Reconfigurable multi-legs robot for pipe inspection: Design and gait movement

1132-1144This paper focuses on studies on reconfigurable multi-legs robotic system. The aim of this paper is to identify and acquire findings on how multi-legs robot can walk, climb vertical pipe and walk along the horizontal pipe after climbing. Three degrees of freedom (3DOF) multi-legs robot is designed and built to replace human involvement either at hazardous pipeline or to check on vertical and horizontal pipes. The robot system is tested to climb the vertical pipe and then move along horizontal pipe for inspection or other purposes. This can reduce the cost and percentage of human risk exposure during inspection on outer pipe. This multi-legs robot has more movement gaits compared to wheeled robot, but in terms of speed, wheeled robot possesses greater advantages. Therefore, this system design has combination of both wheel and multiple legs ensure that the to system has higher stability, more gait movement, and higher speed manoeuvrability. The gaits analysis for the system movement includes angle of the legs to move and selection of certain legs to perform a given operation, either walking, climbing or hanging. The target result is the system able to climb 500 mm height with 85 mm radius pipe. The potential applications for the system are: (i) to move along either on surface or underwater pipe and (ii) to be equipped with ultrasonic sensor to inspect the pipe.</em

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

The assessment of the variation of physico-chemical sources for drinking water quality using chemometrics: A case study at water treatment plants in Klang Valley

This case study characterizes the drinking water quality by using the multivariate technique. The spatial variation of the physico-chemical and heavy metals parameters toxicity with the drinking water quality based on 28 water treatment plants in Selangor, Malaysia from 2009 to 2012 was evaluated. The objectives of this study are to analyze the physio-chemical activities and heavy metals activities in the collected drinking water samples from the treatment plants, and to detect the source of pollution for the most revealing parameters. The discriminant analysis (DA) and the principal component analysis (PCA) are the chemometric techniques used to investigate the spatial variation of the most significant physico-chemical and heavy metal parameters of the drinking water samples. The classification matrix accuracy for standard mode of DA, forward stepwise and backward stepwise for the physico-chemical and heavy metal parameters are excellent. PCA highlighted 13 significant parameters out of 18 physico-chemical water quality parameters and 14 significant parameters out of 16 heavy metal parameters. PCA was carried out to identify the origin and source of pollution of each water quality parameters. For that reason, this study proves that chemometric method is the principle way to explain the characteristic of the drinking water quality

Controlled expression of recombinant proteins in Physcomitrella patens by a conditional heat-shock promoter: a tool for plant research and biotechnology.

The ability to express tightly controlled amounts of endogenous and recombinant proteins in plant cells is an essential tool for research and biotechnology. Here, the inducibility of the soybean heat-shock Gmhsp17.3B promoter was addressed in the moss Physcomitrella patens, using beta-glucuronidase (GUS) and an F-actin marker (GFP-talin) as reporter proteins. In stably transformed moss lines, Gmhsp17.3B-driven GUS expression was extremely low at 25 degrees C. In contrast, a short non-damaging heat-treatment at 38 degrees C rapidly induced reporter expression over three orders of magnitude, enabling GUS accumulation and the labelling of F-actin cytoskeleton in all cell types and tissues. Induction levels were tightly proportional to the temperature and duration of the heat treatment, allowing fine-tuning of protein expression. Repeated heating/cooling cycles led to the massive GUS accumulation, up to 2.3% of the total soluble proteins. The anti-inflammatory drug acetyl salicylic acid (ASA) and the membrane-fluidiser benzyl alcohol (BA) also induced GUS expression at 25 degrees C, allowing the production of recombinant proteins without heat-treatment. The Gmhsp17.3B promoter thus provides a reliable versatile conditional promoter for the controlled expression of recombinant proteins in the moss P. patens