{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T20:28:23Z","timestamp":1774902503007,"version":"3.50.1"},"reference-count":43,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T00:00:00Z","timestamp":1653436800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Saint Petersburg Mining University","award":["FSRW-2020-0014"],"award-info":[{"award-number":["FSRW-2020-0014"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Infrastructures"],"abstract":"<jats:p>There is an obvious tendency towards increasing the information content of surveys of hard-to-reach objects at high altitudes through the use of remote-controlled robot crawlers. This can be explained by the reasonable desire of industrial objects owners to maintain their property: pipelines, containers, metal structures in operating technical condition, which contributes to reducing accident risks and increasing the economic efficiency of operation (optimization of repair planning, etc.) This paper presents the concept of a robotic device equipped with LIDAR and EMAT which can move over pipes from a diameter of 100 mm by using a special type of magnetic wheel. The robot uses convolutional neural networks to detect structural elements and classify their defects. The article contains information about tests held on a specially developed test rig. The results showed that the device could increase the information level of survey and reduce the labour intensity. In this work, we consider a prototype of the device which has not started mass operation at industrial facilities yet.<\/jats:p>","DOI":"10.3390\/infrastructures7060075","type":"journal-article","created":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T08:41:33Z","timestamp":1653468093000},"page":"75","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration"],"prefix":"10.3390","volume":"7","author":[{"given":"Vladimir","family":"Pshenin","sequence":"first","affiliation":[{"name":"Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anastasia","family":"Liagova","sequence":"additional","affiliation":[{"name":"Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Razin","sequence":"additional","affiliation":[{"name":"Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Skorobogatov","sequence":"additional","affiliation":[{"name":"Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3647-303X","authenticated-orcid":false,"given":"Maxim","family":"Komarovsky","sequence":"additional","affiliation":[{"name":"Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Jose, J., Devaraj, D., Mathanagopal, R.M., Ramanathan, K.C., Tokhi, M.O., and Sattar, T.P. 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