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Leak detection and water quality monitoring are requirements and challengingtasks in Water Distribution Systems (WDS). In-line robots are designed for thisaim. In our previous work, we designed an in-pipe robot [1]. In this research,we present the design of the central processor, characterize and control therobot based on the condition of operation in a highly pressurized environmentof pipelines with the presence of high-speed flow. To this aim, an extremeoperation condition is simulated with computational fluid dynamics (CFD) andthe spring mechanism is characterized to ensure sufficient stabilizing forceduring operation based on the extreme operating condition. Also, an end-to-endmethod is suggested for power considerations for our robot that calculatesminimum battery capacity and operation duration in the extreme operatingcondition. Finally, we design a novel LQR-PID based controller based on thesystem auxiliary matrices that retain the robot stability inside the pipelineagainst disturbances and uncertainties during operation. The ADAMS-MATLABco-simulation of the robot-controller shows the rotational velocity with -4degree/sec and +3 degree/sec margin around x, y, and z axes while the systemtracks different desired velocities in pipelines (i.e. 0.12m/s, 0.17m/s, and0.35m/s). Also, experimental results for four iterations in a 14-inch diameterPVC pipe show that the controller brings initial values of stabilizing statesto zero and oscillate around it with a margin of 2 degrees and the systemtracks desired velocities of 0.1m/s, 0.2m/s, 0.3m/s, and 0.35m/s in which makesthe robot dexterous in uncertain and highly disturbed the environment ofpipelines during operation.

Design, Characterization, and Control of a Size Adaptable In-pipe Robot for Water Distribution Systems