Jung Seok Suh

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In this paper, novel mechanisms for an in-pipe robot are presented. Multi-axial differential gear mechanism is designed to be driven with only single motor at any elbow-pipe without additional control efforts while all three wheels keep driving power. Brake system was added to prevent slip of wheel. Active wall pressing mechanism allows controlling the(More)
This paper presents a mechanism for an in-pipe robot, called MRINSPECT VI (Multifunctional Robotic crawler for In-pipe inspection VI), which is under development for the inspection of gas pipelines with 150mm inside diameter. The mechanism is composed of multi-axial differential gear mechanism, wall pressing one, and driven by single motor. It is designed(More)
To deploy an untethered robot inside pipelines without any external assistance, it is prerequisite to recognize the pipeline elements such as straight pipeline, elbow, T-branch, and miter. This paper presents a method of recognizing pipeline elements using PSD(Position Sensitive Device) sensors. It is easy to implement, but help us collect accurate(More)
To deploy an untethered robot inside pipelines autonomously, it is prerequisite to recognize pipeline elements such as straight pipeline, elbow, T-branch and miter. This paper presents an algorithm for recognizing pipeline elements using a monocular camera and PSD (Position Sensitive Device) sensors. Previously, we have presented a method that uses special(More)
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