A comprehensive review of driving mechanisms in amphibian spherical robots

864-872A spherical robot is based on the rolling concept inspired by the pangolins. This mode of locomotion is faster and safer as its spherical body becomes a protective shield. The mobility, adaptability, and concealment provided by a spherical robot can be used for terrestrial, aquatic, and amphibious applications such as harbour patrolling, defence tasks, rough terrains exploration, and agriculture. In designing the robot, priority on the centre of gravity position should be given as this will affect the robot’s stability, either while static or in motion. A proper driving principle can overcome this issue while ensuring that the robot can perform a given task. Therefore, this paper intends to identify the driving principle proposed for spherical amphibian robots by systematically reviewing existing driving methods and the mechanisms used. From the search, 159 titles were published since 2015. The review has identified that the driving mechanism of a spherical amphibian robot depends on the actuation method, which is the legged actuation, combined actuation, and linear actuation. Each driving principle has its trade-off in performing the terrestrial and underwater motion. Furthermore, the driving principle also affects the advantages of a spherical robot system. Hence, studies on the driving principle that are more agile and do not ignore the spherical robot’s main advantage need to be given emphasis

A comprehensive review of driving mechanisms in amphibian spherical robots

A spherical robot is based on the rolling concept inspired by the pangolins. This mode of locomotion is faster and safer as its spherical body becomes a protective shield. The mobility, adaptability, and concealment provided by a spherical robot can be used for terrestrial, aquatic, and amphibious applications such as harbour patrolling, defence tasks, rough terrains exploration, and agriculture. In designing the robot, priority on the centre of gravity position should be given as this will affect the robot’s stability, either while static or in motion. A proper driving principle can overcome this issue while ensuring that the robot can perform a given task. Therefore, this paper intends to identify the driving principle proposed for spherical amphibian robots by systematically reviewing existing driving methods and the mechanisms used. From the search, 159 titles were published since 2015. The review has identified that the driving mechanism of a spherical amphibian robot depends on the actuation method, which is the legged actuation, combined actuation, and linear actuation. Each driving principle has its trade-off in performing the terrestrial and underwater motion. Furthermore, the driving principle also affects the advantages of a spherical robot system. Hence, studies on the driving principle that are more agile and do not ignore the spherical robot’s main advantage need to be given emphasis

Design and modelling of four-legged amphibious robot

This paper proposed a method to model the gait movement of four-legged amphibious robot. This type of robot has shown a great potential to perform complex operations in difficult and challenging land and underwater environments. Not only they can monitor and manipulate complicated environment conditions during disasters such as floods, landslides, and others, but it can also perform deep ocean exploration, underwater structures manipulation, disaster rescue operations, and reconnaissance. The promising advantages of amphibious underwater robots have motivated researchers to propose different design strategies for the structures and control methods of such vehicles. To design and model the fourlegged amphibious robot, the connection between the input links with the output links was identified in this paper. The system architecture and system prototype were developed for model performance test. The tests were conducted and analyses using the SAM- the Ultimate Mechanism Designer for various configurations of the links in terms of the angle, angular velocity and the angular acceleration

Locomation strategies for amphibious robots-a review

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots

A History of Materials and Technologies Development

The purpose of the book is to provide the students with the text that presents an introductory knowledge about the development of materials and technologies and includes the most commonly available information on human development. The idea of the publication has been generated referring to the materials taken from the organic and non-organic evolution of nature. The suggested texts might be found a purposeful tool for the University students proceeding with studying engineering due to the fact that all subjects in this particular field more or less have to cover the history and development of the studied object. It is expected that studying different materials and technologies will help the students with a better understanding of driving forces, positive and negative consequences of technological development, etc

Strategic Latency Unleashed: The Role of Technology in a Revisionist Global Order and the Implications for Special Operations Forces

The article of record may be found at https://cgsr.llnl.govThis work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory in part under Contract W-7405-Eng-48 and in part under Contract DE-AC52-07NA27344. The views and opinions of the author expressed herein do not necessarily state or reflect those of the United States government or Lawrence Livermore National Security, LLC. ISBN-978-1-952565-07-6 LCCN-2021901137 LLNL-BOOK-818513 TID-59693This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory in part under Contract W-7405-Eng-48 and in part under Contract DE-AC52-07NA27344. The views and opinions of the author expressed herein do not necessarily state or reflect those of the United States government or Lawrence Livermore National Security, LLC. ISBN-978-1-952565-07-6 LCCN-2021901137 LLNL-BOOK-818513 TID-5969

Astronautics and Aeronautics, 1979-1984: A chronology

This volume of the Astronautics and Aeronautics series covers 1979 through 1984. The series provides a chronological presentation of all significant events and developments in space exploration and the administration of the space program during the period covered

Abstracts on Radio Direction Finding (1899 - 1995)

The files on this record represent the various databases that originally composed the CD-ROM issue of "Abstracts on Radio Direction Finding" database, which is now part of the Dudley Knox Library's Abstracts and Selected Full Text Documents on Radio Direction Finding (1899 - 1995) Collection. (See Calhoun record https://calhoun.nps.edu/handle/10945/57364 for further information on this collection and the bibliography). Due to issues of technological obsolescence preventing current and future audiences from accessing the bibliography, DKL exported and converted into the three files on this record the various databases contained in the CD-ROM. The contents of these files are: 1) RDFA_CompleteBibliography_xls.zip [RDFA_CompleteBibliography.xls: Metadata for the complete bibliography, in Excel 97-2003 Workbook format; RDFA_Glossary.xls: Glossary of terms, in Excel 97-2003 Workbookformat; RDFA_Biographies.xls: Biographies of leading figures, in Excel 97-2003 Workbook format]; 2) RDFA_CompleteBibliography_csv.zip [RDFA_CompleteBibliography.TXT: Metadata for the complete bibliography, in CSV format; RDFA_Glossary.TXT: Glossary of terms, in CSV format; RDFA_Biographies.TXT: Biographies of leading figures, in CSV format]; 3) RDFA_CompleteBibliography.pdf: A human readable display of the bibliographic data, as a means of double-checking any possible deviations due to conversion

Maritime expressions:a corpus based exploration of maritime metaphors

This study uses a purpose-built corpus to explore the linguistic legacy of Britain’s maritime history found in the form of hundreds of specialised ‘Maritime Expressions’ (MEs), such as TAKEN ABACK, ANCHOR and ALOOF, that permeate modern English. Selecting just those expressions commencing with ’A’, it analyses 61 MEs in detail and describes the processes by which these technical expressions, from a highly specialised occupational discourse community, have made their way into modern English. The Maritime Text Corpus (MTC) comprises 8.8 million words, encompassing a range of text types and registers, selected to provide a cross-section of ‘maritime’ writing. It is analysed using WordSmith analytical software (Scott, 2010), with the 100 million-word British National Corpus (BNC) as a reference corpus. Using the MTC, a list of keywords of specific salience within the maritime discourse has been compiled and, using frequency data, concordances and collocations, these MEs are described in detail and their use and form in the MTC and the BNC is compared. The study examines the transformation from ME to figurative use in the general discourse, in terms of form and metaphoricity. MEs are classified according to their metaphorical strength and their transference from maritime usage into new registers and domains such as those of business, politics, sports and reportage etc. A revised model of metaphoricity is developed and a new category of figurative expression, the ‘resonator’, is proposed. Additionally, developing the work of Lakov and Johnson, Kovesces and others on Conceptual Metaphor Theory (CMT), a number of Maritime Conceptual Metaphors are identified and their cultural significance is discussed