Publication
A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It has embedded electronics and energy, and can transmit images through a cable. Applications are in tubes inspections as found in power plant boilers for example.
Jean-Philippe Thiran, Selman Ergünay, Yusuf Leblebici, Vladan Popovic, Bilal Demir, Gökçen Nurlu
Andreas Peter Burg, Reza Ghanaatian Jahromi, Marco Widmer