scholarly journals INVESTIGATIONS ON THE EFFECT OF WALL THICKNESS ON MAGNETIC ADHESION FOR WALL CLIMBING ROBOTS

2021 ◽  
Vol 36 (0) ◽  
Author(s):  
Jaise Jose ◽  
Dinakaran Devaraj ◽  
Ramya Manthanam Mathanagopal ◽  
Kuppan Chetty Ramanathan ◽  
Mohammad O. Tokhi ◽  
...  
Keyword(s):  
Wall Thickness ◽  
Climbing Robots ◽  
Magnetic Adhesion

scholarly journals A New Family of Magnetic Adhesion Based Wall-Climbing Robots

2018 ◽  
pp. 223-230 ◽  
Author(s):  
Stefano Seriani ◽  
Lorenzo Scalera ◽  
Alessandro Gasparetto ◽  
Paolo Gallina
Keyword(s):  
Climbing Robots ◽  
New Family ◽  
Magnetic Adhesion

scholarly journals Permanent Magnetic System Design for the Wall-Climbing Robot

2006 ◽  
Vol 3 (3) ◽  
pp. 151-159 ◽  
Author(s):  
W. Shen ◽  
J. Gu ◽  
Y. Shen
Keyword(s):  
Magnetic System ◽  
Dynamic Force ◽  
Climbing Robot ◽  
Force Analysis ◽  
Climbing Robots ◽  
Adhesion Mechanism ◽  
Magnetic Systems ◽  
Different Types ◽  
Design Requirements ◽  
Magnetic Adhesion

This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

scholarly journals Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

2021 ◽  
Vol 9 ◽  
Author(s):  
Pongsiri Borijindakul ◽  
Aihong Ji ◽  
Zhendong Dai ◽  
Stanislav N. Gorb ◽  
Poramate Manoonpong
Keyword(s):  
Essential Factor ◽  
Climbing Robots ◽  
Wet Adhesion ◽  
Dry Adhesion ◽  
Different Types ◽  
Climbing Ability ◽  
The Right ◽  
Magnetic Adhesion

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

OPTIMAL DESIGN OF A MAGNETIC ADHESION FOR CLIMBING ROBOTS

2013 ◽  
Author(s):  
PETER WARD ◽  
DIKAI LIU ◽  
KEN WALDRON ◽  
MAHDI HASAN
Keyword(s):  
Optimal Design ◽  
Climbing Robots ◽  
Magnetic Adhesion

scholarly journals Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 41 ◽  
Author(s):  
Stefano Seriani ◽  
Lorenzo Scalera ◽  
Matteo Caruso ◽  
Alessandro Gasparetto ◽  
Paolo Gallina
Keyword(s):  
Experimental Validation ◽  
Mobile Systems ◽  
Curved Surfaces ◽  
Climbing Robots ◽  
Modeling Simulation ◽  
New Family ◽  
Magnetic Elements ◽  
Freely Moving ◽  
Sandwich Configuration ◽  
Magnetic Adhesion

In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between them. Thanks to this configuration, the mobile robot can climb even nonferromagnetic and curved surfaces; moreover, the master cart is capable of freely moving on the floor by detaching from the follower. In this paper, we propose the mathematical modeling, simulation, and experimental validation of this kind of robots, with particular focus on the transitions between floor and climbing motion.

A Survey of Technologies for Climbing Robots

2012 ◽  
Vol 236-237 ◽  
pp. 556-562 ◽  
Author(s):  
Rong Gang Yue ◽  
Shao Ping Wang
Keyword(s):  
Climbing Robot ◽  
Attraction Force ◽  
Climbing Robots ◽  
Vacuum Suction ◽  
Different Types ◽  
Magnetic Adhesion

To replace human workers in dangerous environments or difficult-to-access places, climbing robots with the ability to travel on different types of surfaces (floors, walls, ceilings) and to walk between such surfaces were developed. The most important technology for a climbing robot is how to resist gravity, and adhere to surfaces. This paper presents mainly six types of adhesion technologies to ensure climbing robot sticks to wall surfaces: magnetic adhesion, vacuum suction techniques, attraction force generators, grasping grippers, bio-mimetic approaches inspired by climbing animals, and compliant electroadhesion, et al. Moreover, this paper represents advantages and limitations of adhesion technologies.

1202: The Value of Bladder Wall Thickness Measurement in the Assessment of Voiding Dysfunction

2005 ◽  
Vol 173 (4S) ◽  
pp. 326-326
Author(s):  
Lewis Chan ◽  
Jehan Titus ◽  
Vincent Tse ◽  
Ruth Collins
Keyword(s):  
Wall Thickness ◽  
Voiding Dysfunction ◽  
Bladder Wall ◽  
Thickness Measurement ◽  
Bladder Wall Thickness ◽  
Wall Thickness Measurement

Assessment of Myocardial Viability in Persistent Defects on Thallium-201 SPECT after Reinjection Using Gradient-Echo MRI

1996 ◽  
Vol 35 (05) ◽  
pp. 146-152 ◽  
Author(s):  
A. Kögler ◽  
H.-A. Schmitt ◽  
D. Emrich ◽  
H. Kreuzer ◽  
D. L. Munz ◽  
...  
Keyword(s):  
Wall Thickness ◽  
Myocardial Viability ◽  
Cardiac Cycle ◽  
Single Photon ◽  
Contractile Function ◽  
Left Ventricular ◽  
Wall Thickening ◽  
Gradient Echo ◽  
Systolic Wall Thickening

SummaryThis prospective study assessed myocardial viability in 30 patients with coronary heart disease and persistent defects despite reinjection on TI-201 single-photon computed tomography (SPECT). In each patient, three observers graded TI-201 uptake in 7 left ventricular wall segments. Gradient-echo magnetic resonance imaging in the region of the persistent defect generated 12 to 16 short axis views representing a cardiac cycle. A total of 120 segments were analyzed. Mean end-diastolic wall thickness and systolic wall thickening (± SD) was 11.5 ± 2.7 mm and 5.8 ± 3.9 mm in 48 segments with normal TI-201 uptake, 10.1 ± 3.4 mm and 3.7 ± 3.1 mm in 31 with reversible lesions, 11.3 ± 2.8 mm and 3.3 ± 1.9 mm in 10 with mild persistent defects, 9.2 ± 2.9 mm and 3.2 ±2.2 mm in 15 with moderate persistent defects, 5.8 ± 1.7 mm and 1.3 ± 1.4 mm in 16 with severe persistent defects, respectively. Significant differences in mean end-diastolic wall thickness (p <0.0005) and systolic wall thickening (p <0.005) were found only between segments with severe persistent defects and all other groups, but not among the other groups. On follow-up in 11 patients after revascularization, 6 segments with mild-to-moderate persistent defects showed improvement in mean systolic wall thickening that was not seen in 6 other segments with severe persistent defects. These data indicate that most myocardial segments with mild and moderate persistent TI-201 defects after reinjection still contain viable tissue. Segments with severe persistent defects, however, represent predominantly nonviable myocardium without contractile function.

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