scholarly journals Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
Manuel F. Silva ◽  
Ramiro S. Barbosa ◽  
António L. C. Oliveira
Keyword(s):  
Permanent Magnets ◽  
Large Radius ◽  
Climbing Robot ◽  
Dynamic Adjustment ◽  
Ship Hulls ◽  
Tall Structures ◽  
Inspection Process ◽  
Fuel Storage ◽  
Adjustment System ◽  
Remote Inspection

This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius.

Design of a Cleaning and Homogenization Robot for Large Oil Storage Tanks

1996 ◽  
Author(s):  
Y. Qin ◽  
J. Rastegar ◽  
F. Khorrami
Keyword(s):  
Safety Concern ◽  
Weld Line ◽  
Storage Tanks ◽  
Visual Contact ◽  
Oil Storage ◽  
Inspection Process ◽  
Fuel Storage ◽  
Under Construction ◽  
Novel Design

Abstract A number of methods are currently employed for cleaning and inspection of large fuel storage tanks. All of these methods require that the tank be first taken out of service, emptied, the present sludge material removed, vented, and cleaned before the inspection process is undertaken. This process is very time consuming, laborious and costly. In addition, there is a great safety concern for people that have to operate the machinery inside the tank. In this paper, the design of a novel robotic system for cleaning large crude and # 6 oil storage tanks through regular homogenization that also prepares the tank surfaces and weld line for in-situ inspection is presented. The developed system is shown to not only reduce the direct and indirect cost of fuel tank cleaning and inspection, but also greatly reduce the amount of solid waste that has to be disposed of at high cost and with potentially high adverse environmental impact. This design solves most of the problems associated with the presently available telerobotic systems for similar operations since it makes it possible for the operator to be in constant visual contact with the robot operating within the tank. This novel design also greatly reduces the logistics problems related to the tether line and its handling within the tank and its entanglement. A prototype of this system is under construction.

A Locomotion Mechanism for a Mobile Wall-Climbing Robot with a Hybrid Magnetic-Tape Adhesion Method

2020 ◽  
Vol 21 (3) ◽  
pp. 158-165
Author(s):  
N. V. Bykov ◽  
N. S. Vlasova ◽  
M. Yu. Gubanov ◽  
D. V. Lapin
Keyword(s):  
Mathematical Model ◽  
Magnetic Tape ◽  
Permanent Magnets ◽  
Experimental Studies ◽  
Vertical Surface ◽  
Climbing Robot ◽  
Adhesion Mechanism ◽  
Working Surface ◽  
Quantitative Characteristics ◽  
Indoor Spaces

In the present study, a new hybrid passive adhesion method for a mobile wall-climbing robot (WCR) is proposed. This method is based on a combination of magnetic and glue adhesion. For its implementation, a flexible magnetic tape with glue on one side is used to fasten the tape to the working surface. Holding and climbing of the WCR on the magnetic tape, fixed by the robot in the process of movement, occurs with the help of the tracked locomotion mechanism. Permanent magnets are placed in the tracks of the WCR interacting with the tape as the robot climbs along a vertical surface. The concept of the adhesion and locomotion mechanisms, as well as the design of the WCR prototype is developed. Experimental studies of the magnetic properties of the proposed locomotion mechanism have been carried out. They showed its feasibility and efficiency. Also from experimental studies were obtained quantitative characteristics of the interaction of the WCR with tape, used in the construction of its mathematical model. A feature of this WCR concept, working on the magnetic-tape adhesion, is the possibility of moving it without using magnetic tape on ho rizontal surfaces, as well as on vertical ferromagnetic surfaces — only with tracks with permanent magnets. The WCR with a hybrid magnetic-tape adhesion mechanism is designed to move on various surfaces indoor spaces.

Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

2014 ◽  
Vol 619 ◽  
pp. 219-223 ◽  
Author(s):  
Trinnachoke Eiammanussakul ◽  
Jirawut Taoprayoon ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Vision System ◽  
Weld Bead ◽  
Climbing Robot ◽  
Nonlinear Controller ◽  
Robot Tracking ◽  
Inspection Process ◽  
Laser Vision ◽  
Steel Tanks

Magnetic wheel wall climbing robots are used in inspection of weld bead on large steel tanks. This research aims to develop the robot and tracking control algorithm to be more suitable for the inspection process. A laser-vision system was added on the robot to provide accurate weld bead detection. The simulation of the robot tracking along a weld bead by using nonlinear controller is demonstrated the effectiveness of the tracking control system.

Dynamic adjustment system of space-borne Fourier transform spectrometer

2010 ◽  
Author(s):  
Huandong Wei ◽  
Jianwen Hua ◽  
Zhanhu Wang ◽  
Zuoxiao Dai ◽  
Dayu Li ◽  
...  
Keyword(s):  
Fourier Transform ◽  
Fourier Transform Spectrometer ◽  
Dynamic Adjustment ◽  
Adjustment System

ENVIRONMENTAL TAX AND RETURN URBAN–RURAL MIGRATION

2017 ◽  
Vol 62 (02) ◽  
pp. 447-458 ◽  
Author(s):  
SHENG-HUEI KO ◽  
KUO-HSING KUO ◽  
CHENG-TE LEE ◽  
CHEN FANG
Keyword(s):  
Return Migration ◽  
Agricultural Sector ◽  
Factor Model ◽  
Manufacturing Sector ◽  
Specific Factor ◽  
Environmental Tax ◽  
Dynamic Adjustment ◽  
The Government ◽  
Set Up ◽  
Adjustment System

This paper will set up a dynamic adjustment system of a specific-factor model of a closed Harris and Todaros’ (1970) economy to explore the effects of environmental tax on return migration meaning that labor moves back from the manufacturing sector to the agricultural sector. We find that when the government raises environmental tax, return migration would happen and the urban unemployment would decrease.

scholarly journals Conceptual Design and Analysis of Pipe Climbing Robot

2021 ◽  
Vol 2115 (1) ◽  
pp. 012004
Author(s):  
Darshita Shah ◽  
Jatin Dave ◽  
Ashish Majithiya ◽  
Yash Patel
Keyword(s):  
Conceptual Design ◽  
Crack Detection ◽  
Tall Buildings ◽  
Inverse Kinematic ◽  
Human Beings ◽  
Climbing Robot ◽  
Tall Structures ◽  
Current Scenario ◽  
Almost All ◽  
Technological World

Abstract Robotics is one of the most emerging technologies in the current scenario. In this fast-growing technological world automation through robotics finds its place in almost all the fields. Climbing robots became more popular due to their versatile applications like inspection of tall buildings, tanks, structures, facade cleaning, fruits harvesting on tall trees (coconut) and many more. It became most adaptive as working on height may lead to dangerous incidents for human beings. Operations like visual inspection, crack detection of tall structures and pipes can be made possible with specially designed pipe climber robot. It finds its applications where human cannot reach, like hazardous applications. Specially design robots for a specific application also performs well with precision. This paper presents the novel design and analysis of pipe climbing robot for Chemical plant pipeline fault and leakage detection purpose. Design of all components of the robot is done with the basic mathematical consideration and then its analysis is carried out using FEA tools and MATLAB. Results of Forward and Inverse kinematic analysis of robot are obtained for certain specific points of trajectory. Dynamic analysis has been performed for motor selection and torque calculation. Presented conceptual design and analysis can be useful for pipe inspection purpose.

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