Development of a folding arm on an articulated mobile robot for plant disaster prevention

In this work, we develop a folding arm on an articulated mobile robot to inspect an industrial plant. The design targets of the arm, its operations, measurement ability, and mobility, were set for the task of inspecting an industrial plant. To accomplish the targets, we designed the folding arm considering both accessibility to high locations and the mobility of the articulated mobile robot to which it is attached. The arm has links, joints, dummy wheels, and sensors and enables the robot to which it is attached to manipulate objects, e.g. rotating valves, opening a door, or inspecting by accessing high locations. In addition, changing the posture of the arm and touching the dummy wheel in the arm to the surrounding terrain can reduce any negative effect of the arm on the robot\u27s mobility when it encounters narrow spaces, stairs, steps, and trenches. The arm is controlled as a six degrees-of-freedom manipulator without redundancy by an operator who directly sets two joint angles. The effectiveness of the developed arm was demonstrated not only through experiments in a laboratory but also in a field test at the Plant Disaster Prevention Challenge of the World Robot Summit 2018

Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed

拘束切り替えを利用したヘビ型ロボットの2平面移動と2点同時制御に関する研究

電気通信大学201

Robotic Minimally Invasive Tools for Restricted Access Confined Spaces

A study has been performed in the design and fabrication of deployable borehole robots into confined spaces. Three robot systems have been developed to perform a visual survey of a subterranean space where for any reason humans could not enter. A 12mm diameter snake arm was designed with a focus on the cable tensions and the failure modes for the components that make the snake arm. An iterative solver was developed to model the snake arm and algorithmically calculate the snake arms optimal length with consideration of the failure modes. A robot was developed to extend the range capabilities of borehole robots using reconfigurable borehole robots based around established actuation and manufacturing techniques. The expected distance and weight requirements of the robot are calculated alongside the forces the robot is required to generate in order to achieve them. The whegged design incorporated into the tracks is also analysed to measure the capability of the robot over rough terrain. Finally, the experiments to find the actual driving forces of the tracks are performed and used to calculate the actual range of the robot in comparison to the target range. The potential of reconfigurable mobile robots for deployment through boreholes is limited by the requirement for conventional gears, motors, and joints. This chapter explores the use of smart materials and innovative manufacturing techniques to form a novel concept of a self-folding robotic joint for a self-assembling robotic system. The design uses shape memory alloys fabricated in laminate structures with heaters to create folding structures

Validating a method for enhanced communications and situational awareness at the incident command level

CHDS State/LocalThe availability and interoperability of communications at an incident scene have long been recognized as high-priority problems that need to be addressed to improve our nation's Homeland Security and preparedness. This thesis describes a proposed methodology to address these issues at the Incident Command level while enhancing situational awareness and information sharing. The thesis analyzes the results of a research project funded by the Department of Homeland Security at the University of Louisville's IT Research Center for Homeland Security. The problem being addressed is that the decision-maker with the boots on the ground, the Incident Commander, needs relevant information in the early stages of the emergency at the incident scene and an efficient way to communicate with other resources. The research project fielded a prototype solution based on readily available commercial off-the-shelf components integrated in a man-portable configuration to provide maximum flexibility, lower costs, and ease of operations. A proposed concept of operations in various prevention and response environments was also recommended in the thesis after analyzing the results of several field exercises and interviews with users.http://archive.org/details/validatingmethod109452346Director, Information Technology Resource Center, University of Louisvill

ESSE 2017. Proceedings of the International Conference on Environmental Science and Sustainable Energy

Environmental science is an interdisciplinary academic field that integrates physical-, biological-, and information sciences to study and solve environmental problems. ESSE - The International Conference on Environmental Science and Sustainable Energy provides a platform for experts, professionals, and researchers to share updated information and stimulate the communication with each other. In 2017 it was held in Suzhou, China June 23-25, 2017

Technology for large space systems: A bibliography with indexes (supplement 10)

The bibliography lists 408 reports, articles and other documents introduced into the NASA scientific and technical information system to provide helpful information to the researcher, manager, and designer in technology development and mission design in the area of large space system technology. Subject matter is grouped according to systems, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems