A Novel Concept of Biomorphic Hyper-Redundant Snake Robot

2019 ◽  
Vol 2 (1) ◽  
pp. 33-49
Author(s):  
Yash Dinesh Shethwala ◽  
Ravi Pravinbhai Patel ◽  
Darshankumar Rajendrakumar Shah ◽  
Saurin M. Sheth
Keyword(s):  
Human Detection ◽  
Loss Of Life ◽  
Snake Robot ◽  
Pcb Design ◽  
Lateral Undulation ◽  
Novel Concept ◽  
Excellent Property ◽  
Natural Calamity ◽  
Great Damage ◽  
Robot Body

Disaster is a sudden accident or a natural calamity that causes great damage or loss of life and property. In any disastrous conditions, a lot of manpower is wasted and still unable to save some lives. A biomorphic hyper-redundant snake-like robot may help in such situations. Its excellent property of getting into small spaces and ability to traverse along any surface can be very helpful in search and rescue operations. These robots can help to locate humans in a disaster and provide precise information about its condition to rescuers. It can also be used in other domains like military, underwater, aerospace, and nuclear. In this research, the mechanical modelling and simulation of snake robot body have been carried out. Different speeds have been achieved on various surfaces where the snake robot has to traverse. An algorithm is proposed for human detection based on a YOLO algorithm. PCB design for the power supply is carried out and two types of gait motion (lateral undulation and side winding) have been achieved by the snake robot.

scholarly journals Forensic Investigations of Crane Accidents

1991 ◽  
Vol 8 (2) ◽  
Author(s):  
Philip J. Alterman
Keyword(s):  
Work Environment ◽  
Property Damage ◽  
Loss Of Life ◽  
Operator Error ◽  
The Past ◽  
Forensic Investigations ◽  
Acts Of God ◽  
Natural Calamity

The following information has been acquired over the past 15 years assisting insurance adjusters and attorneys. Quite often we are asked to establish the scope of the loss, prepare an estimate of damages, express an opinion as to the cause of the accident and sometimes assist the insured in mitigating the loss. On occasion, we have provided personnel to monitor the repairs and review all expenditures. The various types of cases which are described herein were selected to reflect the variety of cranes, the different causes of accidents, the unusual problems encountered in performing our duties and proposed methods for eliminating loss of life and mitigating property damage. The causation of crane accidents can be classified in three general categories; (#I) Natural Calamity or Acts of God; (#2) Failure of the Equipment and (#3) Operator Error. An increased awareness of safety in the work environment can be enhanced by the examination of accidents, the identification of the hazard

A Review on Snake Robot Locomotion, Modelling, and Controlling in Challenging Environment

2020 ◽  
Vol 17 (2) ◽  
pp. 558-569
Author(s):  
Areej Ghazi Abdulshaheed ◽  
Mohamed Bin Hussein ◽  
Mohd Azuwan Mat Dzahir ◽  
Shaharil Mad Saad ◽  
Rohani Othman
Keyword(s):  
Detection System ◽  
Obstacle Detection ◽  
Complex Environment ◽  
Snake Robot ◽  
Robot Locomotion ◽  
Surrounding Environment ◽  
Different Types ◽  
Common Strategy ◽  
Challenging Environment ◽  
Robot Body

The flexibility of the snake robot body and its ability to adapt to different types of terrain attracted the attention of researchers to the great possibilities of its application in inspection, rescue, and searching tasks. These tasks require the robot to have the ability to navigate smartly in a complex environment (CE), which is considered to be one of the most critical challenges in the robotics field. The robot should be able to sense the surrounding environment and overcome different types of obstacles. In this paper, we have presented a review of the different type of snake robot locomotion and the controlling strategies in an environment with obstacles. We focus on avoidance obstacle locomotion as it is considered to be the most common strategy for dealing with obstacles. In addition, various types of modeling and controlling of locomotion with the presence of obstacles are discussed. Finally, a recommendation on the introduction of an obstacle detection system (ODS) and sensor fusion technology is given.

Gait Fitting Algorithms for Snake Robots With Binary Actuators

2012 ◽  
Author(s):  
Yunjie Miao ◽  
Feng Gao ◽  
Yong Zhang
Keyword(s):  
Snake Robot ◽  
Fitting Algorithm ◽  
Lateral Undulation ◽  
Best Fitting ◽  
Different Dimensions ◽  
Binary Actuators ◽  
Snake Robots

This paper introduces a new snake robot with binary actuators and mainly focuses on the simulations of various snake gaits. Three categories of fitting algorithms are proposed. They are 1) Fitting Algorithm of One Module; 2) Position-Fitting Algorithm of Multiple Modules; 3) Configuration-Fitting Algorithm of Multiple Modules. All the fitting algorithms and their fitting results are elaborated in simulations of lateral undulation, one of the most widely used snake gaits. As the best fitting algorithm for lateral undulation, Configuration-Fitting Algorithm of Four Modules is also applied to a snake robot of different dimensions to demonstrate that it is a universal gait fitting algorithm for all kinds of snake robots with binary actuators.

scholarly journals Artificial Intelligence Snake Robot (AISR)

2021 ◽  
Vol 12 (3) ◽  
pp. 5341-5344
Author(s):  
Engr. Jose Marie B.Dipay Et. al.
Keyword(s):  
Artificial Intelligence ◽  
Quantitative Research ◽  
New Technologies ◽  
Red Cross ◽  
Snake Robot ◽  
Performance Portability ◽  
Hard Time ◽  
Disaster Area ◽  
The Government ◽  
Natural Calamity

This study was conducted to design, develop and initially implement the Artificial Intelligence Snake Robot (AISR). Specifically, it identified the problems encountered in conducting manual rescuing people from natural calamity; the appropriate features of the tool that can be developed to address the problems encountered, and the respondents’ level of acceptance of the user toward the developed tool in terms of performance, portability, operability, and efficacy. The research used the qualitative-quantitative research method that utilized a researcher-made questionnaire and interview questions. The respondents of the study were fifty (50) Life Rescuers, 25 (25) Red Cross Staff and 25 (25) Random People from different places. The problems encountered in manual rescuing people from natural calamity; hard time finding people lost during disaster, lack of new technologies and equipment, lack of K-9 dogs and burden of working on disaster area. The appropriate features of the tool that can be developed to address the problems encountered were: sensors can make the process of rescuing people faster and easier. The respondents’ ratings for Artificial Intelligence Snake Robot (AISR) were extremely receivable in terms of performance (4.60); portability (4.54); operability (4.51); and efficacy (4.56). The government or other authorities will orient the proper use of the propose robot to avoid having a problem in rescuing people.

scholarly journals A fast non-dominated sorting multi-objective symbiotic organism search algorithm for energy efficient locomotion of snake robot

2021 ◽  
pp. 67-67
Author(s):  
Yesim Baysal ◽  
Ismail Altas
Keyword(s):  
Power Consumption ◽  
Energy Efficient ◽  
Search Algorithm ◽  
Average Power ◽  
Snake Robot ◽  
Multi Objective ◽  
Average Power Consumption ◽  
Lateral Undulation ◽  
Potential Applications ◽  
Symbiotic Organism Search

This paper deals with energy efficient locomotion of a wheel-less snake robot. This is very crucial for potential applications of untethered snake robots. The optimum gait parameters for the energy efficient locomotion of the snake robot are obtained with two different multi-objective algorithms based on symbiotic organism search algorithm by considering both minimizing the average power consumption and maximizing the forward velocity of the robot. This paper also investigates the energy efficient locomotion of the snake robot under different environment conditions. The obtained results demonstrate that both proposed methods achieve satisfying stable results regarding power consumption reduction with optimal forward velocity for lateral undulation motion. However, it is seen that fast non-dominated sorting multi-objective symbiotic organism search algorithm provides advantage on obtaining a uniformly distributed solution set with a good diversity only in a single run. This paper is important in terms of presenting useful results for developing efficient motion and environmental adaptability of the snake robot.

Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot

2020 ◽  
Vol 5 (2) ◽  
pp. 1728-1733
Author(s):  
Callie Branyan ◽  
Ross L. Hatton ◽  
Yigit Menguc
Keyword(s):  
Snake Robot ◽  
Lateral Undulation

scholarly journals Rancang Bangun Sistem Penentuan Jalur Evakuasi Keluar Gedung Rumah Sakit Saat Kondisi Darurat Menggunakan Algoritma Dijkstra Dengan Antrian Prioritas

2019 ◽  
Vol 3 (01) ◽  
pp. 30-38
Author(s):  
Dody Ichwana
Keyword(s):  
Shortest Path ◽  
Shortest Paths ◽  
Priority Queue ◽  
Dijkstra Algorithm ◽  
Loss Of Life ◽  
Public Facilities ◽  
Evacuation Strategy ◽  
Evacuation Routes ◽  
Evacuation Route ◽  
Great Damage

Disaster is a sudden event, such as an accident or a natural catastrophe, that causes great damage or loss of life. Disasters can occur at any time, therefore a mechanism is needed to evacuate out of the building during a disaster. Generally public facilities have provided instructions and evacuation routes outside the building. Based on the severity of the disaster and the evacuation capability of the victim, the evacuation strategy can range from evacuation as soon as possible, evacuate slowly, move to a safe location inside the building or take refuge in the available protection room and wait for the rescue team to arrive. The algorithm for finding the shortest paths can be used to determine the evacuation route. But this path is still static, if the route damaged in then the evacuation route would become useless. The time for the evacuation process can also increase if the condition of the evacuation route is not known whether damaged or not. The solution to solve this problem is to make a system that can help find  the safest and shortest evacuation routes during emergencies. This system consist of microcontroller Arduino Mega to control the system and led for evacuation sign. The evacuation routes is determined by implementing dijkstra algorithm with priority queue to search the shortest path.

scholarly journals Concept Design of the Underwater Manned Seabed Walking Robot

2019 ◽  
Vol 7 (10) ◽  
pp. 366 ◽  
Author(s):  
Khan ◽  
Liquan ◽  
Gang ◽  
Imran ◽  
Waqas ◽  
...  
Keyword(s):  
Water Current ◽  
Preliminary Design ◽  
Concept Design ◽  
Walking Robot ◽  
Safe Operation ◽  
Underwater Robots ◽  
Novel Concept ◽  
External Forces ◽  
Ansys Workbench ◽  
Robot Body

In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1–2 m/sec) and deep water up to 500 m. It is powered by an external electric power source through tether cable. It walks on the seabed with six legs, which makes it distinct from conventional screw-propelled underwater robots. It can walk calmly without making the water turbid. Two anterior arms act as manipulators. All leg joints and manipulators are controlled by Brushless Direct Current Motors. Motivation for this concept comes from soldier crab that walk mostly forward and has an egg-shaped body. It is operated by a pilot sitting in a pressurized cabin, and promptly control operations of the robot and manipulator. Preliminary design of the pressurized cabin, using an empirical formula, “ASME PVHO-1 2007” standard, and validation was carried out through ANSYS Workbench. Hydrodynamic forces acting on the robot body and legs are utilized to withstand the water current and external forces to adjust legs and body posture for stability. Buoyancy rules are employed to control its rising and diving motion. All key technologies employed in the development of the robot and their approaching methods are explained. It will provide a safe operation space for humans in underwater operations.

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