Development Of Linkage Mechanism For In-Pipe Robot

Humans have carried out pipeline inspection work to watch for and find any leaks, particularly in industrial facilities, chemical plants, natural gas pipelines, and oil rigs. This workplace is the most hazardous and has a high likelihood of endangering employees in the short or long term. In order to solve this issue, in-pipe inspection robots have been developed to take the position of workers and have improved performance over manual inspection. The goal of this project is to create an in-pipe robot capable of turning in a steady manner at pipe junctions of varying diameters found in commerce and industry. Robot design, including turning mechanism for pipe corner and surrounding area. The purpose of this project is to design an in-pipe robot which is capable to move in the pipe and turning in stable condition without wear and tear problem in the pipe junction with various diameter in the market and industry. The robot's design includes a mechanism for turning around a pipe corner and a point of contact to keep the robot stable as it travels through the pipeline. Using Arduino UNO as the robot's "brain" to transfer electrical supply to its locomotion, a control system is constructed in the robot's body to rotate the wheels and make it mobile in the pipeline

Design of novel adaptive magnetic adhesion mechanism for climbing robots in ferric structures

The work presented in this thesis proposes a novel adaptive magnetic adhesion mechanism that can be implemented in most locomotion mechanisms employed in climbing robots for ferric structures. This novel mechanism has the capability to switch OFF and ON its magnetic adhesion with minimal power consumption, and remain at either state after the excitation is removed. Furthermore, the proposed adhesion mechanism has the ability to adapt the strength of the adhesive force to a desired magnitude. These capabilities make the proposed adhesion mechanism a potential solution in the field of wall climbing robots. The novel contributions of the proposed mechanism include the switching of the adhesive force, selectivity of the adhesive force magnitude; determination of the parameters that have an impact in the final adhesive force. Finally, a final prototype is constructed with customised components and it is subject to a set of simulations and experiments to validate its performance

AN INTEGRATED AUGMENTED REALITY METHOD TO ASSEMBLY SIMULATION AND GUIDANCE

Ph.DDOCTOR OF PHILOSOPH

Agricultural Structures and Mechanization

In our globalized world, the need to produce quality and safe food has increased exponentially in recent decades to meet the growing demands of the world population. This expectation is being met by acting at multiple levels, but mainly through the introduction of new technologies in the agricultural and agri-food sectors. In this context, agricultural, livestock, agro-industrial buildings, and agrarian infrastructure are being built on the basis of a sophisticated design that integrates environmental, landscape, and occupational safety, new construction materials, new facilities, and mechanization with state-of-the-art automatic systems, using calculation models and computer programs. It is necessary to promote research and dissemination of results in the field of mechanization and agricultural structures, specifically with regard to farm building and rural landscape, land and water use and environment, power and machinery, information systems and precision farming, processing and post-harvest technology and logistics, energy and non-food production technology, systems engineering and management, and fruit and vegetable cultivation systems. This Special Issue focuses on the role that mechanization and agricultural structures play in the production of high-quality food and continuously over time. For this reason, it publishes highly interdisciplinary quality studies from disparate research fields including agriculture, engineering design, calculation and modeling, landscaping, environmentalism, and even ergonomics and occupational risk prevention