{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T16:28:51Z","timestamp":1755793731998,"version":"3.41.2"},"reference-count":41,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T00:00:00Z","timestamp":1686873600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,11,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented challenges through a teleoperated soft continuum manipulator capable of inspecting tall or deep structures with high resolution, an unlimited operation time and the ability to use different arms of the manipulator for different environments and structure sizes.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The teleoperated manipulator uses one rotary and two tendon actuators to reach and inspect the interior of a tall (or deep) structure. A sliding part along the manipulator\u2019s body (arm constrainer and tendon router) induces a variable-length bending segment, allowing an inspection camera to be placed at different distances from the desired location.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experiments confirmed the manipulator\u2019s ability to inspect different locations in the structure\u2019s interior. The manipulator also demonstrated a submillimeter motion resolution vertically and a 2.5\u2009mm per step horizontally. The inspection time of the full structure was 48.53\u2009min in the step-by-step mode and was calculated to be 4.23\u2009min in the continuous mode.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The presented manipulator offers several design novelties: the arm\u2019s thin-wide cross-section, the variable-length bending segment in a fixed-length body, the external rolling tendon routing and the ability to easily replace the arm with another of different material or dimensions to suite different structures and environments.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-03-2023-0057","type":"journal-article","created":{"date-parts":[[2023,6,14]],"date-time":"2023-06-14T07:46:35Z","timestamp":1686728795000},"page":"944-958","source":"Crossref","is-referenced-by-count":6,"title":["Design and performance of a slender soft continuum manipulator for tall structure inspection"],"prefix":"10.1108","volume":"50","author":[{"given":"Mohamed Tahir","family":"Shoani","sequence":"first","affiliation":[]},{"given":"Mohamed Najib","family":"Ribuan","sequence":"additional","affiliation":[]},{"given":"Ahmad 'Athif","family":"Mohd Faudzi","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2023,6,16]]},"reference":[{"issue":"2","key":"key2023111504263466700_ref001","doi-asserted-by":"publisher","first-page":"166","DOI":"10.1108\/IR-07-2016-0182","article-title":"Tele-operated propeller-type climbing robot for inspection of petrochemical vessels","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"key":"key2023111504263466700_ref002","unstructured":"Alsadik, B. and Nex, F. 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