Motion planning for a quadruped robot in heat transfer tube inspection
Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot i...
Uloženo v:
| Vydáno v: | Automation in construction Ročník 168; s. 105753 |
|---|---|
| Hlavní autoři: | , , , , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Elsevier B.V
01.12.2024
|
| Témata: | |
| ISSN: | 0926-5805 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.
•A quadruped robot designed for inspecting heat transfer tubes.•A robot motion posture library tailored to tube sheet environments.•An enhanced A* algorithm for the motion planning.•Experiments were conducted on an actual SG tube sheet. |
|---|---|
| AbstractList | Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.
•A quadruped robot designed for inspecting heat transfer tubes.•A robot motion posture library tailored to tube sheet environments.•An enhanced A* algorithm for the motion planning.•Experiments were conducted on an actual SG tube sheet. |
| ArticleNumber | 105753 |
| Author | Liu, Zhaojin Tian, Changda Jiang, Jikai Li, Sicen Wang, Gang Li, Jiawei Li, Yuxiao |
| Author_xml | – sequence: 1 givenname: Jiawei orcidid: 0009-0007-0695-0196 surname: Li fullname: Li, Jiawei email: ljw1996@hrbeu.edu.cn – sequence: 2 givenname: Zhaojin orcidid: 0009-0006-0313-1868 surname: Liu fullname: Liu, Zhaojin email: liuzhaojin@hrbeu.edu.cn – sequence: 3 givenname: Sicen orcidid: 0000-0002-2049-8921 surname: Li fullname: Li, Sicen email: ihuhuhu@hrbeu.edu.cn – sequence: 4 givenname: Jikai surname: Jiang fullname: Jiang, Jikai email: 16105989@hrbeu.edu.cn – sequence: 5 givenname: Yuxiao orcidid: 0009-0007-0755-4910 surname: Li fullname: Li, Yuxiao email: liyuxiao@hrbeu.edu.cn – sequence: 6 givenname: Changda orcidid: 0009-0004-6848-5355 surname: Tian fullname: Tian, Changda email: tianchangda@hrbeu.edu.cn – sequence: 7 givenname: Gang orcidid: 0000-0002-0741-9838 surname: Wang fullname: Wang, Gang email: wanggang@hrbeu.edu.cn |
| BookMark | eNqFkMFKxDAURbMYwZnRP3CRH-iYNknTuhBkcFQYcaPrkKSvmmFMapIK_r0pdeVCVw8unMt9Z4UWzjtA6KIkm5KU9eVho8ZkvNtUpGI54oLTBVqStqoL3hB-ilYxHgghgtTtEu0efbLe4eGonLPuFfc-YIU_RtWFcYAOB699wtbhN1AJp6Bc7CHgNGrIaRzATPwZOunVMcL5z12jl93t8_a-2D_dPWxv9oWhpE4FqziphCoNYx3Xpm07pqloQEDDuh5aXbdKq4ZCSaigwije0Lyzglo0TGtG1-hq7jXBxxigl8YmNS3Iy-xRlkROFuRBzhbkZEHOFjLMfsFDsO8qfP2HXc8Y5Mc-LQQZjQVnoLMhfy87b_8u-Aa5eX15 |
| CitedBy_id | crossref_primary_10_1109_LRA_2025_3547675 crossref_primary_10_5604_01_3001_0055_0629 crossref_primary_10_1061_JCEMD4_COENG_16185 |
| Cites_doi | 10.1016/j.esr.2021.100630 10.1016/j.mechmachtheory.2022.104917 10.1177/0278364911406761 10.3390/app13148174 10.5772/62248 10.1177/0278364912461537 10.1016/j.procs.2018.01.113 10.1515/corrrev-2020-0015 10.1109/LRA.2018.2798285 10.1177/0278364910390537 10.1109/LRA.2022.3192657 10.1016/j.autcon.2023.105046 10.1016/j.asoc.2020.106960 10.1016/j.engfailanal.2021.105798 10.1109/LRA.2023.3290819 |
| ContentType | Journal Article |
| Copyright | 2024 The Author(s) |
| Copyright_xml | – notice: 2024 The Author(s) |
| DBID | 6I. AAFTH AAYXX CITATION |
| DOI | 10.1016/j.autcon.2024.105753 |
| DatabaseName | ScienceDirect Open Access Titles Elsevier:ScienceDirect:Open Access CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Economics Engineering |
| ExternalDocumentID | 10_1016_j_autcon_2024_105753 S0926580524004898 |
| GroupedDBID | --K --M .~1 0R~ 1B1 1~. 1~5 23N 4.4 457 4G. 5GY 5VS 6I. 7-5 71M 8P~ 9JN AACTN AAEDT AAEDW AAFTH AAIKJ AAKOC AALRI AAOAW AAQFI AARIN AAXKI AAXUO ABMAC ACDAQ ACGFS ACIWK ACRLP ADBBV ADEZE ADTZH AEBSH AECPX AEKER AENEX AFJKZ AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AIEXJ AIKHN AITUG AJOXV AKRWK ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ APLSM AXJTR BJAXD BKOJK BLXMC CS3 EBS EFJIC EO8 EO9 EP2 EP3 FDB FIRID FNPLU FYGXN G-Q GBLVA IHE J1W JJJVA KOM MO0 N9A NEJ O-L O9- OAUVE OZT P-8 P-9 P2P PC. PQQKQ Q38 RIG RNS ROL RPZ SDF SDG SDP SES SEW SPC SPCBC SSB SSD SST SSZ T5K ~G- 9DU AAQXK AATTM AAYWO AAYXX ABFNM ABJNI ABWVN ABXDB ACLOT ACNNM ACRPL ACVFH ADCNI ADMUD ADNMO AEIPS AEUPX AFPUW AGQPQ AIGII AIIUN AKBMS AKYEP ANKPU APXCP ASPBG AVWKF AZFZN CITATION EFKBS EFLBG EJD FEDTE FGOYB G-2 HVGLF HZ~ LY7 M41 R2- SET WUQ ZMT ~HD |
| ID | FETCH-LOGICAL-c306t-425027a1c44d5bc99d4b378e7e84dfe9b69aba83e103737ca5837062e6784bb43 |
| ISICitedReferencesCount | 3 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001317753900001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0926-5805 |
| IngestDate | Tue Nov 18 22:40:35 EST 2025 Sat Nov 29 05:17:09 EST 2025 Sat Nov 09 15:59:26 EST 2024 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Motion planning Offline motion posture library Heat transfer tube inspection Crawling robot Enhanced A algorithm |
| Language | English |
| License | This is an open access article under the CC BY-NC license. |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c306t-425027a1c44d5bc99d4b378e7e84dfe9b69aba83e103737ca5837062e6784bb43 |
| ORCID | 0000-0002-0741-9838 0009-0006-0313-1868 0009-0004-6848-5355 0000-0002-2049-8921 0009-0007-0695-0196 0009-0007-0755-4910 |
| OpenAccessLink | https://dx.doi.org/10.1016/j.autcon.2024.105753 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_autcon_2024_105753 crossref_primary_10_1016_j_autcon_2024_105753 elsevier_sciencedirect_doi_10_1016_j_autcon_2024_105753 |
| PublicationCentury | 2000 |
| PublicationDate | 2024-12-01 2024-12-00 |
| PublicationDateYYYYMMDD | 2024-12-01 |
| PublicationDate_xml | – month: 12 year: 2024 text: 2024-12-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationTitle | Automation in construction |
| PublicationYear | 2024 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Obrutsky, Renaud, Lakhan (b5) 2009; 35 Rodriguez (b3) 2020; 38 Li, Qi, Gao, Chen, Zhao, Chen (b21) 2022; 174 Thekkuden, Mourad, Bouzid (b4) 2021; 130 Song, Wang, Zou (b11) 2021; 100 Obrutsky (b7) 2017 Karaman, Frazzoli (b10) 2011; 30 Rao (b2) 2014; 86 Zico Kolter, Ng (b17) 2011; 30 Zhao, Ma, Sun (b6) 2017 Winkler, Bellicoso, Hutter, Buchli (b19) 2018; 3 Almazrouei, Kamel, Rabie (b14) 2023; 13 Seo, Jeong, Shin, Choi, Lee, Noh, Kim, Cho (b8) 2016; 13 Clemente, Villarreal, Bratta, Focchi, Barasuol, Muscolo, Semini (b20) 2022 Lamini, Benhlima, Elbekri (b12) 2018; 127 Szczepanski (b13) 2023; 8 Fankhauser, Bjelonic, Bellicoso, Miki, Hutter (b18) 2018 Zhan, Bo, Lin, Fan (b1) 2021; 34 Stumm, Breitenmoser, Pomerleau, Pradalier, Siegwart (b15) 2012; 31 Hou, Tan (b16) 2022 Lin, Han, Guo, Luo, Guo (b9) 2023; 155 Sun, Sartoretti (b22) 2022; 7 Xu, Liu, Chen (b23) 2019 Winkler (10.1016/j.autcon.2024.105753_b19) 2018; 3 Seo (10.1016/j.autcon.2024.105753_b8) 2016; 13 Song (10.1016/j.autcon.2024.105753_b11) 2021; 100 Almazrouei (10.1016/j.autcon.2024.105753_b14) 2023; 13 Li (10.1016/j.autcon.2024.105753_b21) 2022; 174 Rodriguez (10.1016/j.autcon.2024.105753_b3) 2020; 38 Xu (10.1016/j.autcon.2024.105753_b23) 2019 Fankhauser (10.1016/j.autcon.2024.105753_b18) 2018 Zhan (10.1016/j.autcon.2024.105753_b1) 2021; 34 Hou (10.1016/j.autcon.2024.105753_b16) 2022 Obrutsky (10.1016/j.autcon.2024.105753_b5) 2009; 35 Zhao (10.1016/j.autcon.2024.105753_b6) 2017 Thekkuden (10.1016/j.autcon.2024.105753_b4) 2021; 130 Karaman (10.1016/j.autcon.2024.105753_b10) 2011; 30 Obrutsky (10.1016/j.autcon.2024.105753_b7) 2017 Lin (10.1016/j.autcon.2024.105753_b9) 2023; 155 Lamini (10.1016/j.autcon.2024.105753_b12) 2018; 127 Stumm (10.1016/j.autcon.2024.105753_b15) 2012; 31 Szczepanski (10.1016/j.autcon.2024.105753_b13) 2023; 8 Clemente (10.1016/j.autcon.2024.105753_b20) 2022 Zico Kolter (10.1016/j.autcon.2024.105753_b17) 2011; 30 Sun (10.1016/j.autcon.2024.105753_b22) 2022; 7 Rao (10.1016/j.autcon.2024.105753_b2) 2014; 86 |
| References_xml | – volume: 30 start-page: 846 year: 2011 end-page: 894 ident: b10 article-title: Sampling-based algorithms for optimal motion planning publication-title: Int. J. Robot. Res. – start-page: 13 year: 2022 end-page: 19 ident: b16 article-title: Kinematics analysis and path planning of wall-climbing robot based on rear-wheel steering publication-title: 2022 14th International Conference on Computer and Automation Engineering – start-page: 2075 year: 2019 end-page: 2080 ident: b23 article-title: Application of improved astar algorithm in global path planning of unmanned vehicles publication-title: 2019 Chinese Automation Congress – volume: 38 start-page: 195 year: 2020 end-page: 230 ident: b3 article-title: Corrosion control of nuclear steam generators under normal operation and plant-outage conditions: a review publication-title: Corros. Rev. – volume: 155 year: 2023 ident: b9 article-title: Lift path planning for tower cranes based on environmental point clouds publication-title: Autom. Constr. – start-page: 4679 year: 2022 end-page: 4685 ident: b20 article-title: Foothold evaluation criterion for dynamic transition feasibility for quadruped robots publication-title: 2022 International Conference on Robotics and Automation – volume: 13 start-page: 8174 year: 2023 ident: b14 article-title: Dynamic obstacle avoidance and path planning through reinforcement learning publication-title: Appl. Sci. – volume: 174 year: 2022 ident: b21 article-title: Mechanism design and workspace analysis of a hexapod robot publication-title: Mech. Mach. Theory – start-page: 495 year: 2017 end-page: 510 ident: b7 article-title: Nuclear steam generator tube inspection tools publication-title: Steam Generators for Nuclear Power Plants – volume: 130 year: 2021 ident: b4 article-title: Failures and leak inspection techniques of tube-to-tubesheet joints: A review publication-title: Eng. Fail. Anal. – volume: 34 year: 2021 ident: b1 article-title: Development and outlook of advanced nuclear energy technology publication-title: Energy Strategy Rev. – volume: 100 year: 2021 ident: b11 article-title: An improved PSO algorithm for smooth path planning of mobile robots using continuous high-degree bezier curve publication-title: Appl. Soft Comput. – volume: 3 start-page: 1560 year: 2018 end-page: 1567 ident: b19 article-title: Gait and trajectory optimization for legged systems through phase-based end-effector parameterization publication-title: IEEE Robot. Autom. Lett. – volume: 31 start-page: 1465 year: 2012 end-page: 1488 ident: b15 article-title: Tensor-voting-based navigation for robotic inspection of 3D surfaces using lidar point clouds publication-title: Int. J. Robot. Res. – volume: 35 start-page: 5 year: 2009 end-page: 13 ident: b5 article-title: Overview of steam generator tube-inspection technology publication-title: CINDE J – start-page: 241 year: 2017 end-page: 252 ident: b6 article-title: Application and standardization trend of maintenance and inspection robot (MIR) in nuclear power station publication-title: 3RD INTERNATIONAL SYMPOSIUM on MECHATRONICS and INDUSTRIAL INFORMATICS, (ISMII 2017) – volume: 7 start-page: 9889 year: 2022 end-page: 9896 ident: b22 article-title: Joint-space CPG for safe foothold planning and body pose control during locomotion and climbing publication-title: IEEE Robot. Autom. Lett. – volume: 127 start-page: 180 year: 2018 end-page: 189 ident: b12 article-title: Genetic algorithm based approach for autonomous mobile robot path planning publication-title: Procedia Comput. Sci. – volume: 86 start-page: 476 year: 2014 end-page: 485 ident: b2 article-title: In-service inspection and structural health monitoring for safe and reliable operation of NPPs publication-title: STRUCTURAL INTEGRITY – volume: 13 start-page: 63 year: 2016 ident: b8 article-title: A mobile robotic system for the inspection and repair of SG tubes in NPPs publication-title: Int. J. Adv. Robot. Syst. – start-page: 5761 year: 2018 end-page: 5768 ident: b18 article-title: Robust rough-terrain locomotion with a quadrupedal robot publication-title: 2018 IEEE International Conference on Robotics and Automation – volume: 30 start-page: 150 year: 2011 end-page: 174 ident: b17 article-title: The stanford littledog: A learning and rapid replanning approach to quadruped locomotion publication-title: Int. J. Robot. Res. – volume: 8 start-page: 4823 year: 2023 end-page: 4830 ident: b13 article-title: Safe artificial potential field-novel local path planning algorithm maintaining safe distance from obstacles publication-title: IEEE Robot. Autom. Lett. – volume: 34 year: 2021 ident: 10.1016/j.autcon.2024.105753_b1 article-title: Development and outlook of advanced nuclear energy technology publication-title: Energy Strategy Rev. doi: 10.1016/j.esr.2021.100630 – volume: 174 year: 2022 ident: 10.1016/j.autcon.2024.105753_b21 article-title: Mechanism design and workspace analysis of a hexapod robot publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2022.104917 – volume: 35 start-page: 5 issue: 2 year: 2009 ident: 10.1016/j.autcon.2024.105753_b5 article-title: Overview of steam generator tube-inspection technology publication-title: CINDE J – volume: 30 start-page: 846 issue: 7 year: 2011 ident: 10.1016/j.autcon.2024.105753_b10 article-title: Sampling-based algorithms for optimal motion planning publication-title: Int. J. Robot. Res. doi: 10.1177/0278364911406761 – volume: 13 start-page: 8174 issue: 14 year: 2023 ident: 10.1016/j.autcon.2024.105753_b14 article-title: Dynamic obstacle avoidance and path planning through reinforcement learning publication-title: Appl. Sci. doi: 10.3390/app13148174 – volume: 86 start-page: 476 year: 2014 ident: 10.1016/j.autcon.2024.105753_b2 article-title: In-service inspection and structural health monitoring for safe and reliable operation of NPPs – volume: 13 start-page: 63 issue: 2 year: 2016 ident: 10.1016/j.autcon.2024.105753_b8 article-title: A mobile robotic system for the inspection and repair of SG tubes in NPPs publication-title: Int. J. Adv. Robot. Syst. doi: 10.5772/62248 – volume: 31 start-page: 1465 issue: 12 year: 2012 ident: 10.1016/j.autcon.2024.105753_b15 article-title: Tensor-voting-based navigation for robotic inspection of 3D surfaces using lidar point clouds publication-title: Int. J. Robot. Res. doi: 10.1177/0278364912461537 – volume: 127 start-page: 180 year: 2018 ident: 10.1016/j.autcon.2024.105753_b12 article-title: Genetic algorithm based approach for autonomous mobile robot path planning publication-title: Procedia Comput. Sci. doi: 10.1016/j.procs.2018.01.113 – start-page: 13 year: 2022 ident: 10.1016/j.autcon.2024.105753_b16 article-title: Kinematics analysis and path planning of wall-climbing robot based on rear-wheel steering – volume: 38 start-page: 195 issue: 3 year: 2020 ident: 10.1016/j.autcon.2024.105753_b3 article-title: Corrosion control of nuclear steam generators under normal operation and plant-outage conditions: a review publication-title: Corros. Rev. doi: 10.1515/corrrev-2020-0015 – start-page: 495 year: 2017 ident: 10.1016/j.autcon.2024.105753_b7 article-title: Nuclear steam generator tube inspection tools – volume: 3 start-page: 1560 issue: 3 year: 2018 ident: 10.1016/j.autcon.2024.105753_b19 article-title: Gait and trajectory optimization for legged systems through phase-based end-effector parameterization publication-title: IEEE Robot. Autom. Lett. doi: 10.1109/LRA.2018.2798285 – volume: 30 start-page: 150 issue: 2 year: 2011 ident: 10.1016/j.autcon.2024.105753_b17 article-title: The stanford littledog: A learning and rapid replanning approach to quadruped locomotion publication-title: Int. J. Robot. Res. doi: 10.1177/0278364910390537 – start-page: 241 year: 2017 ident: 10.1016/j.autcon.2024.105753_b6 article-title: Application and standardization trend of maintenance and inspection robot (MIR) in nuclear power station – start-page: 5761 year: 2018 ident: 10.1016/j.autcon.2024.105753_b18 article-title: Robust rough-terrain locomotion with a quadrupedal robot – volume: 7 start-page: 9889 issue: 4 year: 2022 ident: 10.1016/j.autcon.2024.105753_b22 article-title: Joint-space CPG for safe foothold planning and body pose control during locomotion and climbing publication-title: IEEE Robot. Autom. Lett. doi: 10.1109/LRA.2022.3192657 – volume: 155 year: 2023 ident: 10.1016/j.autcon.2024.105753_b9 article-title: Lift path planning for tower cranes based on environmental point clouds publication-title: Autom. Constr. doi: 10.1016/j.autcon.2023.105046 – volume: 100 year: 2021 ident: 10.1016/j.autcon.2024.105753_b11 article-title: An improved PSO algorithm for smooth path planning of mobile robots using continuous high-degree bezier curve publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2020.106960 – volume: 130 year: 2021 ident: 10.1016/j.autcon.2024.105753_b4 article-title: Failures and leak inspection techniques of tube-to-tubesheet joints: A review publication-title: Eng. Fail. Anal. doi: 10.1016/j.engfailanal.2021.105798 – volume: 8 start-page: 4823 issue: 8 year: 2023 ident: 10.1016/j.autcon.2024.105753_b13 article-title: Safe artificial potential field-novel local path planning algorithm maintaining safe distance from obstacles publication-title: IEEE Robot. Autom. Lett. doi: 10.1109/LRA.2023.3290819 – start-page: 4679 year: 2022 ident: 10.1016/j.autcon.2024.105753_b20 article-title: Foothold evaluation criterion for dynamic transition feasibility for quadruped robots – start-page: 2075 year: 2019 ident: 10.1016/j.autcon.2024.105753_b23 article-title: Application of improved astar algorithm in global path planning of unmanned vehicles |
| SSID | ssj0007069 |
| Score | 2.4301772 |
| Snippet | Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 105753 |
| SubjectTerms | Crawling robot Enhanced A algorithm Heat transfer tube inspection Motion planning Offline motion posture library |
| Title | Motion planning for a quadruped robot in heat transfer tube inspection |
| URI | https://dx.doi.org/10.1016/j.autcon.2024.105753 |
| Volume | 168 |
| WOSCitedRecordID | wos001317753900001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 issn: 0926-5805 databaseCode: AIEXJ dateStart: 19950101 customDbUrl: isFulltext: true dateEnd: 99991231 titleUrlDefault: https://www.sciencedirect.com omitProxy: false ssIdentifier: ssj0007069 providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Nb9QwEB2VbSXggGgBUSjIB25VUBo7a_tYoValUqtKFGlvkZM4IkuVrPYD-vOZsZ1k26JCD71EK8t2oszzZOydeQ_gU8UNT4pkHOHSMZEQZRJhg40Ur0SFIXnJtXFiE_L8XE0m-iJUlyycnIBsGnV9rWePampsQ2NT6ewDzN1Pig34G42OVzQ7Xv_L8GdOl4fkoZ0akU-TpOLJcr6aYXg5b_PW6QKQGyaJCAxc7Xx_ucqJP8RXXgZbdey0q2XrKxz3Xdb6QDrbp_O4nIDT2vy29dC2cv98_DDttL7V8xu6p74Jh4W04PqnqdePIRKxltIRzhPR4KmK0xuu1UvmBOdIksKeGfiO3_ZHCFPK2qFjALrB56H7TZrsW5-vPqmwy1ebZn6WjGbJ_CxPYDORqVYj2Dz8ejQ57T_WMh57Osbw9F11pUsBvPs0f49e1iKSy5fwImwl2KGHwDZs2GYHnnaV5osdeL5GNvkKjj0wWAcMhsBghvXAYA4YrG4YAYN1wGAEDDYA4zV8Pz66_HISBRWNqMDt4DJCpxwn0hwUuBDTvNC6FDmXykqrRFlZnY-1yY3ilipGuSxMSnxI48RiGCPyXPA3MGraxr4FRlx_sVYxDlDiwFS4d08NiQJVGIjivmMXePd2siJQzJPSyVV2n212IepHzTzFyj_6y-7FZyFM9OFfhmi6d-S7B97pPTwboL4HI1xc9gNsFb-W9WL-MUDpDy95ibc |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Motion+planning+for+a+quadruped+robot+in+heat+transfer+tube+inspection&rft.jtitle=Automation+in+construction&rft.au=Li%2C+Jiawei&rft.au=Liu%2C+Zhaojin&rft.au=Li%2C+Sicen&rft.au=Jiang%2C+Jikai&rft.date=2024-12-01&rft.issn=0926-5805&rft.volume=168&rft.spage=105753&rft_id=info:doi/10.1016%2Fj.autcon.2024.105753&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_autcon_2024_105753 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0926-5805&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0926-5805&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0926-5805&client=summon |