With its 10-meter-long pipe in the robot, people who are trapped in the fallen buildings will be able to get supplies including oxygen and water.
机器人体内有10米长的管道，被困在倒塌建筑物中的人们可以获得氧气和水等供应。
When the fluid is liquid and its speed is more than 0.3l, the micro piping robot can move in pipe and obtains some electric power when it stops.
当流体为液体、流速的值大于0.3L时，微管道机器人能在管内运动，并且其静止时能从管内流体获得一定的电能。
A micro piping robot is able to help people finish tasks such as inspection inside a mini pipe. Research on the mobile mechanism of the robot is very important in the robot researching area.
微小管道机器人能够帮助人们完成诸如小口径管道内检测等工作，其移动机构是机器人研究领域重要的研究内容之一。
Theoretical analysis and experiments indicate that the micro-robot can swim forward and back off smoothly and rapidly in the tenuous glass pipe full of liquid.
理论研究与实验结果表明，该机器人能以较快速度在平置的充满液体的微细玻璃管道中游动前进和悬浮倒退。
The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, CPLD patulous module, wireless communications module, power module.
介绍了机器人控制系统的总体设计方案，包括电磁铁驱动模块、CPLD扩展模块、无线通信模块、电源模块等。
First introduce the working principle of the inchworm in-pipe robot based on unilateral movement mechanism, and then an equivalent system model is founded after simplifying the whole robot system.
介绍了基于单向运动机构的伸缩式管道机器人工作原理，对管道机器人整机系统进行合理简化，得到等效系统模型。
A spherical pipe robot is a kind of robot which is designed for use in the pipe depending on the structure of a spherical robot.
球形管道机器人是将球形机器人的结构应用于管道爬行这一背景中设计的一种机器人。
A recurrence algorithm based on fiber Bragg grating curvature spatial sensor for total distance positioning of in-pipe robot was presented.
为了实现管道机器人在工作时对自身位置的全程定位，提出了一种基于光纤光栅空间曲率传感器全程定位的递推算法。
Because of micro robots' own characteristics, on line non-contact location to wireless in-pipe micro swimming robot remains an unsolved problem.
由于管内无缆微型泳动机器人本身的特点，其位置和速度的非接触式在线定位检测一直是个难题。
The kinematics model and driving force model for the micro in-pipe robot in line pipe and bending pipe are established, which can provided control basis for external power.
建立了微型管道机器人在直线管道、弯曲管道的运动学分析和驱动力分析模型，为驱动力外置提供了控制依据。
In an effort to address that problem, the European Union TRACT project is developing a propeller-driven inspection robot that keeps the pipe-touching to a minimum.
在努力解决这一问题，欧盟TRACT项目正在开发一种螺旋桨驱动检测机器人，保持管道，触摸到最低程度。
The mechanism design and principle of in-pipe robot which is under development for the inspecting system of ocean oil pipelines located below water are introduced in details.
介绍了一种用于海底管道内检测系统的机器人机构设计及工作原理。
The in-pipe micro robot is an important research direction in the field of micro-robot. The efficiency and accuracy of pipe inspection may be increased dramatically by using in-pipe micro robots.
微型管内机器人是微型机器人领域的一个重要的研究方向，使用微型管内机器人可以提高管道检测的效率和精确度。
This paper discusses the mathematical modeling of in-pipe robot, and the analysis of the robot for fitting in pipelines such as siphon and branch pipeline.
设计了由三轴差速机构、管径适应机构组成的管道机器人三轴差动式驱动单元，对驱动单元在直管、弯管的差速特性与力学特性进行了理论分析。
This paper introduces the wheel mechanism design of in-pipe micro-robot, proposes the dynamical model of restricted in-pipe micro-robot, and analyzes its dynamical stability.
介绍了直进轮式微型管道机器人行走机构的设计。提出了管道内受限微机器人的动力学模型，并分析了微型管道机器人的动力学稳定性。
Based on In-pipe clearing ash robot in exhaust gas pipeline of metal smeltery object, the scheme of in-pipe clearing ash robot with track to clean out ash in pipe is put forward.
分析了火电厂灰水管道结垢的原因 ，介绍了目前采用和研究的几种清洗技术 ，并对几种清洗技术进行了比较。
Based on In-pipe clearing ash robot in exhaust gas pipeline of metal smeltery object, the scheme of in-pipe clearing ash robot with track to clean out ash in pipe is put forward.
分析了火电厂灰水管道结垢的原因 ，介绍了目前采用和研究的几种清洗技术 ，并对几种清洗技术进行了比较。
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