Small Remotely Operated Screw-Propelled Vehicle

Osiński, Dymitr; Szykiedans, K.

doi:10.1007/978-3-319-15847-1_19

Cited by 14 publications

(7 citation statements)

References 2 publications

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“…Its overall structure is shown in Figure 2. The device breaks through the single drive form of the traditional screw propelled wheel [6], where the drive gear meshes with the transmission gear. It is driven by threaded blades at the silt and operated by an underwater propeller at a high water level, realizing amphibious movement.…”

Section: Drive and Detection Modulementioning

confidence: 99%

Amphibious detection system for drainage pipes base on deep learning

Yong

2022

International Conference on Smart Transportation and City Engineering (STCE 2022)

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The defect of underground drainage pipes is the main inducing factor of urban disasters. However, existing detection robot has problems such as poor environmental adaptability and a low degree of automation for pipes. The deep learning-based amphibious robot designed in this study is a highly adaptable and efficient detection system. The designed ducted screw propelled wheels first provide power. Next, based on the multimodal sensors and the improved YOLOV4-Tiny, defect detection and 3D reconstruction are carried out. Finally, the defect location and image information are transmitted to the terminal for display by wire, and a detection report is generated. What’s more, the experimental results show that the MAP of the improved YOLOV4-Tiny in this research is improved by 2.18% compared with the baseline network, and the FPS is improved by 11.3 frames. The system proposed provides a new approach to drainage pipe inspection.

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Section: Drive and Detection Modulementioning

confidence: 99%

Amphibious detection system for drainage pipes base on deep learning

Yong

2022

International Conference on Smart Transportation and City Engineering (STCE 2022)

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“…While the concept of the Archimedean screw is not new (in fact, originating over 2000 years ago), these screws have only recently been considered for mobility. In the robotics space, groups have shown Archimedean screw propulsion for mobile robots / vehicles as a method to traverse over rough or viscous terrain [33], [34], [35], [36]. The Archimedean screw provided consistent propulsion across a variety of extreme terrain including water, marshes, soft soil, snow, and ice [37], [38], [39].…”

Section: A Related Workmentioning

confidence: 99%

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Richter¹,

Gavrilov²,

Lam³

et al. 2021

Preprint

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Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake platforms, have success on specific surfaces but fail in others which could be detrimental in exploration and navigation missions. In this paper, we present a novel approach that combines snake-like robots with an Archimedean screw locomotion mechanism to provide multiple, effective mobility strategies in a large range of environments, including those that are difficult to traverse for wheeled and ambulatory robots. This work develops a robotic system called ARCSnake to demonstrate this locomotion principle and tested it in a variety of different terrains and environments in order to prove its controllable, multi-domain, navigation capabilities. These tests show a wide breadth of scenarios that ARCSnake can handle, hence demonstrating its ability to traverse through extreme terrains.

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“…Countless all‐terrain vehicles and robots have been developed using limbless (e.g., snake) (Crespi et al, 2005; Crespi & Ijspeert, 2006; Ma et al, 2014; Marvi et al, 2014; S. Yu et al, 2011), limbed (Crespi et al, 2013; Floyd et al, 2008, 2006; Floyd & Sitti, 2008; Jun et al, 2013; Karakasiliotis et al, 2016; Kim et al, 2016; Lee et al, 2014; Low et al, 2007; Mazouchova et al, 2013; Park et al, 2009, 2010; Park & Sitti, 2009; Wang et al, 2006; Zhong et al, 2016), screw‐propelled (Neumeyer & Jones, 1965; Osiński & Szykiedans, 2015; Thoesen, McBryan, et al, 2019; Thoesen et al, 2018; Thoesen, Ramirez, et al, 2019), wheeled (Sun & Ma, 2013; J. Yu et al, 2012, 2013), and whegged (i.e., legged‐wheels) (Brown et al, 2013; Eich et al, 2008, 2009; Herbert et al, 2008; Lambrecht et al, 2005; Stager et al, 2015; Walker, 2011; Zarrouk et al, 2013; Zarrouk & Yehezkel, 2018) mechanisms for mobility.…”

Section: Introductionmentioning

confidence: 99%

“…However, they are relatively slow, have limited payload capabilities, and can suffer from reliability issues due to their great number of degrees of freedom (DOF) (Crespi et al, 2005; Crespi & Ijspeert, 2006; Ma et al, 2014; Marvi et al, 2014; S. Yu et al, 2011). Screw‐propelled vehicles provide great mobility over deformable terrains, but at the cost of high power consumption and low speeds (Osiński & Szykiedans, 2015). This is caused by the screw's large surface area contact.…”

Section: Introductionmentioning

confidence: 99%

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

Bagheri

Jayanetti

Burch

et al. 2022

Journal of Field Robotics

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The effectiveness of exploration robots is contingent upon their capability and efficiency to locomote on contorted and multifaceted terrains. Traditional wheeled robots do not suffice at overcoming such terrains and complications they introduce. The proposed work explores the performance of WhegRunner, a whegged (i.e., wheel-legged) robotic platform used to examine the mechanics of running on granular media at different saturation levels. In particular, the effect of bipedal/quadrupedal gait, saturation level, stride length, and stride frequency on robot's forward body velocity and cost of transport (COT) was studied. To increment nominal stride length, the robot was fitted with different number of spoked whegs from 3 to 7. In addition, eight evenly spaced motor speeds ranging from 2.33 to 7.43 Hz were used to observe the effect of stride frequency. Similar trends were observed between the two gaits, with the quadrupedal gait showing better overall performance. On dry sand, wider strides were attained at reduced motor speeds with lower spoked whegs. However, on wet sand (15% and 30% saturation), wider strides were achieved with higher motor speeds and lower spoked whegs. As a result, lower spoked whegs accomplished higher body forward velocity and lower COT as saturation increased. The acquired knowledge elucidates underexplored mechanics of locomotion on granular media at different saturation levels. The WhegRunner can be used as a platform to obtain a greater insight on how to develop more proficient exploration robots, ones which can face complex and deformable terrains and mediums.

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Small Remotely Operated Screw-Propelled Vehicle

Cited by 14 publications

References 2 publications

Amphibious detection system for drainage pipes base on deep learning

Amphibious detection system for drainage pipes base on deep learning

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

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