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

Arbitrary-order optical differentiation in refection by sequence of first-order differentiators

Abstract We propose a simple analytical method for designing arbitrary-order optical differentiators operating in reflection by successively arranging several first-order optical differentiators. The approach is based on the scattering matrix analysis, does not involve numerical optimization and is valid for differentiators of arbitrary configurations. The numerical simulation results demonstrate high-quality differentiation of a picosecond pulse for up to the fourth order. The proposed method can find application in the design of analogue optical computing and optical information processing systems.</jats:p

SIMULATION OF OSCILLATIONS OF THE CENTER OF MASS OF THE TRACTOR WITH TRACKED PROPULSION UNIT

To increase the traction force of tractors while simultaneously reducing the specific pressure on the soil, one of the effective ways is the use of a tracked propulsion unit. The article considers a variant of a tracked propulsion unit, installed separately on each drive axle of the tractor instead of wheels. The basis of the developed design of the tracked propulsion unit is the trackbed, which reduces the pressure on the ground and increases adhesion to the soil. The results of simulation modeling of the rectilinear movement of a tractor with a tracked propulsion unit along grain stubble are presented. Realizations of oscillations of the front, sprung and rear, unsprung axles and the tractor frame were obtained. Oscillations in the ordinates of the reference surface were modeled as a random process with specified values corresponding to the reference surface of the grain stubble. The simulation results showed acceptable oscillation values of the tractor frame with the proposed propulsion design. The proposed propulsion unit can be easily installed on a tractor instead of wheels and, if necessary, can also be easily dismantled. Purpose. Investigation of oscillations of the center of mass of a tractor with a tracked propulsion unit using simulation modeling in the MATLAB Simulink environment. Methodology. Methods of mathematical modeling and analysis were used in the article. Results. The parameters showing the effectiveness of using a tracked propulsion unit instead of wheels on a tractor of traction class 6 are obtained. Practical implications. The results obtained can be applied in the design of tractors to determine the acceptable parameters of the tracked propulsion unit