Robot Protection in the Hazardous Environments

Wang, Weidong; Gao, Wenrui; Zhao, Song; Cao, Wenwu; ZhijiangDu,

doi:10.5772/intechopen.69619

Cited by 9 publications

(4 citation statements)

References 24 publications

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“…The MINBOT is a tracked robot that was developed focusing on the unstable environment of coal mines and developed the robotic system with the use of explosion proof enclosure and explosion proof design of its electrical system [12]. Explosive atmosphere standards are used in many of these robots and materials to prevent the build-up of static energy.…”

Section: Current Proposals Of Robotic System For Aircraft Wing Fuel T...mentioning

confidence: 99%

Design and Development of a Mobile Robotic System for Aircraft Wing Fuel Tank Inspection

Dhoot¹,

Fan²

2022

SAE Int. J. Adv. & Curr. Prac. in Mobility

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This paper presents the design concept behind a novel remote visual inspection robotic system for fighter jet aircraft wing fuel tank inspection. This work is part of a larger research project which focuses on design, simulation, physical prototyping and experimental validation of a robotic system. Whereas this paper specifically focuses on the development concept of locomotion design choice for the robot. Therefore without an effective mobility method the robot will not be able to fulfill its purpose to access the hazardous confined spaces of the fuel tank. Aircraft wing fuel tank inspection is a challenging area of maintenance which requires a considerable amount of preparation and involvement of several tasks in order to conduct effective Visual and Non Destructive Inspection. The environment of an aircraft wing fuel tank poses several challenges due to both physical and atmospheric constraints which can be detrimental to human personal. This paper introduces an effective locomotion design which should allow the robot to enter and maneuver within confined spaces. The robot is relatively small, approximately 70mm in height and width yet, flexible enough to move within the restricted spaces of the wing. The mobile robot platform is a combination of small track systems that articulate like a snake. An additional mobile platform deploys an inspection sensor to reach the spaces that are unreachable by the robot body. Like other proposed robotic systems this particular proposal differs as it allows the robot to enter from the root of the wing and reach the narrower spaces towards with the wing tip. This paper highlights the stakeholder requirements to illustrate the foundation of the robotic system design. An overview of current complications of wing fuel tank inspection is presented and the analysis of current proposed robotic systems for wing fuel tank inspection. An engineering design methodology approach is followed for this project. Several locomotion methods are evaluated and an innovative locomotion method is illustrated with the use of CAD models. The desired outcome of this research is to eliminate the entry or close contact with the fuel tank by human personal.

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Section: Current Proposals Of Robotic System For Aircraft Wing Fuel T...mentioning

confidence: 99%

Design and Development of a Mobile Robotic System for Aircraft Wing Fuel Tank Inspection

Dhoot¹,

Fan²

2022

SAE Int. J. Adv. & Curr. Prac. in Mobility

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“…Besides distance protection, shielding protection is also a conventional method to prolong survival life of our robot (Wang et al , 2017b). To balance weight and mobility performance, an evaluation for these characteristics is necessary in our specific implementation.…”

Section: Specific Hardness Design For Mobile Rescue Robotmentioning

confidence: 99%

Irradiation test and hardness design for mobile rescue robot in nuclear environment

Gao

Wang

Zhu

et al. 2019

Self Cite

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Purpose The paper aims to improve the radiation-proof capability of the self-designed mobile robot with a 7-DOF manipulator, enabling the long-playing inspection and intervention under high-dose radiation environment. In this context, gamma-ray irradiation test for electronic components and specific hardness design have also been specifically presented and discussed. Design/methodology/approach The study’s hardness design mainly focuses on shielding protection, distance protection and time protection. Irradiation test is first carried out to investigate irradiation resistance of each electronic module. Then, modular deployment and shielding calculation are completed for the point-type nuclear accidents, respectively, to achieve a robust anti-radiation design scheme. Finally, the field experiment is conducted to validate system effectiveness and good mobility, and operational practices are acquired for the realization of time protection. Findings Coupled with modular redeployment and shielding design, irradiation results illustrate the effectiveness of robotic anti-radiation design. Meanwhile, experiences and reformed measures from the field exercise implement efficient operation and radiological time protection. Research limitations/implications Considering the huge risks of high-dose source exposure, the radiation-resistance of the overall system cannot be verified in the field experiment. Fortunately, irradiation test and modular shielding calculation are conducted as a minimal validation. Practical implications The proposed anti-radiation design methods and the irradiated results can be applied to many other nuclear vehicles and manipulators for the feasible multi-layer protection and excellent mobility. Originality/value A nuclear intervention robot with specific hardness design is presented in detail in this paper. Enlightened by the idea of shielding and distance protection, a large number of electronic modules with multiple types and structures are treated and compared in irradiation experiments, while modular redeployment and retrofitting are completed to reduce irradiated damages. To achieve the effect of time protection, mobility performance and operational practices are discussed and validated in the field experiment based on the mobile system.

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“…Harsh environments with extreme temperature, humidity, radiation, etc., escalate the possibility of hardware failures of robotic actuators [1]. In many safety-critical, remote, and dangerous environments, such as space exploration [2], nuclear waste remediation [3], and disaster rescue [4], not only are failures more likely to occur, but also it is impossible to perform routine maintenance for these robots.…”

Section: Introductionmentioning

confidence: 99%

A Robust Online Diagnostic Strategy of Inverter Open-Circuit Faults for Robotic Joint BLDC Motors

Metwly,

Logan,

Clark

et al. 2024

Machines

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As robots are increasingly used in remote, safety-critical, and hazardous applications, the reliability of robots is becoming more important than ever before. Robotic arm joint motor-drive systems are vulnerable to hardware failures due to harsh operating environment in many scenarios, which may yield various joint failures and result in significant downtime costs. Targeting the most common robotic joint brushless DC (BLDC) motor-drive systems, this paper proposes a robust online diagnostic method for semiconductor faults for BLDC motor drives. The proposed fault diagnostic technique is based on the stator current signature analysis. Specifically, this paper investigates the performance of the BLDC joint motors under open-circuit faults of the inverter switches using finite element co-simulation tools. Furthermore, the proposed methodology is not only capable of detecting any open-circuit faults but also identifying faulty switches based on a knowledge table by considering various fault conditions. The robustness of the proposed technique was verified through extensive simulations under different speed and load conditions. Moreover, simulations have been carried out on a Kinova Gen-3 robot arm to verify the theoretical findings, highlighting the impacts of locked joints on the robot’s end-effector locations. Finally, experimental results are presented to corroborate the performance of the proposed fault diagnostic strategy.

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Robot Protection in the Hazardous Environments

Cited by 9 publications

References 24 publications

Design and Development of a Mobile Robotic System for Aircraft Wing Fuel Tank Inspection

Design and Development of a Mobile Robotic System for Aircraft Wing Fuel Tank Inspection

Irradiation test and hardness design for mobile rescue robot in nuclear environment

A Robust Online Diagnostic Strategy of Inverter Open-Circuit Faults for Robotic Joint BLDC Motors

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