Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Albitar, Houssam; Dandan, Kinan; Ananiev, Anani; Kalaykov, Ivan

doi:10.5772/62060

Cited by 61 publications

(38 citation statements)

References 32 publications

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“…The reason for this decrease in force could be that for Bernoulli's principle, the fluid should be incompressible. However, air is compressible and the limit of the flow velocity for compressible fluids is until 100 m/s [9][10][11][12][13][14][15][16]. This could explain the decrease in lifting force.…”

Section: Resultsmentioning

confidence: 99%

Experimental Investigation of the Mathematical Model for Optimum Holding Force of a Bernoulli Pad

Masike¹,

B²

2019

Int J Robot Eng

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Holding force for a climbing robot is of paramount importance and has been intensely investigated in the last decade. Emphasis of this project has been on minimizing energy expenditure, increasing payload and traversing different wall materials. To achieve this two important factors have been identified for pneumatics based holding pads, namely pressure and height from surface. This paper presents the characterisation of these parameters that influence holding force in a Bernoulli pad for the purpose of optimising energy expenditure. An experimental identification of a mathematical model for a Bernoulli principle based holding force is described. Force analysis through experimental verification for a commercially available Bernoulli pad model was done, so as to quantitatively evaluate parameters of the pad to achieve attachment on a wall. Factors that influence the holding force, such as air velocity and height of pad from surface were experimentally investigated and their cause and effect established. The cause and effect of these parameters were confirmed through regression analysis using Matlab R2016a. Close correspondence between the experimental and simulated results indicated that the developed model is accurate enough for design and implementation of an optimum force for climbing robot. The methods proposed in this study are valuable in guiding the design of pneumatic based adhesion devices, such as wall-climbing robots.

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Section: Resultsmentioning

confidence: 99%

Experimental Investigation of the Mathematical Model for Optimum Holding Force of a Bernoulli Pad

Masike¹,

B²

2019

Int J Robot Eng

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“…Comparison of a thruster with the negative pressure effect plate and existing devices (Albitar et al, ) when used alone. A thruster with the effect plate can be switched and used for underwater locomotion and stable contact on structure surfaces…”

Section: Negative Pressure Effects Generated By a Plate Attached To Amentioning

confidence: 99%

“…We described several devices used for underwater stable contact in the Introduction. In addition, one report (Albitar et al, 2016) has reviewed stable contact and locomotion devices for surface cleaning. Therefore, additional thrusters are needed for locomotion.…”

Section: Comparison Of Existing Devices and A Thruster With A Negatmentioning

confidence: 99%

“…I G U R E 1 Dam inspection robot with the negative pressure effect plates generating a pulling force between the robot and structure surfaces [Color figure can be viewed at wileyonlinelibrary.com]F I G U R E 2 Comparison of a thruster with the negative pressure effect plate and existing devices(Albitar et al, 2016) when used alone. A thruster with the effect plate can be switched and used for underwater locomotion and stable contact on structure surfaces…”

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confidence: 99%

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Development of dam inspection robot with negative pressure effect plate

Sakagami

Yumoto²,

Takebayashi

et al. 2019

Journal of Field Robotics

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This paper describes the development of an underwater robot that performs visual inspection while making mechanical contact with a dam surface by a pulling force generated from thrusters with negative pressure effect plates. In general, small and lightweight remotely operated vehicles (ROVs) have low‐power thrusters. Their positioning performance is inferior with respect to external disturbances. Moreover, it is difficult for untrained operators to control the ROV position to check and inspect dams visually. A negative pressure effect plate attached to a thruster produces negative pressure that maintains mechanical contact between the robot and a dam wall surface and ensures stable robot motion on a dam surface to acquire clear continuous images. As described herein, we theoretically investigate the negative pressure effect plate characteristics and experimentally measure the force generated by the pressure difference. Results show that the force of a thruster with the effect plate is five times greater than the nominal thrust force provided by the thruster alone. Based on those results, we designed and developed the underwater robot with the negative pressure effect plates for dam inspection. Moreover, we conducted an experiment in a water tank and a field test at Shorenji Dam, Mie‐prefecture, Japan. The experimentally obtained results indicated that the negative pressure effective plate is effective at generating sufficient force and at realizing stable robot motion on the dam surface. Results demonstrate that the developed robot acquired clear images of the dam surface continuously with no sophisticated operator or controller.

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“…Underwater robots are becoming more and more popular to carry out maritime operations, such as oil spill detection [1], bathymetric survey [2], plume tracking [3] and corrosion repair [4]. Underwater robots include heterogeneous vehicles capable of providing different functionalities, such as Autonomous Underwater Vehicles (AUVs), Autonomous Surface Vehicles (ASVs), and Remotely Operated Vehicles (ROVs), to perform maritime and underwater-related tasks.…”

Section: Introductionmentioning

confidence: 99%

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

Bilbao

Martín-Wanton

et al. 2017

Sensors

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In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.

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Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Cited by 61 publications

References 32 publications

Experimental Investigation of the Mathematical Model for Optimum Holding Force of a Bernoulli Pad

Experimental Investigation of the Mathematical Model for Optimum Holding Force of a Bernoulli Pad

Development of dam inspection robot with negative pressure effect plate

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

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