Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels

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

doi:10.1177/002029400603900201

Cited by 36 publications

(21 citation statements)

References 6 publications

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“…4 is assigned to wheels and pins. (1). When the pins are put into the holes, we can verify that the parts of magnetic flux from permanent magnets are guided to flow through induction pins and the amount of magnetic flux flowing from wheels to steel plate become decreased.…”

Section: Finite Element Analysismentioning

confidence: 92%

A novel design of permanent magnet wheel with induction pin for mobile robot

Han¹,

Kim

Huang

2009

Int. J. Precis. Eng. Manuf.

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Robots are utilized to automate works on a vertical plane of a large structure such as a ship and permanent magnet wheels have been utilized to make possible the robots to be attached to vertical plane and be in motion. In this paper, we propose a new design of the permanent magnet wheel for mobile robots to improve the adhesive force and facilitate the detachment of the wheel. In newly suggested design, the magnetic flux enhances the adhesive force during the attachment while induction pins redirect magnetic flux in order to achieve an easier detachment. To characterize the performance, finite element analysis is executed and experiment apparatus is constructed. The results show that the adhesive force is reduced effectively by using induction pins.

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Section: Finite Element Analysismentioning

confidence: 92%

A novel design of permanent magnet wheel with induction pin for mobile robot

Han¹,

Kim

Huang

2009

Int. J. Precis. Eng. Manuf.

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“…Unpredictable situations can happen [43] that might affect a vehicle driver and vehicle operation [44]. Collaboration between the sensor systems on board the vehicle and a human driver [45] can help the driver [46].…”

Section: Introductionmentioning

confidence: 99%

Sharing Driving Between a Vehicle Driver and a Sensor System Using Trust-Factors to Set Control Gains

Sanders

Gegov

Tewkesbury

et al. 2018

Advances in Intelligent Systems and Computing

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A system is presented that shares control between a driver and sensors to maneuver a vehicle. The vehicle can be driven by a driver, or by the sensors, or they can share control between them. In some circumstances, sharing control can allow a human driver to drive more efficiently and safely. The gains in the controller are automatically set for the human driver and sensors by calculating a trust-factor for the vehicle driver. The sensors can assist a human driver in driving the vehicle to offset for any detected shortcomings; for example, the driver may not be able to see a vehicle ahead or the human driver may be tired. In emergencies, efficient interaction between the vehicle and a human driver can make all the differences. This research explores that collaboration and interfacing. The proposed methods are validated with initial testing.

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“…HE cleaning and inspection of airplanes [1], [2], nuclear power plants [3] ducting or pipes, [4] buildings [5], [6] as well as security and surveillance [7] are applications which climbing robots may excel at. Indeed, climbing robots could be utilized in numerous environments where it is either too dangerous or difficult for humans to perform inspection or cleaning operations.…”

Section: Introductionmentioning

confidence: 99%

Characterization of electro-adhesives for robotic applications

Téllez

Krahn

Menon

2011

2011 IEEE International Conference on Robotics and Biomimetics

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Recent research in the field of climbing robots indicates that electro-adhesion may provide an attachment method for robots to adhere to a wide range of materials. This study compares the use of several different styles and shapes of electrodes while maintaining a similar electrode area. Electroadhesion shear force testing was performed on electro-adhesive samples made with four different insulating polymers. These results are compared in order to indicate the best type of insulating material for electro-adhesives. Shear force adhesion tests are carried out on and compared for a wide range of common building materials. J. P. Díaz Téllez is with the Engineering

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Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels

Cited by 36 publications

References 6 publications

A novel design of permanent magnet wheel with induction pin for mobile robot

A novel design of permanent magnet wheel with induction pin for mobile robot

Sharing Driving Between a Vehicle Driver and a Sensor System Using Trust-Factors to Set Control Gains

Characterization of electro-adhesives for robotic applications

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