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

Limpet II: A Modular, Untethered Soft Robot

The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 × 250 × 140 mm modular, untethered hybrid hard/soft robot—Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

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

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

Interior Materiality

The knowledge of materials and finishes is the bridge that links conceptual design to real-world application. It is among the core content of virtually all interior architecture/design curricula, moreover, access to up-to-date information on emerging technologies and trends is a key exigency for the contemporary designer. Accordingly, this book is authored to form a comprehensive resource for the “hows” and “whys” surrounding the functional and aesthetic contributions of a wide selection of materials and finishes used in multiple spatial design contexts. The knowledge base presented here is not only useful in shaping spatial experience, ensuring occupant well-being, and employing sustainable thinking but also beneficial in managing budget and schedule while enabling the delivery of top-quality work. The book investigates fundamental material properties, performance criteria, as well as sector-specific standards, regulations, and guidelines, with a special focus on concerns surrounding occupant health and safety as well as environmental impact and sustainability concerns. Furthermore, fabrication, installation, and maintenance issues were explored in detail. Various information collection and organization conventions are also discussed with regard to detailing, specification, estimation, and documentation of materials and finishes. The goals of the book can be listed as follows: ● Developing a vocabulary and knowledge base to comprehend and communicate concepts and paradigms associated with the history, classification, manufacturing, evaluation, fabrication, installation, and maintenance of materials and finishes. ● Identifying a broad range of materials and finishes, considering their aesthetic and performance properties, and understanding their utilization with regard to creative design intent, client expectations and requirements, user needs and experience, and incorporating life cycle implications. ● Providing a basis for achieving physical and psychological well-being for occupants, understanding the impact of changing social, cultural, economic, and ecological context, and eliminating negative environmental and social outcomes.https://newprairiepress.org/ebooks/1042/thumbnail.jp

Sustainable manufacturing tactics and improvement methodology : a structured and systematic approach to identify improvement opportunities

Growing environmental concerns caused by increasing consumption of natural resources and pollution need to be addressed. Manufacturing dictates the efficiency with which resource inputs are transformed into economically valuable outputs in the form of products and services. Consequently it is also responsible for the resulting waste and pollution generated from this transformation process. This research explored the challenges faced by sustainable manufacturing as a concept and as a model for manufacturing systems. The work is strongly based on the concepts of sustainability and industrial ecology applied at factory level. The research objectives were to understand what companies are doing to improve their sustainability performance at operational level (resource productivity) and to help other companies repeating such improvements in their own factory. In other words, the aim is to generalise sustainable practices across the manufacturing industry. The work started with a review of existing theories and practices for sustainable manufacturing and other related fields of research such as industrial ecology, cleaner production and pollution prevention. The concepts, themes, strategies and principles found in the literature provided a strong foundation to approach resource productivity improvements. The industrial cases collected gave an insight into the application of these strategies and principles in a factory. From the analysis of existing theories and practices, generic tactics were developed by translating 1000+ practices into generic rules and by mapping them against strategies and principles for sustainable manufacturing to check the completeness and consistency of the tactics library. To test the tactics and assist the user in their use through factory modelling, an improvement methodology was developed based on the same strategies and principles to provide a structured guide for accessing tactics and systematically identifying improvement opportunities. The research findings were tested with a series of prototype applications. These tests were carried out as part of a wider project (THERM). This project uses a modelling and simulation approach to capture the resource flows (material, energy, water and waste), the interactions within the manufacturing system (manufacturing operations, surrounding buildings and supporting facilities) and the influence of external factors‘ variation (weather conditions, building orientation and neighbouring infrastructures). The outcomes of the prototype applications helped develop and refine the research findings. The contribution to knowledge of this research resides in bridging the gap between high-level concepts for sustainability and industrial practices by developing a library of tactics to generalise sustainable manufacturing practices and an improvement methodology to guide the tactics implementation. From a practical viewpoint, the research provides a structured and systematic approach for manufacturers to undertake the journey towards more sustainable practice by improving resource flows in their factory

Cultural Transition and Continuity in Egypt as a response to Political and Religious Change in the 21st to 25th Dynasty (1076-664 BCE)

The 21st to 25th Dynasties (1076-664 BCE) have previously been characterised by political and social changes based upon the introduction of Libyan social and cultural influences. Studies so far have focused primarily on the chronology, funerary practices, and ceramics of the period, at the expense of the settlements and their associated material culture, while the term used to define this period of Egyptian history ‘Third Intermediate Period’, suggests preconceived biases relating to negative aspects of culture after the unified period of central rule in the New Kingdom. To analyse transition and continuity within the cultural and societal environment of Egypt during the 21st to 25th Dynasty, this research develops a methodology through the assessment of settlement patterns and their development, the built environment of the settlements, and their associated material culture, in order to redefine the ways in which we view chronological phases of Egyptian history pertaining to the title ‘Intermediate Period’, specifically relating to the early first millennium BCE. Through this research several interconnected themes have been identified within the culture and society of the 21st to 25th Dynasties that relate to the political and economic powers of regions, the nucleation of settlements and people, self-sufficiency at a collective and individual level, defence, both physical and spiritual, regionality in terms of settlement development and material culture, and elite emulation through objects. Ultimately, this study provides a more nuanced view of the 21st to 25th Dynasty in which there were significant changes in the socio-economic conditions of the country in which new powers had to adapt, including the development of new political structures, economic conditions, aspects of culture, elite emulation, and a more multicultural society with both self-sufficiency and isolationism at both the state and local levels