The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots

This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction, magnetic forces, air pressure, electrostatic adhesion, molecular forces, rheological properties of fluids and their combinations) and their locomotion principles (wheeled, tracked, walking, sliding framed and hybrid) is studied. Wall-climbing robots are classified according to the applications, adhesion methods and locomotion mechanisms. The advantages and disadvantages of various adhesion methods and locomotion mechanisms are analyzed in terms of mobility, noiselessness, autonomy and energy efficiency. Focus is placed on the physical and technical aspects of the adhesion methods and the possibility of combining adhesion and locomotion methods

Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review

In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out

Development of a Chain Climbing Robot and an Automated Ultrasound Inspection System for Mooring Chain Integrity Assessment

Mooring chains used to stabilise offshore floating platforms are often subjected to harsh environmental conditions on a daily basis, i.e. high tidal waves, storms etc. Chain breakage can lead to vessel drift and serious damage such as riser rupture, production shutdown and hydrocarbon release. Therefore, integrity assessment of chain links is vital, and regular inspection is mandatory for offshore structures. Currently, structural health monitoring of chain links is conducted using either remotely operated vehicles (ROVs), which are associated with high costs, or by manual means, which increases the risk to human operators. The development of climbing robots for mooring chain applications is still in its infancy due to the operational complexity and geometrical features of the chain. This thesis presents a Cartesian legged magnetic adhesion tracked-wheel crawler robot developed for mooring chain inspection. The crawler robot presented in this study is suitable for mooring chain climbing in air and the technique can be adapted for underwater use. The proposed robot addresses straight mooring chain climbing and a misaligned scenario that is commonly evident in in-situ conditions. The robot can be used as a platform to convey equipment, i.e. tools for non-destructive testing/evaluation applications. The application of ultrasound for in-service mooring chain inspection is still in the early stages due to lack of accessibility, in-field operational complexity and the geometrical features of mooring systems. With the advancement of robotic/automated systems (i.e. chain-climbing robotic mechanisms), interest in in-situ ultrasound inspection has increased. Currently, ultrasound inspection is confined to the weld area of the chain links. However, according to recent studies on fatigue and residual stresses, ultrasound inspection of the chain crown should be further investigated. A new automated application for ultrasonic phased-array full-matrix capture is discussed in this thesis for investigation of the chain crown. The concept of the chain-climbing robot and the inspection technique are validated with laboratory-based climbing experiments and presented in this thesis

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Special oils for halal and safe cosmetics

Three types of non conventional oils were extracted, analyzed and tested for toxicity. Date palm kernel oil (DPKO), mango kernel oil (MKO) and Ramputan seed oil (RSO). Oil content for tow cultivars of dates Deglect Noor and Moshkan was 9.67% and 7.30%, respectively. The three varieties of mango were found to contain about 10% oil in average. The red yellow types of Ramputan were found to have 11 and 14% oil, respectively. The phenolic compounds in DPKO, MKO and RSO were 0.98, 0.88 and 0.78 mg/ml Gallic acid equivalent, respectively. Oils were analyzed for their fatty acid composition and they are rich in oleic acid C18:1 and showed the presence of (dodecanoic acid) lauric acid C12:0, which reported to appear some antimicrobial activities. All extracted oils, DPKO, MKO and RSO showed no toxic effect using prime shrimp bioassay. Since these oils are stable, melt at skin temperature, have good lubricity and are great source of essential fatty acids; they could be used as highly moisturizing, cleansing and nourishing oils because of high oleic acid content. They are ideal for use in such halal cosmetics such as Science, Engineering and Technology 75 skin care and massage, hair-care, soap and shampoo products

Bio-Inspired Adhesion, Friction and Lubrication

Biological systems have developed elegant adaptations during its evolution to survive and perform its functions efficiently under specific environmental constrains with enormous physical demands. In this dissertation, I make an effort to understand tribological phenomena in biology and translate them into a synthetic system for engineering applications. I emphasize on adhesion, friction and lubrication in three different biologically inspired soft condensed matter as described below.Dopa (3,4-dihydroxyphenylalanine), a post-translational modification from tyrosine (Tyr), features prominently in the mussel foot proteins (mfps), ranging from less than 5 mol % in mfp-4 to 30 mol % in mfp-5. The binding ability of the mfps to different substrates has been mostly attributed to the Dopa functionality in the protein and the role of the other peptide residues in the adhesive properties of the protein remains elusive. Here we have discovered that the adhesion between mfp-1 decapeptide films ([AKPSYPPTYK]2) and mica remained unchanged with or without the Dopa residue. This is a paradigm shift in our understanding of the molecular mechanisms underlying adhesive properties of the mfps and calls for further inquiry into the effects of peptide residues beyond Dopa chemistry. We also developed a systematic body of work linking the adhesive performance to lengths and architectures of peptides. Dopa in a peptide sequence does not necessarily lead to the formation of cross-links between peptide films through metal chelation, and the length of the peptide is a crucial parameter for enabling metal ion mediated bridging between surfaces. More recently, we have been working on designing and characterizing small molecules that mimic the properties of the adhesive mussel foot proteins. The wet adhesion and coacervation of an adhesive protein (mfp-5) was recapitulated in an order of magnitude smaller length scale which shows cohesive properties superior to the mfps. We believe that the resulting insights into the molecular structure-function relationships will enable rational design of synthetic bio-inspired adhesives that would enable de novo (suture less) sealants for injuries and surgeries and nano-scale-adhesive applications in the semiconductor industry.Geckos can attach and detach their toes reversible in matters of milliseconds from most surfaces regardless of its roughness due to the hierarchical structure of their foot-pads. Micro-flaps mimicking the function of the micron sized setae on the gecko foot pad were fabricated and investigated for its adhesion and frictional properties in a modified surface forces apparatus (SFA). A Johnson-Kendall-Roberts (JKR) model with an effective stiffness and adhesion energy parameters quantitatively described the `contact mechanics' of the tilted micro-flaps against a smooth silica surface at the macro and micro-scales. Constant attachments and detachments occurred between the surfaces during shearing and were described by an Avalanche mechanism. These results demonstrate the significance of preload, shearing velocity, shearing distances, commensurability, and shearing direction of gecko-mimetic adhesives and provide a simple model for analyzing and/or designing such systems. Biolubrication systems show ultralow friction coefficients, remarkable wear resistance properties and are far superior to any artificial system designed to date. In this work, the role of proteins (e.g., Lubricin, Lub) and polysaccharides (e.g., Hyaluronic acid, HA) found in articular joints, and mfp-1 inspired coacervates were investigated to determine the lubrication and wear protection mechanisms conferred by the naturally occurring polymers to a mica surface. We find that Lub penetrates into a chemically bound HA on mica to form a visco-elastic gel that reduces the coefficient of friction as well as boosts the strength of the surface against abrasive wear, however, physically adsorbed HA-Lub complex were poor at conferring wear protection to mica even though it showed low friction coefficients. Similarly, coacervated mfp-1/HA rescues mica from shear induced damage only when the protein is modified with Dopa, which is responsible for attaching the coacervate to the surface. Absence of Dopa resulted in severe abrasive wear to the surfaces even under low loads (< 10 mN) during shearing. These results show that strong anchoring of polymers is crucial to protect surfaces from shear induced damage. We also demonstrate that friction coefficient is not correlated to wear