{"id":"https://openalex.org/W4384695559","doi":"https://doi.org/10.3233/ais-220247","title":"Design of a wheeled-type In-Pipe Inspection Robot to overcome motion singularity in curved pipes","display_name":"Design of a wheeled-type In-Pipe Inspection Robot to overcome motion singularity in curved pipes","publication_year":2023,"publication_date":"2023-07-18","ids":{"openalex":"https://openalex.org/W4384695559","doi":"https://doi.org/10.3233/ais-220247"},"language":"en","primary_location":{"id":"doi:10.3233/ais-220247","is_oa":true,"landing_page_url":"https://doi.org/10.3233/ais-220247","pdf_url":"https://content.iospress.com:443/download/journal-of-ambient-intelligence-and-smart-environments/ais220247?id=journal-of-ambient-intelligence-and-smart-environments%2Fais220247","source":{"id":"https://openalex.org/S2492266406","display_name":"Journal of Ambient Intelligence and Smart Environments","issn_l":"1876-1364","issn":["1876-1364","1876-1372"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Ambient Intelligence and Smart Environments","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://content.iospress.com:443/download/journal-of-ambient-intelligence-and-smart-environments/ais220247?id=journal-of-ambient-intelligence-and-smart-environments%2Fais220247","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080292455","display_name":"Rajendran Sugin Elankavi","orcid":"https://orcid.org/0000-0002-4923-3177"},"institutions":[{"id":"https://openalex.org/I43663321","display_name":"Hindustan Institute of Technology and Science","ror":"https://ror.org/037tgdn13","country_code":"IN","type":"education","lineage":["https://openalex.org/I43663321"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rajendran Sugin\u00a0Elankavi","raw_affiliation_strings":["Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India","institution_ids":["https://openalex.org/I43663321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114016114","display_name":"D. Dinakaran","orcid":null},"institutions":[{"id":"https://openalex.org/I43663321","display_name":"Hindustan Institute of Technology and Science","ror":"https://ror.org/037tgdn13","country_code":"IN","type":"education","lineage":["https://openalex.org/I43663321"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"D. Dinakaran","raw_affiliation_strings":["Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India","institution_ids":["https://openalex.org/I43663321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039883718","display_name":"Arockia Selvakumar Arockia Doss","orcid":"https://orcid.org/0000-0002-7810-6994"},"institutions":[{"id":"https://openalex.org/I876193797","display_name":"Vellore Institute of Technology University","ror":"https://ror.org/00qzypv28","country_code":"IN","type":"education","lineage":["https://openalex.org/I876193797"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Arockia Selvakumar Arockia Doss","raw_affiliation_strings":["School of Mechanical Engineering, Vellore Institute of Technology, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Vellore Institute of Technology, Chennai, India","institution_ids":["https://openalex.org/I876193797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112906754","display_name":"R. M. Kuppan Chetty","orcid":null},"institutions":[{"id":"https://openalex.org/I43663321","display_name":"Hindustan Institute of Technology and Science","ror":"https://ror.org/037tgdn13","country_code":"IN","type":"education","lineage":["https://openalex.org/I43663321"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"R.M. Kuppan\u00a0Chetty","raw_affiliation_strings":["Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India","institution_ids":["https://openalex.org/I43663321"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112853161","display_name":"M. Ramya","orcid":null},"institutions":[{"id":"https://openalex.org/I43663321","display_name":"Hindustan Institute of Technology and Science","ror":"https://ror.org/037tgdn13","country_code":"IN","type":"education","lineage":["https://openalex.org/I43663321"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M.M. Ramya","raw_affiliation_strings":["Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India","institution_ids":["https://openalex.org/I43663321"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039883718","https://openalex.org/A5114016114"],"corresponding_institution_ids":["https://openalex.org/I43663321","https://openalex.org/I876193797"],"apc_list":null,"apc_paid":null,"fwci":0.6261,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.635883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"16","issue":"1","first_page":"43","last_page":"55"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T12169","display_name":"Non-Destructive Testing Techniques","score":0.9876999855041504,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9873999953269958,"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":0.7979127168655396},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7874156832695007},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7382986545562744},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.654860258102417},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6380416750907898},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.6256970167160034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6008788347244263},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5324194431304932},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4769267439842224},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3343801498413086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33162370324134827},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22541946172714233},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1343775987625122},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12306538224220276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10843828320503235},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07946616411209106}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7979127168655396},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7874156832695007},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7382986545562744},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.654860258102417},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6380416750907898},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.6256970167160034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6008788347244263},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5324194431304932},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4769267439842224},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3343801498413086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33162370324134827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22541946172714233},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1343775987625122},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12306538224220276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10843828320503235},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07946616411209106},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/ais-220247","is_oa":true,"landing_page_url":"https://doi.org/10.3233/ais-220247","pdf_url":"https://content.iospress.com:443/download/journal-of-ambient-intelligence-and-smart-environments/ais220247?id=journal-of-ambient-intelligence-and-smart-environments%2Fais220247","source":{"id":"https://openalex.org/S2492266406","display_name":"Journal of Ambient Intelligence and Smart Environments","issn_l":"1876-1364","issn":["1876-1364","1876-1372"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Ambient Intelligence and Smart Environments","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3233/ais-220247","is_oa":true,"landing_page_url":"https://doi.org/10.3233/ais-220247","pdf_url":"https://content.iospress.com:443/download/journal-of-ambient-intelligence-and-smart-environments/ais220247?id=journal-of-ambient-intelligence-and-smart-environments%2Fais220247","source":{"id":"https://openalex.org/S2492266406","display_name":"Journal of Ambient Intelligence and Smart Environments","issn_l":"1876-1364","issn":["1876-1364","1876-1372"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Ambient Intelligence and Smart Environments","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4384695559.pdf","grobid_xml":"https://content.openalex.org/works/W4384695559.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W1608286119","https://openalex.org/W1982378494","https://openalex.org/W2052673631","https://openalex.org/W2093035457","https://openalex.org/W2114424297","https://openalex.org/W2116932110","https://openalex.org/W2131607098","https://openalex.org/W2575518471","https://openalex.org/W2596942054","https://openalex.org/W2602365275","https://openalex.org/W2625924384","https://openalex.org/W2743922614","https://openalex.org/W2744147298","https://openalex.org/W2758637927","https://openalex.org/W2777881168","https://openalex.org/W2781993511","https://openalex.org/W2801950191","https://openalex.org/W2810220271","https://openalex.org/W2886238227","https://openalex.org/W2893559730","https://openalex.org/W2897896369","https://openalex.org/W2904948786","https://openalex.org/W2910907434","https://openalex.org/W2943478839","https://openalex.org/W2944699415","https://openalex.org/W2944758627","https://openalex.org/W2945435335","https://openalex.org/W2952637877","https://openalex.org/W2955877662","https://openalex.org/W2968668052","https://openalex.org/W2974577080","https://openalex.org/W2981755714","https://openalex.org/W2986675161","https://openalex.org/W2996073213","https://openalex.org/W2998798635","https://openalex.org/W2998902797","https://openalex.org/W2999429302","https://openalex.org/W3018492935","https://openalex.org/W3024760947","https://openalex.org/W3028910754","https://openalex.org/W3033265188","https://openalex.org/W3036302049","https://openalex.org/W3041232965","https://openalex.org/W3047706052","https://openalex.org/W3093733624","https://openalex.org/W3094707021","https://openalex.org/W3111295657","https://openalex.org/W3124838546","https://openalex.org/W3126857005","https://openalex.org/W3134755473","https://openalex.org/W3156384445","https://openalex.org/W3164199695","https://openalex.org/W3188937279","https://openalex.org/W3194740825","https://openalex.org/W3198219431","https://openalex.org/W3202947461","https://openalex.org/W4223527148","https://openalex.org/W4225432514","https://openalex.org/W4226288236","https://openalex.org/W4283765783","https://openalex.org/W4312411149","https://openalex.org/W4312466508","https://openalex.org/W4316659344"],"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":{"This":[0],"paper":[1],"discusses":[2],"the":[3,24,36,41,65,71,132,136,160,177,221],"development":[4],"and":[5,16,31,87,121,125,159,197,212,226,229],"design":[6],"of":[7,26,170,176,223],"two":[8],"wheeled-type":[9],"In-Pipe":[10],"Inspection":[11],"Robots":[12],"(IPIRs),":[13],"Kuzhali":[14,17,52,78,89,157,181],"I":[15,53,79],"II,":[18,158],"which":[19,63,218],"were":[20,154,162],"created":[21],"to":[22,39,67,83,97,100,114,143,164,185,215],"address":[23],"limitations":[25,81],"traditional":[27],"human":[28,216],"inspection":[29],"methods":[30],"earlier":[32],"robot":[33],"designs.":[34],"Specifically,":[35],"robots":[37,113,206],"aim":[38],"overcome":[40,118,199],"motion":[42,75,119,200],"singularity":[43,120,201],"experienced":[44],"by":[45],"IPIRs":[46],"when":[47],"navigating":[48,149],"through":[49,102,123,192],"curved":[50,126,203],"pipes.":[51,204],"was":[54,91,109],"developed":[55,92],"with":[56,70,93,105,195],"wheels":[57,66,138],"mounted":[58],"at":[59],"an":[60,168],"asymmetric":[61],"angle,":[62],"enables":[64],"maintain":[68],"contact":[69],"pipe\u2019s":[72],"surface,":[73],"preventing":[74],"singularity.":[76],"However,":[77],"had":[80],"due":[82],"its":[84],"prismatic":[85],"mechanism,":[86],"thus":[88],"II":[90,182],"a":[94,208],"telescopic":[95],"mechanism":[96],"allow":[98],"it":[99],"pass":[101],"vertical":[103,193],"pipes":[104],"obstacles.":[106],"Motion":[107],"analysis":[108],"conducted":[110,155],"on":[111,135,156],"both":[112],"demonstrate":[115],"how":[116],"they":[117],"navigate":[122,191],"straight":[124],"pipelines.":[127],"Simulation":[128],"results":[129,161,175],"showed":[130],"that":[131,180],"forces":[133],"acting":[134],"robots\u2019":[137],"fell":[139],"within":[140],"5":[141],"N":[142],"12":[144],"N,":[145],"demonstrating":[146],"stability":[147],"while":[148],"pipeline":[150,188,224],"junctions.":[151],"Experimental":[152],"tests":[153],"compared":[163],"simulation":[165],"results,":[166],"showing":[167],"error":[169],"less":[171],"than":[172],"5%.":[173],"The":[174],"experiments":[178],"indicate":[179],"is":[183],"safe":[184],"use":[186],"for":[187],"inspection,":[189,217],"can":[190,198,219],"pipelines":[194],"ease":[196],"in":[202],"These":[205],"offer":[207],"faster,":[209],"more":[210],"accurate,":[211],"safer":[213],"alternative":[214],"reduce":[220],"risk":[222],"failures":[225],"associated":[227],"environmental":[228],"safety":[230],"hazards.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
