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ThefeasabilitystudyLAOKOONexaminesalltasks,whichhavetobesolvedwhendevelopinganautonomoussewerinspectionsystem.Thesetasksrangefromdesignofthemechanics,sensorsystem,energysystem,computerarchitectureoftherobot,controlandnavigationalgorithmstoanadequateoperatingsystemanduserinterface.Theexperimentsfortheimplementationofasensor-basednavigationalgorithmweredonebytheprojectPartnerGMD.Adescriptionoftheresultscanbefoundin[10].Thewholestudyissummarizedin[3].
Thispaperfocusesonthedesignoftherobotanditscontrolhardware,andgivesabriefoverviewoftheintegrationintoasewerageinformationsystem.
Thetaskofpullingacablewhichisaslongaspossibleandthefactthatthiscableinhibitsthemovementaroundcomers(Fig.3)leadstotwomainfeatures.First,theweightofthewheeledcamerasisashighaspossible.Second,thesystemscannotpasscurves.Evenverysmallsocketdisplacementsareobstaclesthatcannotbehandled.
Thebottleneckofthesesystemsistheuseofawire.Frictionandweightli~mittherangeofoperation.Inatypicalsituationnotmorethan100mcanbeinspectedinonepass.Thisrestrictionaddsconsiderablytomaintenancecostsbecauseitfrequentlyforcesthemaintenanceteamstohaulinthedevice,changethelocation,reinsertthedeviceandcontinueworking.
Analternativetosuchsystemsisanautonomousrobotwhichisabletcoperatewirelessly.Theimplementationofthecommunicationlinkandthepowersupplybecomesmoredifficult,adisadvantagewhichisoutweighedbythemobilitygained.
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