{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T22:08:53Z","timestamp":1766268533699,"version":"3.41.2"},"reference-count":14,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2007,1,16]],"date-time":"2007-01-16T00:00:00Z","timestamp":1168905600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2007,1,16]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>To develop an in\u2010pipe robot to be used for inspecting pipes that are laid underneath a waste disposal site and for sampling sewage water leaking from holes around the pipe.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The paper presents a compact design of the robot's mechanical and electronic systems, and develops a simple and practical method for determining the hole position using some characteristics of this in\u2010pipe robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Development of a multi\u2010functional in\u2010pipe robot with elaborate design is feasible, and multiple trapezoidal\u2010shaped wheels have good capabilities of providing the robot large traction force and keeping the robot horizontal in pipeline. A good mechanical structure design can greatly reduce control and computation cost by using some specific features of the object system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>This study provides guidance for future design of multi\u2010functional in\u2010pipe robots.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The combination of a vision system and a manipulator can perform in\u2010pipe inspection and other different tasks. The developed robot has already been used practically by a large Japanese construction company for pipe inspection and sewage sampling.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>An in\u2010pipe robot is developed that cannot only implement pipe inspection, but which can also take sewage water samples. Most of such multiple\u2010functional small robots are still in development and rarely reported.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910710718432","type":"journal-article","created":{"date-parts":[[2007,1,15]],"date-time":"2007-01-15T08:40:38Z","timestamp":1168850438000},"page":"39-45","source":"Crossref","is-referenced-by-count":19,"title":["In\u2010pipe robot for inspection and sampling tasks"],"prefix":"10.1108","volume":"34","author":[{"given":"Chi","family":"Zhu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021120064237200_b10","doi-asserted-by":"crossref","unstructured":"Bright, G., Ferreira, D. and Mayor, R. (1997), \u201cAutomated pipe inspection robot\u201d, Industrial Robot, Vol. 24 No. 4, pp. 285\u20109.","DOI":"10.1108\/01439919710176372"},{"key":"key2022021120064237200_b8","doi-asserted-by":"crossref","unstructured":"Kolesnik, M. 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Symp. on Intelligent Systems and Advanced Manufacturing, Telemanipulator and Telepresence Technologies V, Vol. 3524, pp. 98\u2010104.","DOI":"10.1117\/12.333673"},{"key":"key2022021120064237200_b6","unstructured":"Moore, P., Pu, J., Poduraev, J., Ermolov, I. and Shvedov, V. (2000), \u201cComputer aided robotics in severe environmental applications\u201d, Proc. 7th Mechatronics Forum International Conference, CD\u2010ROM."},{"key":"key2022021120064237200_b11","doi-asserted-by":"crossref","unstructured":"Roth, H., Schilling, K., Futterknecht, S., Weigele, U. and Reisch, M. (1998), \u201cInspection\u2010 and repair robots for waste water pipes \u2013 a challenge to sensorics and locomotion\u201d, Pro. of 1998 IEEE International Symposium on Industrial Electronics (ISIE'98), Vol. 2, pp. 476\u20108.","DOI":"10.1109\/ISIE.1998.711584"},{"key":"key2022021120064237200_b9","unstructured":"Sakai, H. (2001), Tyre engineering, Grand Prix Publication Inc., Tokyo, pp. 49\u201050 (in Japanese)."},{"key":"key2022021120064237200_b13","doi-asserted-by":"crossref","unstructured":"Streich, H. and Adria, O. (2004), \u201cSoftware approach for the autonomous inspection robot MAKRO\u201d, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3411\u20106.","DOI":"10.1109\/ROBOT.2004.1308781"},{"key":"key2022021120064237200_b5","unstructured":"Vradis, G., Driscoll, D., Schempf, H. and Baker, R. (2005), \u201cIndustry gains a new tool for long\u2010range visual inspection of live gas pipe\u201d, Pipeline & Gas Journal, April."},{"key":"key2022021120064237200_frd3","unstructured":"Hirose, S., Ohno, H., Mitsui, T. and Suyama, K. (1999), \u201cDesign of in\u2010pipe inspection vehicles for \u03d525, \u03d550, \u03d5150 Pipes\u201d, Proc. IEEE Int. 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