1、3400 英文单词， 1.7 万英文字符 ， 中文 5600 字 文献出处： Truong-Thinh, Nguyen, Nguyen Ngoc-Phuong, and Tuong Phuoc-Tho. A study of pipe-cleaning and inspection robot. Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on. IEEE, 2011. 2593-2598. A study of pipe-cleaning and inspection robot Nguyen Tr
2、uong-Thinh, Nguyen Ngoc-Phuong, Tuong Phuoc-Tho Abstract Pipe cleaning and inspection robot is one of the new concepts of professional service robots. Sewer pipes are typically of non-man-entry classification (less than 0.8 m diameter). In this paper, a pipe-cleaning and inspection robot specificall
3、y designed for this function is proposed. This paper presents a new approach for design and development of cleaning robots in an unknown pipe workspace. To do so, we propose a new cutting method for cleaning work as well as an underwater inspection method. In this study, we discuss a communication w
4、hich makes the cleaning robot navigate the sewer pipe. Finally, we also evaluate the performance of our proposed inspection and cleaning processes via experiments and real tests. Also, we verify the effectiveness of the proposed methods through computer simulations. Keywords: sewer robot; cleaning r
5、obot; inspection robot. I. INTRODUCTION The public sewage system in Viet Nam works in no good conditions: sewage may leak out, possibly polluting soil and ground water, and it may wash away soil, possibly crowding the foundations of buildings or the underground of streets and pavements. Often wastew
6、ater contains other chemicals used in modern life. These include heavy metals which are not biodegradable and may accumulate in river sediments, plants, insects, and fish. They originate from both industrial and domestic sources and (above certain levels) can be toxic to animals and humans. In Viet Nam, sometimes, the industrial discharges flow to sewers or householders always flush away toxic everything or products they use to the sewage. Almost of waste-water pipes in Viet Nam is non-man-s
