W3204387335"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W621131920","https://openalex.org/W2364991505","https://openalex.org/W2370449540","https://openalex.org/W2372885251","https://openalex.org/W2363458964","https://openalex.org/W2351981332","https://openalex.org/W1480946468"],"abstract_inverted_index":{"Industrial":[0],"facilities":[1],"such":[2,46],"as":[3,47,211],"chemical":[4],"factories,":[5],"gas":[6,176],"terminals,":[7],"and":[8,22,31,53,123,137,147,175,187],"power":[9],"plants":[10],"can":[11,59],"contain":[12],"kilometers":[13],"of":[14,39,173,220],"piping":[15],"that":[16,34],"require":[17],"meticulous":[18],"inspection":[19,44,50],"for":[20,98,127],"leaks":[21],"defects":[23],"prior":[24],"to":[25,110,113],"operation.":[26],"This":[27],"is":[28],"a":[29,71,75,88,91,128,158,170,179,182,185,196,208],"costly":[30],"time-consuming":[32],"process":[33],"sometimes":[35],"requires":[36],"dismantling":[37],"sections":[38],"pipe.":[40],"While":[41],"current":[42,201],"internal":[43],"devices":[45],"borescopes,":[48],"\u201cpipe":[49],"gadgets,\u201d":[51],"rovers,":[52],"drones":[54],"serve":[55],"specific":[56],"purposes,":[57],"none":[58],"effectively":[60],"maneuver":[61],"through":[62],"multiple":[63],"bends":[64],"with":[65],"large":[66,224],"diameter":[67],"changes":[68],"while":[69],"pulling":[70],"tethered":[72],"sensor.":[73],"As":[74],"first":[76],"step":[77],"in":[78,102,120,161,199],"addressing":[79,200],"this":[80],"need,":[81],"we":[82,154],"tackled":[83],"the":[84,125,151,212,218],"mobility":[85],"challenge":[86],"without":[87],"sensor,":[89],"developing":[90],"33-m-long,":[92],"1-m-wide,":[93],"soft,":[94],"inflatable":[95],"vine":[96,115],"robot":[97],"accessing":[99],"hard-to-reach":[100],"spaces":[101],"dangerous":[103],"industrial":[104],"facilities.":[105],"We":[106],"also":[107,206],"investigated":[108],"ways":[109],"mount":[111],"sensors":[112],"large-scale":[114],"robots,":[116],"identified":[117],"key":[118],"challenges":[119,204],"doing":[121],"so,":[122],"provide":[124],"framework":[126],"potential":[129],"solution.":[130],"Our":[131,165,191],"work":[132,192],"addresses":[133],"many":[134],"modeling,":[135],"design,":[136],"scaling":[138],"challenges,":[139],"including":[140],"frictional":[141],"properties,":[142],"gravitational":[143],"effects,":[144],"pneumatic":[145,221],"control,":[146],"portability.":[148],"To":[149],"validate":[150],"device\u2019s":[152],"capabilities,":[153],"conducted":[155],"testing":[156],"at":[157,223],"Bechtel":[159],"facility":[160],"Houston,":[162],"TX,":[163],"USA.":[164],"portable":[166],"device":[167],"successfully":[168],"navigated":[169],"24-m-long":[171],"section":[172],"oil":[174],"piping,":[177],"negotiating":[178],"90\u00b0":[180],"bend,":[181],"vertical":[183],"section,":[184],"blockage,":[186],"an":[188],"open":[189],"chamber.":[190],"not":[193],"only":[194],"represents":[195],"substantial":[197],"advancement":[198],"pipe":[202],"navigation":[203],"but":[205],"establishes":[207],"new":[209],"benchmark":[210],"world\u2019s":[213],"largest":[214],"soft":[215],"robot,":[216],"showcasing":[217],"effectiveness":[219],"principles":[222],"scales.":[225]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2024-11-21T00:00:00"}
