Tele‐operated climbing and mobile service robots for remote inspection and maintenance in nuclear industry

Luk, B.L.; Liu, K. P.; Collie, A.A.; Cooke, D.S.; Chen, Sheng

doi:10.1108/01439910610659105

Cited by 48 publications

(24 citation statements)

References 9 publications

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“…Therefore, long transmission lines between the actuators and the servo valves should be used. A similar situation can be found in transportation systems [11]. Pressure attenuation and time-delay introduced by a long transmission line makes it difficult to apply conventional models for pressure estimation and control.…”

Section: Introductionmentioning

confidence: 87%

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

Turkseven

Ueda

2017

IEEE/ASME Trans. Mechatron.

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Pneumatic systems have regained popularity in robotics, with the new advances in the electronic valves that have enabled precise position control of pneumatic cylinders. Recently, the use of pneumatic systems has been extended to force and impedance control. Such new applications include tele-operated medical robotic systems with pneumatic transmission lines where more advanced system modeling and control is required. Pressures of a pneumatic actuator are commonly used to improve control performance. When direct pressure measurement is not available or not desirable for cost effective implementation, actuator pressures can be estimated by a model-based observer. This paper introduces a nonlinear pressure observer based on force and displacement sensing. The proposed algorithm allows to obtain asymptotic stability of pressure estimation error with an improved convergence. The presented method does not require a transmission line model and guarantees bounded stability in the presence of disturbance in force measurements, hence it is able to provide a robust pressure estimation. The effectiveness of the proposed observer is confirmed by performing force control experiments in a tele-operated pneumatic system. Index Terms-MRI-compatibility, pressure observer, teleoperated systems.

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Section: Introductionmentioning

confidence: 87%

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

Turkseven

Ueda

2017

IEEE/ASME Trans. Mechatron.

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“…Yet, in such conditions, service robots might need to be teleoperated or remotely controlled, and therefore a communication link is required [7,[12][13].…”

Section: Introductionmentioning

confidence: 99%

“…Examples of hazardous environments where service robots may operate include high-altitude (e.g., wall-climbing robots for inspection, painting, and cleaning of high-rise buildings [4][5][6]) and high-risk conditions (e.g., inspection and maintenance in nuclear and power generation industries [7][8][9][10][11]). Yet, in such conditions, service robots might need to be teleoperated or remotely controlled, and therefore a communication link is required [7,[12][13].…”

Section: Introductionmentioning

confidence: 99%

Fundamentals of Wireless Communication Link Design for Networked Robotics

Barriquello¹,

Silva²,

Bernardon³

et al. 2018

Service Robots

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This chapter aims to present the fundamentals of the design of wireless communication links for networked robotics applications. First, we provide an overview of networked robotics applications, motivating the importance of the wireless communication link as an enabler of these applications. Next, we review the wireless communication technologies available today, discussing the existent tradeoffs between range, power, and data rate, and introducing the main concepts regarding the design of wireless communication links. Finally, we present a design example of a wireless communication link and the results obtained. We conclude the chapter with a discussion of the results and the challenges faced in the design of wireless communication links for networked robotics.

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“…The existing mobile platforms for motion on vertical glass walls have had either the stepping [1][2][3][4], continuous [5,6] or pseudo-continuous motion [7], and the force of holding on the glass wall has been produced using the active-vacuum suction cups and modules (holding systems using materials with a high degree of adhesion are also currently presented). The stepping motion of the mobile platform is realized by means of rectilinear pneumatic motors or reciprocating linear electric actuators.…”

Section: Introductionmentioning

confidence: 99%

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Horák¹,

Novotný²,

Starý³

2018

Service Robots

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This chapter is focused on the area of mobile systems of service robots for motion on the vertically oriented glass walls (e.g., facades of high-rise building) with the aim of their using in many inspection and technological applications. Preliminary part clearly maps the basic mechanical principles and approaches to mobile platform design with respect to the concept of kinematic chain and type of actuators. Conclusions of extensive research activities are presented, and on this background, the new design development of mechanics of robot mobile platform was made and uses two parallel placed parallelograms. The control system is based on an industrial computer, includes a module for wireless communication, and is equipped with a laser and an ultrasonic position sensor. Movement members are equipped with individual electric actuators and vacuum gripping system, which consists of smart ejectors in combination with active suction cups. Given that the load character of the suction cups during the robots movement on the vertical wall is very unfavorable, considerable authors' attention has been paid to the analysis of the deformation behavior of suction cups so as to determine the limits of external radial load to the stable contact, and discusses the possibility of increasing the radial load of gripping elements in relation to the contact surfaces character and vacuum levels.

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Tele‐operated climbing and mobile service robots for remote inspection and maintenance in nuclear industry

Cited by 48 publications

References 9 publications

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

An Asymptotically Stable Pressure Observer Based on Load and Displacement Sensing for Pneumatic Actuators With Long Transmission Lines

Fundamentals of Wireless Communication Link Design for Networked Robotics

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

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