{"id":"https://openalex.org/W2943478839","doi":"https://doi.org/10.1109/sii.2019.8700363","title":"Control and Mechanical Design of a Multi-diameter Tri-Legged In- Pipe Traversing Robot","display_name":"Control and Mechanical Design of a Multi-diameter Tri-Legged In- Pipe Traversing Robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2943478839","doi":"https://doi.org/10.1109/sii.2019.8700363","mag":"2943478839"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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/A5084335648","display_name":"Argel A. Bandala","orcid":"https://orcid.org/0000-0002-3568-4858"},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":true,"raw_author_name":"Argel A. Bandala","raw_affiliation_strings":["Research Faculty in the Electronics and Communications Engineering Department, De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"Research Faculty in the Electronics and Communications Engineering Department, De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082050578","display_name":"Jose Martin Z. Maningo","orcid":"https://orcid.org/0000-0003-2823-2279"},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Jose Martin Z. Maningo","raw_affiliation_strings":["Electronics and Communications Engineering Department, De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"Electronics and Communications Engineering Department, De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009028017","display_name":"Arvin H. Fernando","orcid":"https://orcid.org/0000-0002-0467-8551"},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Arvin H. Fernando","raw_affiliation_strings":["Academic Service Faculty of the Mechanical Engineering Department, De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"Academic Service Faculty of the Mechanical Engineering Department, De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043106023","display_name":"Ryan Rhay P. Vicerra","orcid":"https://orcid.org/0000-0002-8824-3749"},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Ryan Rhay P. Vicerra","raw_affiliation_strings":["Manufacturing Engineering and Management Department, De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"Manufacturing Engineering and Management Department, De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054694067","display_name":"Micah Antoinette B. Antonio","orcid":null},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Micah Antoinette B. Antonio","raw_affiliation_strings":["BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091176609","display_name":"Julianne Alyson I. Diaz","orcid":null},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Julianne Alyson I. Diaz","raw_affiliation_strings":["BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051051078","display_name":"Manuel Ligeralde","orcid":null},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Manuel Ligeralde","raw_affiliation_strings":["BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003127773","display_name":"Philix Anton R. Mascardo","orcid":null},"institutions":[{"id":"https://openalex.org/I5996616","display_name":"De La Salle University","ror":"https://ror.org/04xftk194","country_code":"PH","type":"education","lineage":["https://openalex.org/I5996616"]}],"countries":["PH"],"is_corresponding":false,"raw_author_name":"Philix Anton R. Mascardo","raw_affiliation_strings":["BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines"],"affiliations":[{"raw_affiliation_string":"BSc. in Electronics and Communications Engineering Students in De La Salle University, Manila, Philippines","institution_ids":["https://openalex.org/I5996616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5084335648"],"corresponding_institution_ids":["https://openalex.org/I5996616"],"apc_list":null,"apc_paid":null,"fwci":1.1737,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76411968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":null,"first_page":"740","last_page":"745"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7559508681297302},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7466485500335693},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6436368823051453},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48090314865112305},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4779953062534332},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4737214148044586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4569651484489441},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.42626631259918213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42574116587638855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3948844075202942},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39088788628578186},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38140541315078735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17707592248916626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13440635800361633}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7559508681297302},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7466485500335693},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6436368823051453},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48090314865112305},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4779953062534332},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4737214148044586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4569651484489441},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.42626631259918213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42574116587638855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3948844075202942},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39088788628578186},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38140541315078735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17707592248916626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13440635800361633},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2019.8700363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.41999998688697815,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2029624917","https://openalex.org/W2037430831","https://openalex.org/W2067338692","https://openalex.org/W2070468014","https://openalex.org/W2078500618","https://openalex.org/W2116932110","https://openalex.org/W2157893028","https://openalex.org/W2198753599","https://openalex.org/W2203897951","https://openalex.org/W2205387136","https://openalex.org/W2562430523","https://openalex.org/W2738560083","https://openalex.org/W2772834933","https://openalex.org/W2782283130","https://openalex.org/W2936654012","https://openalex.org/W6660178781"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"In":[0,112],"this":[1,28],"paper":[2],"a":[3,35,44,78],"versatile":[4],"and":[5,11,18,42,75,98,106],"adaptive":[6],"in-pipe":[7],"robot":[8,31,57,72,83,110,115],"is":[9,32,73,116],"designed":[10],"tested":[12],"The":[13,30,67,82,127],"existing":[14],"problem":[15],"of":[16,20,47,70,108,119],"versatility":[17],"adaptability":[19],"in":[21,27,77],"pipe":[22,60,125],"inspection":[23],"robots":[24],"are":[25,65],"addressed":[26],"study.":[29],"equipped":[33],"with":[34],"screw":[36,95],"type":[37],"assembly,":[38],"which":[39,122],"uniformly":[40],"contracts":[41],"retracts":[43],"tri-arm":[45],"assembly":[46],"wheels":[48],"connected":[49],"to":[50,102],"it.":[51],"This":[52],"mechanism":[53],"ensures":[54],"that":[55],"the":[56,59,63,71,90,94,104,109,114],"grips":[58],"walls":[61],"when":[62],"arms":[64],"expanded.":[66],"dynamic":[68],"model":[69],"derived":[74],"implemented":[76],"proportional":[79],"integral":[80],"controller.":[81],"can":[84],"maintain":[85],"vertical":[86],"position":[87],"by":[88],"maintaining":[89],"force":[91],"exerted":[92],"on":[93],"system":[96,111],"Simulations":[97],"experiments":[99],"were":[100],"conducted":[101],"determine":[103],"robustness":[105],"stability":[107],"addition,":[113],"also":[117],"capable":[118],"rust":[120,128],"mapping,":[121],"enables":[123],"easier":[124],"monitoring.":[126],"mapping":[129],"yielded":[130],"an":[131],"S3.2%":[132],"success":[133],"rate.":[134]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
