The current stage in aerospace at the end of 2020

The paper briefly presents some models of aircraft considered avant-garde in 2020, and it is part of the reviews on news in aviation and aerospace. It briefly presents some basic features, news, and more important data for each new model on display, so that the reader can get an image of that model but also an overall one, to compare different models from a particular manufacturer with each other, as well as with those belonging to another manufacturer. Aircraft manufacturers are constantly concerned with modifying their aircraft and building other new models that meet customer requirements as much as possible, but at the same time lead to reductions in total fuel consumption used in flight, to reduce pollution due to flights and the negative effects on planetary ecosystems, as well as the increase in the quality and safety of air travel

A Survey of Technologies and Applications for Climbing Robots Locomotion and Adhesion

The interest in the development of climbing robots has grown rapidly in the last years. Climbing robots are useful devices that can be adopted in a variety of applications, such as maintenance and inspection in the process and construction industries. These systems are mainly adopted in places where direct access by a human operator is very expensive, because of the need for scaffolding, or very dangerous, due to the presence of an hostile environment. The main motivations are to increase the operation efficiency, by eliminating the costly assembly of scaffolding, or to protect human health and safety in hazardous tasks. Several climbing robots have already been developed, and other are under development, for applications ranging from cleaning to inspection of difficult to reach constructions. A wall climbing robot should not only be light, but also have large payload, so that it may reduce excessive adhesion forces and carry instrumentations during navigation. These machines should be capable of travelling over different types of surfaces, with different inclinations, such as floors, walls, or ceilings, and to walk between such surfaces (Elliot et al. (2006); Sattar et al. (2002)). Furthermore, they should be able of adapting and reconfiguring for various environment conditions and to be self-contained. Up to now, considerable research was devoted to these machines and various types of experimental models were already proposed (according to Chen et al. (2006), over 200 prototypes aimed at such applications had been developed in the world by the year 2006). However, we have to notice that the application of climbing robots is still limited. Apart from a couple successful industrialized products, most are only prototypes and few of them can be found in common use due to unsatisfactory performance in on-site tests (regarding aspects such as their speed, cost and reliability). Chen et al. (2006) present the main design problems affecting the system performance of climbing robots and also suggest solutions to these problems. The major two issues in the design of wall climbing robots are their locomotion and adhesion methods. With respect to the locomotion type, four types are often considered: the crawler, the wheeled, the legged and the propulsion robots. Although the crawler type is able to move relatively faster, it is not adequate to be applied in rough environments. On the other hand, the legged type easily copes with obstacles found in the environment, whereas generally its speed is lower and requires complex control systems. Regarding the adhesion to the surface, the robots should be able to produce a secure gripping force using a light-weight mechanism. The adhesion method is generally classified into four groups: suction force, magnetic, gripping to the surface and thrust force type. Nevertheless, recently new methods for assuring the adhesion, based in biological findings, were proposed. The vacuum type principle is light and easy to control though it presents the problem of supplying compressed air. An alternative, with costs in terms of weight, is the adoption of a vacuum pump. The magnetic type principle implies heavy actuators and is used only for ferromagnetic surfaces. The thrust force type robots make use of the forces developed by thrusters to adhere to the surfaces, but are used in very restricted and specific applications. Bearing these facts in mind, this chapter presents a survey of different applications and technologies adopted for the implementation of climbing robots locomotion and adhesion to surfaces, focusing on the new technologies that are recently being developed to fulfill these objectives. The chapter is organized as follows. Section two presents several applications of climbing robots. Sections three and four present the main locomotion principles, and the main "conventional" technologies for adhering to surfaces, respectively. Section five describes recent biological inspired technologies for robot adhesion to surfaces. Section six introduces several new architectures for climbing robots. Finally, section seven outlines the main conclusions

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Human-friendly robotic manipulators: safety and performance issues in controller design

Recent advances in robotics have spurred its adoption into new application areas such as medical, rescue, transportation, logistics, personal care and entertainment. In the personal care domain, robots are expected to operate in human-present environments and provide non-critical assistance. Successful and flourishing deployment of such robots present different opportunities as well as challenges. Under a national research project, Bobbie, this dissertation analyzes challenges associated with these robots and proposes solutions for identified problems. The thesis begins by highlighting the important safety concern and presenting a comprehensive overview of safety issues in a typical domestic robot system. By using functional safety concept, the overall safety of the complex robotic system was analyzed through subsystem level safety issues. Safety regions in the world model of the perception subsystem, dependable understanding of the unstructured environment via fusion of sensory subsystems, lightweight and compliant design of mechanical components, passivity based control system and quantitative metrics used to assert safety are some important points discussed in the safety review. The main research focus of this work is on controller design of robotic manipulators against two conflicting requirements: motion performance and safety. Human-friendly manipulators used on domestic robots exhibit a lightweight design and demand a stable operation with a compliant behavior injected via a passivity based impedance controller. Effective motion based manipulation using such a controller requires a highly stiff behavior while important safety requirements are achieved with compliant behaviors. On the basis of this intuitive observation, this research identifies suitable metrics to identify the appropriate impedance for a given performance and safety requirement. This thesis also introduces a domestic robot design that adopts a modular design approach to minimize complexity, cost and development time. On the basis of functional modularity concept where each module has a unique functional contribution in the system, the robot “Bobbie-UT‿ is built as an interconnection of interchangeable mobile platform, torso, robotic arm and humanoid head components. Implementation of necessary functional and safety requirements, design of interfaces and development of suitable software architecture are also discussed with the design

The Impact of Occupational Safety on Logistics and Automation in Industrial Plants

Research on workplace health and safety analyses the integration of work practices with safety, health and wealth of people at work. The aim of occupational safety is to realize a safe and health work environment, eliminating or reducing the risks for workers' safety and health. The objective of this thesis is the study, integration, development and application of innovative approaches and models for decision-making support in the context of occupational safety in industrial plants and logistics. Such methodologies are expected to lead practitioners and decision-makers, in particular safety professionals and companies, in the management of occupational safety. In particular, this research focuses on the integration and application of ergonomics principles to reduce biomechanical overload of manual work, and methodologies and solutions to improve safety of confined space work in industrial plants. The study of biomechanical overload due to manual handling of loads and awkward postures is the object of several researches and publications addressing the ergonomic risk assessment and the ergonomic approach to remove or reduce the risk of manual handling injuries and disorders. Furthermore, when awkward postures are assumed in high-risk workplaces as confined spaces, the overall risk of work is extremely high. Confined space work is a high-risk activity, posing a significant hazard for both workers and rescuers involved in the emergency response. The leading cause of accidents and fatalities in confined spaces is atmospheric condition (Sahli & Armstrong 1992, Harris et al. 2005, Flynn & Susi, 2010, Meeker, Susi & Flynn 2010, Ye 2011, Bellamy 2015). Further common causes are fire, explosion, ignition of flammable contaminants, spontaneous combustion and contact with temperature extremes. Besides, work activities in confined spaces (e.g., welding and maintenance tasks) frequently require awkward and static postures, at high temperatures. This thesis stresses the importance of implementing health and safety interventions at workplace. These interventions have impact not only on enterprise level but also on individual and social levels. Furthermore, protection of human life is a matter of human rights and human life has an invaluable value. In this thesis, the role of occupational safety and safety strategy as means for the improvement of workers and companies’ performances clearly emerges. Two parallel research fields on occupational safety are investigated: ergonomics and confined spaces. Selected data are introduced related to occupational accidents and diseases due to biomechanical overload and work in confined spaces. The literature survey on controls for risk elimination and reduction shows that technology for safety is available. Nevertheless, injuries and accidents still occur, i.e. safety is frequently considered an expensive investment and a compliance obligation. Specifically, administrative and engineering controls for risk elimination and reduction are introduced for each research field. Administrative controls include work procedures and mathematical models for the design of safe work processes. Such control methods reduce the workers' exposure to occupational risk factors. The ergonomic analysis of manual handling activities drives the modelling by multi-objective optimisation problems in the design of administrative controls for the ergonomic risk reduction in different industries. Administrative controls for risks in confined spaces include work procedures, a multi-criteria decision tool and the analysis of the requirements of Internet of Things (IOT) technologies for reducing the risk of confined space work. The introduction of automation to replace manual work and engineering controls for confined space work are analysed for the risk elimination. Results show that the integration of ergonomics and safety principles in the industrial processes plays a leading role in the successful implementation of the overall strategy. Technologies for safe confined space work and technical solutions assisting workers during manual material handling tasks have been the focus of the Solutions Database Project, funded by the Azienda Unità Sanitaria Locale of Bologna (AUSL), Italy. The study of such technological and technical solutions lead to the development of the Solutions Database, a free access database available online for researchers and practitioners (http://safetyengineering.din.unibo.it/en/banca-delle-soluzioni). The thesis ends with the recommendation that companies should integrate workplace health and safety principles to human resource management and work organisation. The management of health and safety issues should be considered to be crucial for workplace development, as a lever to increase performance and productivity. Finally, this research aims to support and reinforce the evolution of the concept of safety in industry, from ex post required obligation, to ex ante optimisation strategy

Development of a robot localization and environment mapping system

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-151).The intent of this research is to develop a robust, efficient, self-contained localization module for use in a robotic liquefied petroleum gas (LPG) tank inspection system. Inspecting large LPG tanks for defects is difficult, expensive and energy intensive. Replacing the human inspectors with a robotic inspection system will make the inspection process faster, less expensive, more reliable and safer. The sensing platform designed in this work can collect data about the environment and track the robotic inspection platform, recording the defect locations. It consists of a two axis gimbaled sensing platform with a single point distance sensor placed in the manhole of the tank. A collection of algorithms were developed to use in conjunction with the sensing platform to collect and process the 3D data into a map of the environment. The algorithm's main feature is a robust and efficient method of segmenting and fitting data to a right capped cylinder that is faster and more robust to noise than current methods. The improved performance comes from a unique combination of object shape knowledge, the Gauss image and 3D histogram techniques which achieve accurate segmentation without iteration. The hardware and software were demonstrated to function robustly in a noisy environment. The unique ability of the system to work in an LPG tank allows it to be integrated into a robotic inspection system that can remove the majority of the cost and risk associated with LPG tank inspection.by Cynthia Dawn Walker Panas.S.M

Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

Adaptive Robotic Chassis (ARC)

The ARC is a width adjusting agricultural robot and accommodates auxiliary functions for supporting crop production and maintenance. Easily interchangeable payloads and components provide a modular solution to perform focused crop surveying functions with the potential for herbicide distribution, weeding, and harvesting while driving through varying crop rows. The potential auxiliary functions will be implemented by future teams with this year\u27s effort being put toward finishing the physical chassis. The final product was successfully designed to weigh approximately 600 pounds targeting rolling speeds of0.90 fps to 2.30 fps with proof of concept shown in testing consisting of chain drive attached to wheels to show speeds are attainable as well as bench tests to show differential control capabilities

Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system