Full Content is available to subscribers

Subscribe/Learn More  >

Vertical Pipe Inspection Using Swarm of Independent Robots

[+] Author Affiliations
Daniela Pellizzari, Alejandro Ramirez-Serrano

University of Calgary, Calgary, AB, Canada

Giovanni C. Pettinaro

Università della Svizzera Italiana, Canton Ticino, Switzerland

Paper No. IPC2004-0682, pp. 1087-1094; 8 pages
  • 2004 International Pipeline Conference
  • 2004 International Pipeline Conference, Volumes 1, 2, and 3
  • Calgary, Alberta, Canada, October 4–8, 2004
  • Conference Sponsors: International Petroleum Technology Institute
  • ISBN: 0-7918-4176-6 | eISBN: 0-7918-3737-8
  • Copyright © 2004 by ASME


The work reported here describes a solution to the problem of inside vertical pipe inspection using a swarm of independent mobile robots. The proposed solution assumes the pipe diameter to be known, however, it does not make any further assumptions concerning the height to be climbed/inspected or the material and characteristics of the pipe. The robots considered are fully independent/intelligent/autonomous units and are able to connect to each other firmly as needed so as to form diverse rigid configuration structures (swarms). By exploiting the rigidity of such connections, the robots composing a swarm climb the inner vertical walls of a pipe simply by exerting together a force towards the pipe walls and by jointly moving forward at the same speed (as a team). During the joint motion, the robots are able to monitor their peers as well as the integrity of the surface by using a small CCD camera mounted on top of each robot. If one of them detects an unusual condition, it lits up and continues its motion waiting for all the other to acknowledge the situation by litting up them-selves. When this happens, they all jointly stop preventing in this way a sudden break of the force exerted on the walls and a consequent collapse of the swarm structure. In this way diverse pipe configurations can be effectively inspected.

Copyright © 2004 by ASME
Topics: Inspection , Robots , Pipes



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In