scholarly journals Design & Construction of Pipe Climbing & Inspection Robot

2021 ◽  
Vol 9 (8) ◽  
pp. 1570-1572
Author(s):  
Ali Adib Syed Hifazat Ali
Keyword(s):  
Human Health ◽  
Concept Design ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Prototype Implementation ◽  
Inspection Robot ◽  
Advantages And Disadvantages ◽  
Wireless Control ◽  
Temperature And Pressure ◽  
Design Construction

Abstract: This project describes the concept, design and prototype implementation of a pipe climbing-robot. Pipe climbing robots became a stimulating area for research within the last years. Several robots are developed to unravel this given problem. Every construction has its own advantages and disadvantages. The goal of this work was to style another pole climbing robot that uses a replacement clamping principle. Pipe climbing robot has many applications in industrial field as we all know in industry , there are many chemicals that are harmful to human health and therefore the pipelines of which are needed to be inspected frequently. Human can't be allowed to try to to such operations, hence this robot are often very useful in such tasks of inspection. Boilers even have the similar conditions, as temperature and pressure inside the boilers is extremely high, hence to see the pipelines this robot are often used at such places. Keywords: Pipe climbing robot, DC motor, Wireless Control

scholarly journals COVID-19 Shutdown: A Qualitative Study on Pearls and Pitfalls

Proceedings ◽  
2021 ◽  
Vol 74 (1) ◽  
pp. 4
Author(s):  
Naciye Güliz Uğur
Keyword(s):  
Qualitative Study ◽  
Human Health ◽  
Social Distance ◽  
The Other ◽  
Adoption Of Technology ◽  
Family Ties ◽  
Advantages And Disadvantages ◽  
Modern Period ◽  
Long Term Impact

The extraordinary and tragic conditions that humanity has not experienced before in the modern period have become ordinary, namely, a “new normal” with the presence of the COVID-19 pandemic. COVID-19 has had frightening consequences for human health and has caused one million deaths as of September 2020. On the other hand, it has set a new standard of good habits, approaches, and benefits. Due to its global and long-term impact, this unique virus has laid the groundwork for unprecedented helping and sharing behaviors between people and countries. In this study, findings are compiled from the open-ended responses of 626 individuals, all of whom live in Turkey. Within the study’s scope, individuals were asked about the unique advantages and disadvantages of the restrictions imposed under COVID-19. While the categories of economy, social distance, and health came to the fore among the harms, the strengthening of family ties, adoption of technology, and the spread of solidarity culture were mentioned among the advantages.

scholarly journals A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Robotics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 26
Author(s):  
Dingxin Ge ◽  
Yongchen Tang ◽  
Shugen Ma ◽  
Takahiro Matsuno ◽  
Chao Ren
Keyword(s):  
Experimental Test ◽  
Experimental Results ◽  
Climbing Robot ◽  
Guide Rail ◽  
Test Bed ◽  
Climbing Robots ◽  
Pressing Method ◽  
Suction Cup ◽  
Suction Cups

This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

scholarly journals Commentary: Causal Inference for Social Exposures

2019 ◽  
Vol 40 (1) ◽  
pp. 7-21 ◽  
Author(s):  
Jay S. Kaufman
Keyword(s):  
Observational Study ◽  
Causal Inference ◽  
Human Health ◽  
Social Epidemiology ◽  
Social Institutions ◽  
Causal Effects ◽  
Advantages And Disadvantages ◽  
The Cost

Social epidemiology seeks to describe and quantify the causal effects of social institutions, interactions, and structures on human health. To accomplish this task, we define exposures as treatments and posit populations exposed or unexposed to these well-defined regimens. This inferential structure allows us to unambiguously estimate and interpret quantitative causal parameters and to investigate how these may be affected by biases such as confounding. This paradigm has been challenged recently by some critics who favor broadening the exposures that may be studied beyond treatments to also consider states. Defining the exposure protocol of an observational study is a continuum of specificity, and one may choose to loosen this definition, incurring the cost of causal parameters that become commensurately more vague. The advantages and disadvantages of broader versus narrower definitions of exposure are matters of continuing debate in social epidemiology as in other branches of epidemiology.

A Three-Row Opposed Gripping Mechanism With Radial Configuration for Wall-Climbing Robots

2019 ◽  
Author(s):  
Chao Xie ◽  
Xuan Wu ◽  
Xiaojie Wang
Keyword(s):  
Rough Surface ◽  
Motor Drives ◽  
Rough Wall ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Single Motor

Abstract This paper presents a three-row opposed gripping mechanism with radial configuration for wall-climbing robots inspired by the structure of the gripper of LEMUR IIB. The mechanism builds upon a kind of microspines for climbing robots. This work utilizes an opposed spoke configuration with 3 rows of 31 microspines on each linkage array, splayed around a central bracket. A single motor drives the 3 linkage arrays by a set of gears to achieve attachment and detachment procedures, and the trajectory of each linkage array tip makes the miniature spines easy to penetrate in and pull off the surfaces. The mechanism designed as a foot of climbing robots can vertically resist at least 1kg of load on rough surface. The findings provide a foundation for constructing a system for a rough-wall-climbing robot.

scholarly journals Optimal Collision-Free Grip Planning for Biped Climbing Robots in Complex Truss Environment

2018 ◽  
Vol 8 (12) ◽  
pp. 2533 ◽  
Author(s):  
Shichao Gu ◽  
Haifei Zhu ◽  
Hui Li ◽  
Yisheng Guan ◽  
Hong Zhang
Keyword(s):  
Path Planning ◽  
Optimization Model ◽  
Mathematic Model ◽  
Planning Method ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Kinematic Constraint ◽  
Anchor Points ◽  
Effectiveness And Efficiency ◽  
Original Point

Biped climbing robots (BiCRs) can overcome obstacles and perform transition easily thanks to their superior flexibility. However, to move in a complex truss environment, grips from the original point to the destination, as a sequence of anchor points along the route, are indispensable. In this paper, a grip planning method is presented for BiCRs generating optimal collision-free grip sequences, as a continuation of our previous work on global path planning. A mathematic model is firstly built up for computing the operational regions for negotiating obstacle members. Then a grip optimization model is proposed to determine the grips within each operational region for transition or for obstacle negotiation. This model ensures the total number of required climbing steps is minimized and the transition grips are with good manipulability. Lastly, the entire grip sequence satisfying the robot kinematic constraint is generated by a gait interpreter. Simulations are conducted with our self-developed biped climbing robot (Climbot), to verify the effectiveness and efficiency of the proposed methodology.

The Structure Design of Gait Pole Climbing Robot

2015 ◽  
Vol 740 ◽  
pp. 171-174
Author(s):  
Xiao Jin Fu ◽  
Zhao Yang Sun ◽  
Ran Zhao ◽  
Jian Cheng Yin
Keyword(s):  
Slow Motion ◽  
Structure Design ◽  
The Body ◽  
Industrial Robots ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Robot Arms ◽  
Maintenance Work ◽  
Industrial Software

The theory of gait is one of walking ways which is efficient, fast and stable in a variety of industrial robots, offering a structure of climbing robots in a way of gait and climbing with the gait motion in paper. Through the results of analysis by various industrial software, the presented structure of climbing robots which is composed of two terminal parts and two robot arms that is the part of pedestal and climbing mechanism. In the process of climbing, realizing gripping, Swing work, turning work, an orderly motion and get to the aimed place finally through alternate between the upper and lower part of the body by the control of SCM. The presented method has not only improved many problems like complicated climbing structure, controlling rough, slow-motion and unable thronging obstacles, but also accomplished the subsequent operations like tools delivering, pole testing, clearing, maintenance work, furthermore, there has more comprehensive benefits.

Contacting Surface-Transfer Control for Reconfigurable Wall-Climbing Robot Gunryu III

2013 ◽  
Vol 25 (3) ◽  
pp. 439-448 ◽  
Author(s):  
Woosub Lee ◽  
◽  
Shigeo Hirose ◽  
Keyword(s):  
High Stability ◽  
Control Strategies ◽  
High Mobility ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Simulation Experiments ◽  
Contact Mode ◽  
Magnetic Device ◽  
New Type ◽  
Motion Strategy

For the wall-climbing robots, high mobility as well as stability on the surface of the walls are the most important features. To achieve these features, this paper proposes a new type of reconfigurable arm equipped multi module wall-climbing robot named Gunryu III. Gunryu III has the potential ability to generate high stability and high mobility by using its arm to connect multiple mobile modules together and a magneticforce-changeable adsorption device. One of the important motions of the reconfigurable wall-climbing robot Gunryu III is surface-transfer motion, which is to change from one moving surface to another, such as from floor to wall and wall to ceiling. In this paper, we propose a new surface-transfer motion strategy named Contact Mode. It is to make surface-transfer motion by contacting some part of the moving module to one of the surfaces. As for the Contact Mode surfacetransfer motion, we first conduct several fundamental discussions, such as the five basic types of motion, conditions for making contact between the mobile module and the wall, effective way of using the magnetic device and two criteria of the evaluation. We then quantitatively evaluate the effectiveness of the proposed Contact Mode surface-transfer motion using simulation experiments, and clarify basic optimized control strategies.

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