{"id":"https://openalex.org/W2593389940","doi":"https://doi.org/10.1109/robio.2016.7866462","title":"Effect of high pressure water jet cleaning device on the motion stability of an in-pipe cleaning robot","display_name":"Effect of high pressure water jet cleaning device on the motion stability of an in-pipe cleaning robot","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2593389940","doi":"https://doi.org/10.1109/robio.2016.7866462","mag":"2593389940"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5073600950","display_name":"Guanhua Feng","orcid":"https://orcid.org/0000-0003-3902-6681"},"institutions":[{"id":"https://openalex.org/I116036724","display_name":"Shenyang Ligong University","ror":"https://ror.org/03m20nr07","country_code":"CN","type":"education","lineage":["https://openalex.org/I116036724"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guanhua Feng","raw_affiliation_strings":["Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, China","institution_ids":["https://openalex.org/I116036724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363791","display_name":"Zhigang Li","orcid":"https://orcid.org/0000-0001-7164-1049"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Li","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427749","display_name":"Zhen He","orcid":"https://orcid.org/0000-0001-8565-9717"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen He","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101075857","display_name":"Yingbin Feng","orcid":"https://orcid.org/0000-0001-9256-8653"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingbin Feng","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041873930","display_name":"Tao Xue","orcid":"https://orcid.org/0000-0002-8230-5654"},"institutions":[{"id":"https://openalex.org/I116036724","display_name":"Shenyang Ligong University","ror":"https://ror.org/03m20nr07","country_code":"CN","type":"education","lineage":["https://openalex.org/I116036724"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Xue","raw_affiliation_strings":["Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, China","institution_ids":["https://openalex.org/I116036724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029347905","display_name":"Kaizhou Liu","orcid":"https://orcid.org/0000-0002-7355-3808"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaizhou Liu","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, CO, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5073600950"],"corresponding_institution_ids":["https://openalex.org/I116036724"],"apc_list":null,"apc_paid":null,"fwci":0.1753,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60693949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"30","issue":null,"first_page":"1040","last_page":"1045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9993000030517578,"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/T13715","display_name":"Power Line Inspection Robots","score":0.994700014591217,"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/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.9926000237464905,"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/jet","display_name":"Jet (fluid)","score":0.6194996237754822},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.6189086437225342},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5723810791969299},{"id":"https://openalex.org/keywords/differential-pressure","display_name":"Differential pressure","score":0.48927661776542664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48527786135673523},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43812069296836853},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3474966883659363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3335445523262024},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33201804757118225},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.29337960481643677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2532944083213806},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.102744460105896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07259640097618103}],"concepts":[{"id":"https://openalex.org/C119947313","wikidata":"https://www.wikidata.org/wiki/Q5596635","display_name":"Jet (fluid)","level":2,"score":0.6194996237754822},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.6189086437225342},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5723810791969299},{"id":"https://openalex.org/C2984663118","wikidata":"https://www.wikidata.org/wiki/Q7424019","display_name":"Differential pressure","level":2,"score":0.48927661776542664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48527786135673523},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43812069296836853},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3474966883659363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3335445523262024},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33201804757118225},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.29337960481643677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2532944083213806},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.102744460105896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07259640097618103},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2016.7866462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:2750931265","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702223073327290","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W289147186","https://openalex.org/W576982943","https://openalex.org/W1512735434","https://openalex.org/W2024581891","https://openalex.org/W2025113330","https://openalex.org/W2068290047","https://openalex.org/W2091393592","https://openalex.org/W2120916852","https://openalex.org/W2145209102","https://openalex.org/W2157893028","https://openalex.org/W2348770589","https://openalex.org/W2356471747","https://openalex.org/W2374845656","https://openalex.org/W6677998794"],"related_works":["https://openalex.org/W1995889332","https://openalex.org/W3104163240","https://openalex.org/W3008693296","https://openalex.org/W4312283151","https://openalex.org/W2381158465","https://openalex.org/W2617721340","https://openalex.org/W2507253542","https://openalex.org/W3043674730","https://openalex.org/W2327589517","https://openalex.org/W1978012318"],"abstract_inverted_index":{"The":[0,56,93,141],"in-pipe":[1,15],"cleaning":[2,31,54,116,157],"robot":[3],"(IPCR)":[4],"is":[5,70,91,129],"a":[6,40,66],"new":[7,49],"equipment":[8],"for":[9],"pipelines":[10,30],"cleaning.":[11],"However,":[12],"most":[13],"existing":[14],"robots":[16],"are":[17,63,103,138],"used":[18],"to":[19,72,77],"inspection":[20],"and":[21,43,65,96,134],"simple":[22],"maintenance,":[23],"etc.":[24],"They":[25],"cannot":[26],"effectively":[27],"complete":[28],"the":[29,60,74,78,84,87,100,108,111,119,123,125,146,152,161,169],"works,":[32],"especially":[33],"large":[34],"diameter":[35],"pipelines.":[36],"This":[37],"paper":[38],"proposes":[39],"novel":[41,67],"wheeled":[42],"wall-pressing":[44],"type":[45],"IPCR":[46,62,75,101],"equipped":[47],"with":[48],"high":[50,112,153],"pressure":[51,113,154],"water":[52,114,155],"jet":[53,115,117,156],"device.":[55],"whole":[57],"mechanisms":[58,89],"of":[59,99,110,122,148],"proposed":[61],"designed":[64],"preload":[68,150],"mechanism":[69],"applied":[71],"guarantee":[73,168],"reach":[76],"target":[79],"operation":[80],"distance.":[81],"Based":[82],"on":[83,118],"multi-body":[85],"theory,":[86],"contact":[88],"model":[90],"built.":[92],"motion":[94,120,171],"equation":[95],"differential-algebraic":[97],"equations":[98],"system":[102],"obtained":[104],"respectively.":[105],"To":[106],"verify":[107],"effect":[109],"stability":[121],"IPCR,":[124],"virtual":[126],"simulation":[127,136],"platform":[128],"established":[130],"in":[131],"software":[132],"RecurDyn":[133],"some":[135],"experiments":[137],"carried":[139],"out.":[140],"results":[142],"show":[143],"that":[144],"under":[145],"condition":[147],"sufficient":[149],"force,":[151],"device":[158],"starts":[159],"after":[160],"main":[162],"body":[163],"runs":[164],"stable,":[165],"which":[166],"can":[167],"global":[170],"stability.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}