{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T08:04:33Z","timestamp":1745827473000,"version":"3.37.3"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T00:00:00Z","timestamp":1689552000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T00:00:00Z","timestamp":1689552000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51427803"],"award-info":[{"award-number":["51427803"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1007\/s10846-023-01898-z","type":"journal-article","created":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T15:01:57Z","timestamp":1689606117000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Research on the Key Technology of a Small Rock Hole Inspection Robot"],"prefix":"10.1007","volume":"108","author":[{"given":"Liquan","family":"Li","sequence":"first","affiliation":[]},{"given":"Ruiqi","family":"Han","sequence":"additional","affiliation":[]},{"given":"Haofei","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Zhonglin","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Kaiye","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Jin","family":"Li","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,17]]},"reference":[{"issue":"4","key":"1898_CR1","first-page":"767","volume":"9","author":"X Li","year":"2017","unstructured":"Li, X., Gong, F., Tao, M., et al.: Failure mechanism and coupled static-dynamic loading theory in deep hard rock mining: a review[J].J rock Mech. Geotech. Eng. 9(4), 767\u2013782 (2017)","journal-title":"Geotech. Eng."},{"key":"1898_CR2","doi-asserted-by":"crossref","unstructured":"Ma,\u00a0H., Gong, Q., Wang,\u00a0J., et al.: Study on the influence of confining stress on TBM performance in granite rock by linear cutting test[J].Tunn Undergr Space Technol., 57,\u00a0145\u2013150 (2016)","DOI":"10.1016\/j.tust.2016.02.020"},{"key":"1898_CR3","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1016\/j.ijrmms.2018.02.018","volume":"104","author":"X Li","year":"2018","unstructured":"Li, X., Li, C., Cao, W., et al.: Dynamic stress concentration and energy evolution of deep-buried tunnels under blasting loads[J]. Int. J. Rock Mech. Min. Sci. 104, 131\u2013146 (2018)","journal-title":"Int. J. Rock Mech. Min. Sci."},{"issue":"4","key":"1898_CR4","first-page":"26","volume":"18","author":"Lin nan.","year":"2007","unstructured":"Lin nan.: Brief introduction of APX acoustic logging tool while drilling [J]. Logging Eng. 18(4), 26\u201330 (2007)","journal-title":"Logging Eng."},{"issue":"3","key":"1898_CR5","first-page":"317","volume":"17","author":"XM Liu","year":"2001","unstructured":"Liu, X.M., Yang, Y.R., Geng, N.G.: Experimental measurement of crack porosity in rock [J]. Earthq. Res. China. 17(3), 317\u2013321 (2001)","journal-title":"Earthq. Res. China"},{"issue":"07","key":"1898_CR6","doi-asserted-by":"publisher","first-page":"1097","DOI":"10.1007\/s12613-021-2267-5","volume":"28","author":"X-q He","year":"2021","unstructured":"He, X.-q., Zhou, C., Song, D.-z., Li, Z.-l., Cao, A.-y., He, S.-q., Khan, M.: Mechanism and monitoring and early warning technology for rock burst in coal mines[J].International. J. Min. Metall. Mater. 28(07), 1097\u20131111 (2021)","journal-title":"J. Min. Metall. Mater."},{"key":"1898_CR7","unstructured":"Qian qihu.Challenges faced by underground projects construction safety and countermeasures[J].Chinese. J. Rock Mech. Eng. 31(10), 1945\u20131956 (2012)"},{"issue":"3","key":"1898_CR8","first-page":"19","volume":"31","author":"L Yongfang","year":"2012","unstructured":"Yongfang, L.: TBM construction of special geological full-section rock tunnel tunneling[J]. Des. Water Resource. Hydroelectric Eng. 31(3), 19\u201321 (2012)","journal-title":"Des. Water Resource. Hydroelectric Eng."},{"key":"1898_CR9","doi-asserted-by":"crossref","unstructured":"Heesik, J., Kim Tae, Y., Chan, L.Y., Soo, K.Y., Jooyong, K., Yong, L.H., Ryeol, C.H.: A review: technological trends and development direction of pipeline robot systems[J]. J. Intell. Robot. Syst. 105(3) (2022)","DOI":"10.1007\/s10846-022-01669-2"},{"key":"1898_CR10","doi-asserted-by":"crossref","unstructured":"Roh, S. G., Kim, D. W., Lee, J. S., Moon, H. , & Choi, H. R.: Modularized in-pipe robot capable of selective navigation inside of pipelines [C]\/\/IEEE\/RSJ international conference on Intelligent Robots & Systems. IEEE pp 1724\u20131729 (2008)","DOI":"10.1109\/IROS.2008.4650968"},{"issue":"3","key":"1898_CR11","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1109\/TRO.2012.2183049","volume":"28","author":"YS Kwon","year":"2012","unstructured":"Kwon, Y.S., Yi, B.J.: Design and motion planning of a two-module collaborative indoor pipeline detection robot[J]. IEEE Trans. Robot. 28(3), 681\u2013696 (2012)","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"1898_CR12","doi-asserted-by":"publisher","first-page":"772","DOI":"10.20965\/jrm.2019.p0772","volume":"31","author":"A Kakogawa","year":"2019","unstructured":"Kakogawa, A., Komurasaki, Y., Ma, S.: Shadow-based operation assistant for a pipeline-inspection robot using a variance value of the image histogram[J]. J. Robot. Mechatron. 31(6), 772\u2013780 (2019)","journal-title":"J. Robot. Mechatron."},{"issue":"1","key":"1898_CR13","doi-asserted-by":"publisher","first-page":"91","DOI":"10.3724\/SP.J.1218.2010.00091","volume":"32","author":"DW Tang","year":"2010","unstructured":"Tang, D.W., Li, Q.K., Jiang, S.Y., et al.: Differential property and traction force of tri-axial differential pipeline robot in elbow[J]. Robot. 32(1), 91\u201396 (2010)","journal-title":"Robot"},{"issue":"2","key":"1898_CR14","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1007\/s40436-017-0174-9","volume":"5","author":"ZL Xu","year":"2017","unstructured":"Xu, Z.L., Lu, S., Yang, J., et al.: A wheel-type in-pipe robot for grinding weld beads[J]. Adv. Manufact. 5(2), 182\u2013190 (2017)","journal-title":"Adv. Manufact."},{"issue":"8","key":"1898_CR15","first-page":"87","volume":"52","author":"HW Yan","year":"2018","unstructured":"Yan, H.W., Wang, Y., Ma, J.Q., et al.: Analysis of Dynamic Characteristics of over Bending of Wheeled Pipeline Robot in Elbow[J]. J. Xi\u2019an Jiao Tong Univ. 52(8), 87\u201394 (2018)","journal-title":"J. Xi\u2019an Jiao Tong Univ."},{"key":"1898_CR16","volume-title":"An in-Pipe Robot with Underactuated Parallelogram Crawler Modules[C]\/\/ IEEE International Conference on Robotics and Automation","author":"A Kakogawa","year":"2014","unstructured":"Kakogawa, A., Ma, S., Hirose, S.: An in-Pipe Robot with Underactuated Parallelogram Crawler Modules[C]\/\/ IEEE International Conference on Robotics and Automation. IEEE, Piscataway, USA (2014)"},{"issue":"7","key":"1898_CR17","doi-asserted-by":"publisher","first-page":"386","DOI":"10.1080\/01691864.2017.1417158","volume":"32","author":"M Kamata","year":"2018","unstructured":"Kamata, M., Yamazaki, S., Tanise, Y., et al.: Morphological change in peristaltic crawling motion of a narrow pipe inspection robotin spired by earthworm\u2019s locomotion [J]. Adv. Robot. 32(7), 386\u2013397 (2018)","journal-title":"Adv. Robot."},{"key":"1898_CR18","doi-asserted-by":"crossref","unstructured":"Ren, T., Liu, Q.Y., Li, Y.J., et al.: Design, analysis and innovation in variable radius active screw in-pipe drive mechanisms[J]. Int. J. Adv. Robot. Syst. 14(3) (2017)","DOI":"10.1177\/1729881417703564"},{"key":"1898_CR19","doi-asserted-by":"crossref","unstructured":"Li, P., Tang, M., Lyu, C., Fang, M. , & Liu, Y.: Design and analysis of a novel active screw-drive pipe robot [J]. Advances in Mechanical Engineering. 10(10), 1\u201318 (2018)","DOI":"10.1177\/1687814018801384"},{"key":"1898_CR20","doi-asserted-by":"crossref","unstructured":"Heesik, J., Moon, K.H., Sub, L.M., Heon, S.Y., Yoongeon, L., Ryeong, R.W., Ryeol, C.H.: Development of modularized in-pipe inspection robotic system: MRINSPECT VII+[J]. Robotica. 40(5) (2021)","DOI":"10.1017\/S0263574721001156"},{"issue":"1","key":"1898_CR21","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1109\/TMECH.2016.2621978","volume":"22","author":"HM Kim","year":"2017","unstructured":"Kim, H.M., Yun, S.C., Lee, Y.G., et al.: Novel mechanism for in-pipe robot based on a multiaxial differential gear mechanism[J]. IEEE\/ASME Trans. Mechatron. 22(1), 227\u2013235 (2017)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"1898_CR22","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1109\/TRO.2012.2183049","volume":"28","author":"YS Kwon","year":"2012","unstructured":"Kwon, Y.S., Yi, B.J.: Design and motion planning of a two-module collaborative indoor pipeline inspection robot[J]. IEEE Trans. Robot. 28(3), 681\u2013696 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"1898_CR23","doi-asserted-by":"crossref","unstructured":"Kwon, Y. S., Lee, B., Whang, I. C., Kim, W. K. , & Yi, B. J.: A flat pipeline inspection robot with two wheel chains [C]. IEEE International Conference on Robotics & Automation. IEEE, 5141\u20135146 (2011)","DOI":"10.1109\/ICRA.2011.5979712"},{"issue":"11","key":"1898_CR24","doi-asserted-by":"publisher","first-page":"83","DOI":"10.3901\/JME.2010.11.083","volume":"46","author":"Q Jinwei","year":"2010","unstructured":"Jinwei, Q., Jianzhong, S., Xun, C., Zirong, L.: Design of telescopic pipe robot based on CAM self-locking principle [J]. J. Mech. Eng. 46(11), 83\u201388 (2010)","journal-title":"J. Mech. Eng."},{"issue":"02","key":"1898_CR25","first-page":"76","volume":"36","author":"L Shuaimin","year":"2009","unstructured":"Shuaimin, L., Weijian, S.: Design of small spiral wheeled pipeline robot [J]. Mach. 36(02), 76\u201378 (2009)","journal-title":"Mach."},{"issue":"06","key":"1898_CR26","first-page":"711","volume":"36","author":"L Qingyou","year":"2014","unstructured":"Qingyou, L., Yujia, L., Tao, R., Yonghua, C.: Active spiral driven pipeline robot [J]. Robot. 36(06), 711\u2013718 (2014)","journal-title":"Robot"},{"issue":"10","key":"1898_CR27","first-page":"64","volume":"33","author":"Z Jianwei","year":"2014","unstructured":"Jianwei, Z., Yongsheng, Q., Lin, W.: Structure design and control implementation of a new variable diameter pipeline robot [J]. Meas. Control Technol. 33(10), 64\u201367 (2014)","journal-title":"Meas. Control Technol."},{"key":"1898_CR28","first-page":"16","volume":"01","author":"L Qi","year":"2007","unstructured":"Qi, L., Yanan, Z., Linyong, S., Jinwu, Q.: Pipeline robot adapting to pipe diameter change [J]. Mach. Des. 01, 16\u201319 (2007)","journal-title":"Mach. Des."},{"issue":"6","key":"1898_CR29","first-page":"672","volume":"42","author":"X Tongyu","year":"2020","unstructured":"Tongyu, X., Qing, L., Yuwen, D.: Design and analysis of multi-module snake pipe grinding robot [J]. Robot. 42(6), 672\u2013685 (2020)","journal-title":"Robot"},{"issue":"2","key":"1898_CR30","first-page":"33","volume":"14","author":"T Haiyan","year":"2006","unstructured":"Haiyan, T., Long, X., Zhangjun, S.: J. Beijing Inst. Petrochem. Technol. 14(2), 33\u201336 (2006)","journal-title":"J. Beijing Inst. Petrochem. Technol."},{"key":"1898_CR31","doi-asserted-by":"crossref","unstructured":"Ito, F., Kawaguchi, T., Kamata, M., Yamada, Y. , & Nakamura, T.: Proposal of a peri-staltic motion type duct cleaning robot for traveling in a flexible pipe[C]. 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems(IROS). IEEE, 6614\u20136621 (2019)","DOI":"10.1109\/IROS40897.2019.8967648"},{"issue":"9","key":"1898_CR32","doi-asserted-by":"publisher","first-page":"20769","DOI":"10.1016\/j.matpr.2018.06.406","volume":"5","author":"A Bhadoriya","year":"2018","unstructured":"Bhadoriya, A., Gupta, V.K., Mukherjee, S.: Development of in-pipe inspection robot[J]. Mater. Today: Proceed. 5(9), 20769\u201320776 (2018)","journal-title":"Mater. Today: Proceed."},{"key":"1898_CR33","doi-asserted-by":"crossref","unstructured":"Akbarzadeh A., Enferadi, J.: A virtual work based algorithm for solving direct dynamics problem of a 3-rrp spherical parallel manipulator [J].\u00a0J Intell Robot Syst. 63(1), 25-49 (2011)","DOI":"10.1007\/s10846-010-9469-9"},{"key":"1898_CR34","doi-asserted-by":"crossref","unstructured":"Zhang, Y.,Chung, J. H.,Velinsky, S. A.: Variable structure con-trol of a differentially steered wheeled Mobile robot.[J].\u00a0J Intell Robot Syst. 36(3), 301\u2013314 (2003)","DOI":"10.1023\/A:1023049307170"},{"key":"1898_CR35","first-page":"3","volume":"74","author":"X He","year":"2014","unstructured":"He, X., Liu, X., Fu, H., Putra, B.B., He, L.: Visual contact angle estimation and traction control for Mobile robot in rough-terrain[J]. J. Intell. Robot. Syst. 74, 3\u20134 (2014)","journal-title":"J. Intell. Robot. Syst."},{"key":"1898_CR36","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s10846-017-0724-1","volume":"91","author":"Y Zhu","year":"2018","unstructured":"Zhu, Y., Fei, Y., Hongwei, X.: Stability analysis of a wheel-track-leg hybrid Mobile robot[J]. J. Intell. Robot. Syst. 91, 3\u20134 (2018)","journal-title":"J. Intell. Robot. Syst."},{"key":"1898_CR37","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s10846-018-0965-7","volume":"96","author":"I-S Kim","year":"2019","unstructured":"Kim, I.-S., Han, Y.-J., Hong, Y.-D.: Stability control for dynamic walking of bipedal robot with real-time capture point trajectory optimization[J]. J. Intell. Robot. Syst. 96, 3\u20134 (2019)","journal-title":"J. Intell. Robot. Syst."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01898-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01898-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01898-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,24]],"date-time":"2024-10-24T08:46:12Z","timestamp":1729759572000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01898-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,17]]},"references-count":37,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["1898"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01898-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2023,7,17]]},"assertion":[{"value":"20 September 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 May 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 July 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interests"}}],"article-number":"63"}}