Relevant bibliographies by topics / Robotic Structure

Academic literature on the topic 'Robotic Structure'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Robotic Structure"

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Chepkyi, V., V. Skachkov, O. Yefymchykov, V. Nabok, O. Sergeev, and O. Yelchaninov. "METHODOLOGICAL DESCRIPTION OF THE PROBLEM OF STABILIZATION OF THE ADAPTIVE CONTROL SYSTEM MOBILE STRUCTURES OF A GROUND-BASED ROBOTIC COMPLEX IN DISTURBED ENVIRONMENTS." Collection of scientific works of Odesa Military Academy 1, no. 12 (December 27, 2019): 5–18. http://dx.doi.org/10.37129/2313-7509.2019.12.1.5-18.

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In the article, the authors conduct research on the problem of stabilization of dynamic parameters of an adaptive information-control system of a ground-based robotic complex in disturbed environment. The research concept is based on the latest trends in the development of third-generation robotics objects; on the definition of the robotic complex, as an autonomous substrate means of reproducing physical functions and automating the intellectual activity of a person in the process of active interaction of the component structures of the robotic complex with the environment; on the technology of integrating the ground-based robotic complex into the system of the highest level of hierarchy, in particular, in the system of providing or performing special tasks in the interests of the Armed Forces of Ukraine. The methodological preamble of the stated problems is being updated, the description of which occurs in relation to the model of substrate modification of the spatially distributed structure of the ground-based robotic complex. The purpose of the study is related to the application of methodological description to the problem of stabilization of the dynamic parameters of the adaptive control system of the mobile substrate structure of a ground-based robotics complex in a disturbed environment. Consequences of the presented description were announced, according to which stability is given priority as an integral-substrate property, which combines various types of stability of mobile spatially distributed structures of the ground robotic complex in time, and also characterizes their general structural and functional organization throughout operating time. The existence of the potential stability of the substrate structures of the ground-based robotic complex in cases of their resistance to the negative influence of external disturbances in time is confirmed. The absence of an inverse relationship was noted, that is, the component structures of the ground-based robotic complex that are resistant to external factors will not necessarily be stable. The target result was obtained in the context of the general scientific paradigm and can serve as an application for the concept of ensuring the effective functioning of mobile spatially distributed structures of the ground-based robotic complex in the integrated project "object-system".
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Prada, Erik, Srikanth Murali, Ľubica Miková, and Jana Ligušová. "APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS." Acta Mechatronica 5, no. 4 (December 31, 2020): 47–52. http://dx.doi.org/10.22306/am.v5i4.68.

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This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.
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Veliev, E. I., R. F. Ganiev, V. A. Glazunov, and G. S. Filippov. "Parallel and sequential structures of manipulators in robotic surgery." Доклады Академии наук 485, no. 2 (May 20, 2019): 166–70. http://dx.doi.org/10.31857/s0869-56524852166-170.

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The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.
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Park, Jai Hoon, and Kang Hoon Lee. "Computational Design of Modular Robots Based on Genetic Algorithm and Reinforcement Learning." Symmetry 13, no. 3 (March 13, 2021): 471. http://dx.doi.org/10.3390/sym13030471.

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Designing novel robots that can cope with a specific task is a challenging problem because of the enormous design space that involves both morphological structures and control mechanisms. To this end, we present a computational method for automating the design of modular robots. Our method employs a genetic algorithm to evolve robotic structures as an outer optimization, and it applies a reinforcement learning algorithm to each candidate structure to train its behavior and evaluate its potential learning ability as an inner optimization. The size of the design space is reduced significantly by evolving only the robotic structure and by performing behavioral optimization using a separate training algorithm compared to that when both the structure and behavior are evolved simultaneously. Mutual dependence between evolution and learning is achieved by regarding the mean cumulative rewards of a candidate structure in the reinforcement learning as its fitness in the genetic algorithm. Therefore, our method searches for prospective robotic structures that can potentially lead to near-optimal behaviors if trained sufficiently. We demonstrate the usefulness of our method through several effective design results that were automatically generated in the process of experimenting with actual modular robotics kit.
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Mamahit, Calvin Johanes, and Mildes Sanggola. "The Development of Movement System of The Second Six-Legged Robot PTE Unima." JURNAL PENDIDIKAN TEKNOLOGI KEJURUAN 4, no. 4 (December 29, 2021): 130–39. http://dx.doi.org/10.24036/jptk.v4i4.21323.

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Engineering technology in robotics for the present era is no longer new, especially in high education, marked by Indonesian robot contests routinely held annually by the national achievement center. The participants in this event are groups of students from all higher education institutions spread throughout Indonesia. The development of robotics technology is now faster to spur individuals and students to compete to conduct research and development in robotics. The study aims to develop a six-legged robotic motion system or so-called hexapod. The research was conducted using the Addie model research method consisting of five stages, namely, analyze stage to analyze the needs of the development of the robotic motion system and analysis of the needs of tools and materials to be used. The design stage of designing the mechanical structure of the robot both in terms of hardware and in terms of robot software, the development stage of developing a six-legged robot's motion system to be more stable and more efficient in moving, the implementation stage is a test stage of the robot's motion system that has been developed. The evaluation stage is the last stage of this development research; at this stage, the evaluation is done to ensure the robot's motion system is feasible to use.
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Sun, Yuanxi, Hao Tang, Yuntao Tang, Jia Zheng, Dianbiao Dong, Xiaohong Chen, Fuqiang Liu, et al. "Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control." Journal of Bionic Engineering 18, no. 4 (July 2021): 764–85. http://dx.doi.org/10.1007/s42235-021-0065-4.

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AbstractAs the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.

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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Wang, Rui, Fuguo Wang, Yuyan Cao, Honghao Wang, Xueqian Sun, and Fuhe Liu. "Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics." Applied Sciences 10, no. 18 (September 15, 2020): 6424. http://dx.doi.org/10.3390/app10186424.

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We propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of the robotic is optimized by the Jacobian matrix iteration inverse kinematic problem method. Based on the new support structure, a high-order sensitivity matrix is proposed to establish the mapping relationship between the robotic misalignment and the Zernike coefficient, with the accuracy verified via the Monte Carlo method. The method of adjusting the secondary mirror to compensate the aberration caused by the primary mirror is proposed, and the relationship between the primary mirror surface error and the system error is established under different pitch angles before and after compensation. The experiment and simulation results showed that the adjustment calculated by the high-order sensitivity matrix method can effectively compensate for the misalignment caused by the robotics and the primary mirror surface error to a certain degree. After multiple iterations, the root mean square of the wavefront aberration was better than λ/15. This conclusion provides an engineering application reference value for the secondary mirror support and aberration correction technology of the vehicle telescope system.
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Almadhoun, Randa, Tarek Taha, Lakmal Seneviratne, Jorge Dias, and Guowei Cai. "A survey on inspecting structures using robotic systems." International Journal of Advanced Robotic Systems 13, no. 6 (November 28, 2016): 172988141666366. http://dx.doi.org/10.1177/1729881416663664.

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Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts) is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.
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Li, Xiaohui, Wei Zhang, and Liping Zhao. "Optimal Structure and Size of Multi-segment Soft Robotic Arms with Finite Element Method." E3S Web of Conferences 233 (2021): 04023. http://dx.doi.org/10.1051/e3sconf/202123304023.

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Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-segment structure of soft robotic arm has better performance for the general manipulator operation task through evaluating bending angles with different structures and parameters. The optimal ratio of the total length of non-cavity section to the total length of the soft robotic arm with two-segment is 0.21. And soft robotic arm performs better when the length of the fixed first section, the linkage section between two cavity sections and the end section are equal. Two cavities in each segment has more advantages in tasks of plane bending, while three cavities structure has better adaptability when the task need bend in the space. These results in this study provide a reference and simplify the process for the structure and size design of the multi-segment soft robotic arm in the future.
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Dissertations / Theses on the topic "Robotic Structure"

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Hudeček, Vít. "Návrh univerzálního robotického systému." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231725.

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Clift, Louis G. "Robotic 3D reconstruction utilising structure from motion." Thesis, University of Essex, 2017. http://repository.essex.ac.uk/20734/.

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Sensing the real-world is a well-established and continual problem in the field of robotics. Investigations into autonomous aerial and underwater vehicles have extended this challenge into sensing, mapping and localising in three dimensions. This thesis seeks to understand and tackle the challenges of recovering 3D information from an environment using vision alone. There is a well-established literature on the principles of doing this, and some impressive demonstrations; but this thesis explores the practicality of doing vision-based 3D reconstruction using multiple, mobile robotic platforms, the emphasis being on producing accurate 3D models. Typically, robotic platforms such as UAVs have a single on-board camera, restricting which method of visual 3D recovery can be employed. This thesis specifically explores Structure from Motion, a monocular 3D reconstruction technique which produces detailed and accurate, although slow to calculate, 3D reconstructions. It examines how well proof-of-concept demonstrations translate onto the kinds of robotic systems that are commonly deployed in the real world, where local processing is limited and network links have restricted capacity. In order to produce accurate 3D models, it is necessary to use high-resolution imagery, and the difficulties of working with this on remote robotic platforms is explored in some detail.
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Enyedy, Albert J. "Robotic Construction Using Intelligent Scaffolding." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1356.

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Construction is a complex activity that requires the cooperation of multiple workers. Every year, construction activities cause injuries and casualties. To make construction safer, new solutions could be provided by robotics. Robots could be employed not only to replace human workers, but also to make construction in harsh environments safe and cost-effective, paving the way for enhanced underwater infrastructure, deeper underground mining, and planetary colonization. In this thesis, we focus on the topic of collective construction, which involves the cooperation of multiple robots, by presenting a collective robot construction method of our own. Collective construction can be a more viable option than employing individual, complex robots, by potentially allowing the effective realization of large structures, while offering resilience through redundancy, analogous to insect colonies. Our approach offers a novel solution in the design trade-off between choosing the number of robots involved vs. the complexity of the robots involved. On the one hand, capable and complex robots are expensive, limiting the cost effectiveness of realizing large swarms which provide redundancy and increase the system’s resilience to faults. On the other hand, simple and inexpensive robots can be manufactured in large numbers and offer high redundancy, at the cost of limited individual capa bilities and lower performance. We use two types of robots: intelligent scaffolding and worker robots. The intelligent scaffolding acts as regular scaffolding, allowing the worker robots to navigate the structure they assemble, while also guiding and monitoring the construction of the structure. The worker robots move and connect scaffolding and building material while only knowing the local commands necessary to complete their task. This approach is loosely inspired by termite mounds, in which termites use the process of stigmergy in which they mark construction pellets with pheromones to affect the progress of construction, while navigating the struc ture that they build. Thanks to intelligent scaffolding, construction robots have a simple design that allows minimalist onboard computation and communication equipment. In this thesis, we produced a minimum viable prototype demonstrating this concept. Intelligent scaffolding is realized through smart blocks that can be laid and connected to each other. The smart blocks are capable of simple computation and communication once laid. The construction robot uses local navigation methods by line-following across the scaffolding and building blocks of the system. The blocks and construction robot both have a modular design, simplifying the process of manufacturing and repairs while maintaining a low cost. The robot and blocks use magnets to increase the margin of error during block manipulation and allow for the assembly and removal of scaffolding as well as its reuse between build sites. To communicate with the robot, the intelligent scaffolding blocks send local IR signals, similar to TV remote signals, when the robot is on top of them, minimizing the risk of global interference and keeping the system portable. To monitor the connectivity of the system throughout the life cycle of the structure, electrical connections run through each of the blocks, which indicate the status of the structure and can be used to diagnose the location of breaks in the structure for maintenance.
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Stoyanov, Danail Valentinov. "Recovering 3D structure and motion in robotic laparoscopic surgery." Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.430137.

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Jayaweera, Nirosh Dilruk. "Adaptive robotic assembly of large compliant aero-structure components." Thesis, University of Nottingham, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.434085.

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Kloss, Alina [Verfasser]. "Combining Learning and Structure for Robotic Manipulation / Alina Kloss." Tübingen : Universitätsbibliothek Tübingen, 2021. http://d-nb.info/1226756719/34.

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Viggh, Herbert E. M. "Artificial intelligence applications in teleoperated robotic assembly of the EASE space structure." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/39358.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
Bibliography: leaf 197.
by Herbert E. M. Viggh.
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
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Bayar, Gokhan. "Configurable Robot Base Design For Mixed Terrain Applications." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606530/index.pdf.

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Mobile robotics has become a rapidly developing field of interdisciplinary research within robotics. This promising field has attracted the attention of academicy, industry, several government agencies. Currently from security to personal service mobile robots are being used in a variety of tasks. The use of such robots is expected to only increase in the near future. In this study, it is aimed to design and manufacture a versatile robot base. This base is aimed to be the main driving unit for various applications performed both indoors and outdoors ranging from personal service and assistance to military applications. The study does not attempt to individually address any specific application, indeed it is aimed to shape up a robotic module that can be used in a wide range of application on different terrain with proper modification. The robot base is specifically designed for mixed terrain applications, yet this study attempts to provide some guidelines to help robot designers. The manufactured robot base is tested with tracks, wheels, and with both tracks and wheels, results are provided as guidelines to robot designers. Last but no the least, this study aims to obtain the know-how of building functional and flexible robots in Turkey by facilitating local resources as much as possible.
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He, Hu. "Joint 2D and 3D cues for image segmentation towards robotic applications." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/71760/1/Hu_He_Thesis.pdf.

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This thesis investigates the fusion of 3D visual information with 2D image cues to provide 3D semantic maps of large-scale environments in which a robot traverses for robotic applications. A major theme of this thesis was to exploit the availability of 3D information acquired from robot sensors to improve upon 2D object classification alone. The proposed methods have been evaluated on several indoor and outdoor datasets collected from mobile robotic platforms including a quadcopter and ground vehicle covering several kilometres of urban roads.
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Almeshal, Abdullah. "Development and control of a novel-structure two-wheeled robotic vehicle manoeuvrable in different terrains." Thesis, University of Sheffield, 2013. http://etheses.whiterose.ac.uk/4885/.

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This thesis presents the development of a novel two-wheeled robotic vehicle with a movable payload and able to manoeuvre in different environments and terrains. The vehicle structure is based on the double inverted pendulum on cart mechanism. The system has five degrees of freedom that allow the vehicle to serve as a basis for new mobility solution applications. In this study, the vehicle model is derived mathematically using the Euler-Lagrange approach to describe the system dynamics. A hybrid fuzzy logic control approach is designed to stabilise and drive the vehicle on different terrains with different inclination angles. The Matlab Simulink environment is used to simulate the vehicle system. A hybrid spiral dynamic bacteria chemotaxis optimisation algorithm is used to optimise the control parameters to achieve the least mean square error of system response and to reduce the amount of exerted control effort. Various simulation scenarios are considered to demonstrate the vehicle’s ability to work on smooth and frictional surfaces. Disturbances are applied to the vehicle to evaluate the performance of the developed control system in coping with disturbances of variable amplitudes and durations. It is shown that the vehicle exhibits a stable response and a high degree of control robustness. A steering mechanism is implemented to drive the vehicle in different environments and terrains encountered in real life. Environment modelling has been incorporated into the vehicle system to simulate various ground types and levels of frictional forces. It is demonstrated that the vehicle is able to successfully manoeuvre in indoor and outdoor environments and on flat and sloped surfaces fulfilling the aims and objectives of the research.
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Books on the topic "Robotic Structure"

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service), SpringerLink (Online, ed. Structural Synthesis of Parallel Robots: Part 3: Topologies with Planar Motion of the Moving Platform. Dordrecht: Springer Science+Business Media B.V., 2010.

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Sheth, Pradip N. Use of robotics for nondestructive inspection of steel highway bridges and structures. Charlottesville, Va: Virginia Transportation Research Council, 2005.

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Mun-Sang, Kim, Suh Il Hong, and SpringerLink (Online service), eds. Recent Progress in Robotics: Viable Robotic Service to Human: An Edition of the Selected Papers from the 13th International Conference on Advanced Robotics. Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg, 2008.

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Shoham, Moshe. A textbook of robotics 2: Structure, control and operation. London: Kogan Page, 1986.

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The revolutions of scientific structure. New Jersey: World Scientific, 2014.

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International Workshop on the Algorithmic Foundations of Robotics (6th 2004 Zeist, The Netherlands). Algorithmic foundations of robotics VI. Berlin: Springer, 2005.

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Theobald, Matt. Minimum mass optimization of the ARMS boom and joint. Ottawa: National Library of Canada, 2002.

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Theobald, Matt. Minimum mass optimization of the ARMS boom and joint. [Downsview, Ont.]: University of Toronto, Institute for Aerospace Studies, 2002.

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Christian, Laugier, and Siegwart Roland, eds. Field and service robotics: Results of the 6th International Conference. Berlin: Springer, 2008.

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Ribas, David. Underwater SLAM for structured environments using an imaging sonar. Berlin: Springer, 2010.

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Book chapters on the topic "Robotic Structure"

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Nievergeld, A. J. L., and H. H. Ven. "Robust Control of Robot Arms Using the Variable Structure Approach." In Robotic Systems, 117–24. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_14.

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Fantina, Robert, Andriy Storozhuk, and Kamal Goyal. "Organizational Structure." In Introducing Robotic Process Automation to Your Organization, 123–35. Berkeley, CA: Apress, 2021. http://dx.doi.org/10.1007/978-1-4842-7416-3_8.

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Harwin, William. "A Control Structure for Bilateral Telemanipulation." In Towards Autonomous Robotic Systems, 139–45. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-40379-3_14.

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Linjawi, Manal, and Roger K. Moore. "Evaluating ToRCH Structure for Characterizing Robots." In Towards Autonomous Robotic Systems, 319–30. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-25332-5_28.

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Fukui, Rui, Yuta Kato, Gen Kanayama, Ryo Takahashi, and Masayuki Nakao. "Construction Planning for a Modularized Rail Structure: Type Selection of Rail Structure Modules and Dispatch Planning of Constructor Robots." In Distributed Autonomous Robotic Systems, 605–17. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-73008-0_42.

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Cruz, Jaime Cruz, Miguel Toledo Velázquez, Oliver M. Huerta Chávez, Gibran Jalil Garnica Castro, and Rafael Sánchez López. "Flutter Analysis of Rotor Based on a Fluid–Structure Method." In Industrial and Robotic Systems, 76–84. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45402-9_9.

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He, Qi, and Mark A. Post. "An Adaptable Robotic Snake Using a Compliant Actuated Tensegrity Structure for Locomotion." In Towards Autonomous Robotic Systems, 70–74. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63486-5_10.

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Kawabata, Kuniaki, and Hisato Kobayashi. "Distributed Fail-Safe Structure for Collaboration of Multiple Manipulators." In Distributed Autonomous Robotic Systems 2, 295–303. Tokyo: Springer Japan, 1996. http://dx.doi.org/10.1007/978-4-431-66942-5_26.

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Tangamchit, Poj, John M. Dolan, and Pradeep K. Khosla. "Dynamic Task Selection: A Simple Structure for Multirobot Systems." In Distributed Autonomous Robotic Systems 4, 483–84. Tokyo: Springer Japan, 2000. http://dx.doi.org/10.1007/978-4-431-67919-6_51.

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Kaga, Tomoyuki, and Toshio Fukuda. "An Analysis of Collective Property caused by Structure Reconfiguration." In Distributed Autonomous Robotic Systems 3, 405–14. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/978-3-642-72198-4_39.

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Conference papers on the topic "Robotic Structure"

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Chen, Shuyang, Yuan-Chi Peng, John Wason, Jinda Cui, Glenn Saunders, Shridhar Nath, and John T. Wen. "Software Framework for Robot-Assisted Large Structure Assembly." In ASME 2018 13th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/msec2018-6689.

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This paper presents the design and initial results of a project involving the robotic assembly of a large segmented structure. This project aims to develop an operator-guided semi-autonomous assembly process using industrial robots integrated with multiple sensors. The goal is to demonstrate the potential of robotic technology to reduce cycle time, enhance assembly quality, and improve worker ergonomics, as compared to the current manual or fixture-based approaches. The focus is primarily on the software framework which is composed of a collection of commercial and customized components for robot positioning, motion planning, low latency teleoperation, visualization and simulation. A foundation step of the implementation is safe teleoperation which allows the user to operate the robot without concern of collision or joint limits. The concept has been demonstrated in RobotStudio, the simulation environment for ABB robots, and a physical ABB robot. While some of the software is specific to the ABB industrial robot used in the project, the framework is readily adapted to other industrial robots that allow externally commanded motion.
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Newton, Jason, Michael Hays, Jonathan Clark, and William S. Oates. "Design and Characterization of a Soft Electroactive Adaptive Structure for Legged Robotic Motion." In ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/smasis2012-8082.

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Legged robotics exhibit mobility over complex terrains that overcomes many of the challenges experienced with traditional wheeled robots. This includes the ability to traverse rough terrain, climb obstacles, and in some robotic platforms, even scale walls. It is known from bio-locomotion research that humans and other animals adjust the stiffness of their muscles to accommodate differences in the terrain. Methods to implement changes in the passive mechanical stiffness on a legged robotic platform have included geometric changes to the leg configuration, complex mechanical linkages and gears, or thermally induced modulus changes in polymers. Each of these cases are limited in their dynamic response and efficiency. As an alternative, we have developed a leg module that changes its stiffness by application of an electric field. This is achieved by applying a large voltage to the dielectric elastomer VHB. Previous studies have demonstrated up to a 92% stiffness reduction. The goal of this work is to identify the electromechanical dynamic responses of those elements to understand limits in adaptability from abrupt changes in terrain. We quantify the structural dynamic behavior and electromechanical limits governing rapid stiffness changes in our legged VHB module. Structural vibration characterization is presented to illustrate transient dynamic changes when the VHB material is exposed to a step input voltage change. The results are analyzed and compared to the system dynamics required for the iSprawl legged robot.
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Pedro, P., C. Ananda, P. B. Rafael, A. R. Carlos, and B. C. Alexandre. "Closed structure soft robotic gripper." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404898.

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Poncharernpong, Nuttapon, Sunchanan Charanyananda, Youtthana Silakam, Kitdakorn Klomkarn, and Pitikhate Sooraksa. "Communication network structure for robotic manipulators." In TENCON 2014 - 2014 IEEE Region 10 Conference. IEEE, 2014. http://dx.doi.org/10.1109/tencon.2014.7022487.

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Guo, Yong, Rongjie Kang, Lisha Chen, and Jian Dai. "Dynamic Modeling for a Continuum Robot With Compliant Structure." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46683.

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Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.
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Roy, Sayanti, Emily Kieson, Charles Abramson, and Christopher Crick. "Semantic structure for robotic teaching and learning." In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 2017. http://dx.doi.org/10.1109/roman.2017.8172332.

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Hadi, Alireza, Mohammad Elahinia, Asadollah Ghazavi, and Majid M. Moghadam. "Design, Modeling and Control of a New Robotic Module Actuated by Shape Memory Alloy Springs." In ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASMEDC, 2009. http://dx.doi.org/10.1115/smasis2009-1293.

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Modular robotic systems provide attractive benefits in the form of re-configurable robots that can change and adapt for special tasks. Self-reconfigurable is re-configurable robot with the ability to change their framework for different missions. One way to increase robots capabilities and to achieve self-configurable robots is to develop small, powerful and dexterous modules. In this paper, a new mechanism which uses Shape Memory Alloy (SMA) spring actuators is applied to develop a robotic module. Among the proposed modular systems until now, shape memory alloys especially the spring type are rarely used as actuators. The proposed mechanism is based on antagonistic application of SMA springs which provide faster actuation response. It is shown that the module mechanism is suitable for developing modular robotic systems, such as mobile robots, snake robots, and legged robots. The design of mechanical and electrical hardware of the module in addition to the sensing and actuating system is done talented in an optimum space. The same extendable modules communicate through a common bus in order to develop a distributed system. Consequently a proper module is presented to be applied in different robotic systems. Moreover, an effective non-linear control strategy which is variable structure control is applied for controlling the position of the module. Benefits and suitability of this controller for the module different configurations is verified using simulations and experiments.
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Kai Zhou, K. M. Varadarajan, M. Zillich, and M. Vincze. "Spatial structure analysis for autonomous robotic vision systems." In 2013 IEEE Workshop on Robot Vision (WORV 2013). IEEE, 2013. http://dx.doi.org/10.1109/worv.2013.6521933.

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Hernandez, L. A., C. P. Tellez, Q. G. Castillo, and S. J. F. Hernandez. ""Designing a controller for balancing a robotic structure"." In 2018 XXXI International Summer Meeting on Power and Industrial Applications (RVP-AI). IEEE, 2018. http://dx.doi.org/10.1109/rvpai.2018.8469865.

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Jing Zhang, Xin Gao, and En Li. "An adaptive variable structure controller for robotic manipulators." In 2011 6th International Forum on Strategic Technology (IFOST). IEEE, 2011. http://dx.doi.org/10.1109/ifost.2011.6021038.

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Reports on the topic "Robotic Structure"

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Ozcelik, Selahattin, and Michael Blackburn. Intelligent Control of a Highly Flexible Robotic Structure With Hundreds of Motor Elements. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada442046.

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Yoozbashizadeh, Mahdi, and Forouzan Golshani. Robotic Parking Technology for Congestion Mitigation and Air Quality Control Around Park & Rides. Mineta Transportation Institute, June 2021. http://dx.doi.org/10.31979/mti.2021.1936.

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A lack or limited availability for parking may have multiple consequences, not the least of which is driver frustration, congestion, and air pollution. However, there is a greater problem that is not widely recognized by the public, namely the negative effect on the use of transit systems due to insufficient parking spaces close to key transit stations. Automated parking management systems, which have been successfully deployed in several European and Japanese cities, can manage parking needs at transit stations more effectively than other alternatives. Numerous studies have confirmed that quick and convenient automobile access to park-and-ride lots can be essential to making public transit competitive with the automobile in suburban areas. Automated parking systems use a robotic platform that carries each vehicle to one of the locations in a custom designed structure. Each location is designed compactly so that considerably more vehicles can be parked in the automated garages than the traditional parking lots. Central to the design of these systems are three key technologies, namely: 1. Mechanical design and the operation of vehicle transfer, i.e., the robotic platform 2. Structural and architectural requirements to meet safety and earthquake standards, among other design imperatives, 3. Automation and intelligent control issues as related to the overall operation and system engineering. This article concerns the first technology, and more specifically the design of the robotic platform for vehicle transfers. We will outline the overall design of the robot and the shuttle, followed by a description of the prototype that was developed in our laboratories. Subsequently, performance related issues and scalability of the current design will be analyzed.
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Zhang, Chunxi, Fangfang Xie, Runchang Li, Ningxin Cui, and Jiayuan Sun. Robotic-assisted bronchoscopy for the diagnosis of peripheral pulmonary lesions: A systematic review and meta-analysis. INPLASY - International Platform of Registered Systematic Review and Meta-analysis Protocols, September 2022. http://dx.doi.org/10.37766/inplasy2022.9.0115.

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Review question / Objective: What is the overall diagnostic yield and complication rate of robotic-assisted bronchoscopy for peripheral pulmonary lesions? Condition being studied: Many of peripheral pulmonary lesions (PPLs) may represent early-stage lung cancer. Lung cancer is the leading cause of cancer mortality globally. Early diagnosis and treatment of lung cancer are crucial for a better prognosis. With the widespread use of low-dose computed tomography (LDCT), the detection rate of PPLs is increasing. As a result, the number of PPLs requiring biopsy is progressively increasing. Transbronchial lung biopsy (TBLB) and transthoracic needle aspiration (TTNA) are the main modalities of non-surgical biopsy for PPLs. TTNA has a diagnostic yield of 90%, however, it also has a pneumothorax rate of 25%. Since TBLB avoids destroying the structure of normal pleura and lung tissue, the incidence of complications is lower. Unfortunately, traditional flexible bronchoscopy has a modest sensitivity of 34% and 63% for lesions 2 cm, respectively. The advent of guided bronchoscopy has increased the diagnostic yield to 70%. However, there is still a gap in diagnostic yield compared with TTNA. The advent of robotic-assisted bronchoscopy (RAB) is expected to further improve the diagnostic yield of TBLB for PPLs. However, the diagnostic performance of RAB for PPLs has not reached a consensus.
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Villamil, Julie, Caique Lara, Anthony Abrahao, Aparna Arvelli, Guilherme Daldegan, Sharif Sarker, and Dwayne McDaniel. Development of a Pipe Crawler Inspection Tool for Fossil Energy Power Plants. Florida International University, October 2021. http://dx.doi.org/10.25148/mmeurs.009772.

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Fossil fuel power plants are complex systems containing multiple components that create extreme environments for the purpose of extracting usable energy. Failures in the system can lead to increased down time for the plant, reduction of power and significant cost for repairs. In the past, inspections and maintenance of the plant's superheater tubes has been predominantly manual, laborious, and extremely time consuming. This is due to the pipe's small diameter size (between 1.3 and 7.6 cm) and the coiled structure of the tubing. In addition, the tubes are often stacked close to each other, limiting access for external inspection. Detection of pipe degradation, such as increased levels of corrosion, creep, and the formation of micro-cracks is possible using standard non-destructive evaluation (NDE) methods, including ultrasonic, radiography and electromagnetic methods. However, when the access to the sub-systems is limited or the configuration of the structure is prohibitive, alternative methods are needed for deploying the NDE tools. This research effort considers a novel robotic inspection system for the evaluation of small pipes found in typical boiler superheaters that have limited access. The pipe crawler system is an internal inspection device that can potentially navigate through the entire pipe length using linear actuators to grip the walls and inch along the pipe. The modular nature of the system allows it to traverse through straight sections and multiple 90-degree and 180-degree bends. The crawler is also capable of providing visual inspections, ultrasonic thickness measurements, and generating inner diameter surface maps using LiDAR (light detection and ranging). Ultimately, the development of this robotic inspection tool can provide information regarding the structural integrity of key pipeline components in fossil fuel power plants that are not easily accessible
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Wilson, James F. Compliant Robotic Structures. Fort Belvoir, VA: Defense Technical Information Center, August 1985. http://dx.doi.org/10.21236/ada161897.

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Piper, Benjamin, Yasmin Sitabkhan, Jessica Mejia, and Kellie Betts. Effectiveness of Teachers’ Guides in the Global South: Scripting, Learning Outcomes, and Classroom Utilization. RTI Press, May 2018. http://dx.doi.org/10.3768/rtipress.2018.op.0053.1805.

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This report presents the results of RTI International Education’s study on teachers' guides across 13 countries and 19 projects. Using quantitative and qualitative methods, we examine how teachers’ guides across the projects differ and find substantial variation in the design and structure of the documents. We develop a scripting index so that the scripting levels of the guides can be compared across projects. The impact results of the programs that use teachers’ guides show significant impacts on learning outcomes, associated with approximately an additional half year of learning, showing that structured teachers’ guides contribute to improved learning outcomes. During observations, we find that teachers make a variety of changes in their classroom instruction from how the guides are written, showing that the utilization of structured teachers’ guides do not create robotic teachers unable to use their own professional skills to teach children. Unfortunately, many changes that teachers make reduce the amount of group work and interactivity that was described in the guides, suggesting that programs should encourage teachers to more heavily utilize the instructional routines designed in the guide. The report includes a set of research-based guidelines that material developers can use to develop teachers’ guides that will support effective instructional practices and help improve learning outcomes. The key takeaway from the report is that structured teachers' guides improve learning outcomes, but that overly scripted teachers' guides are somewhat less effective than simplified teachers' guides that give specific guidance to the teacher but are not written word for word for each lesson in the guide.
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Black, Michael J., David L. Milgram, Sharon O. Cioffi, and Patrice Gelband. Spatial Data Structures for Robotic Vehicle Route Planning. Fort Belvoir, VA: Defense Technical Information Center, December 1988. http://dx.doi.org/10.21236/ada212806.

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Boissiere, P. T. Automatic planning and programming for robotic construction of planetary/lunar structures. Office of Scientific and Technical Information (OSTI), April 1997. http://dx.doi.org/10.2172/468612.

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Arcone, Steven, James Lever, Laura Ray, Benjamin Walker, Gordon Hamilton, and Lynn Kaluzienski. Ground-penetrating radar profiles of the McMurdo shear zone, Antarctica, acquired with an unmanned rover : interpretation of crevasses, fractures, and folds within firn and marine ice. Engineer Research and Development Center (U.S.), December 2021. http://dx.doi.org/10.21079/11681/42620.

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The crevassed firn of the McMurdo shear zone (SZ) within the Ross Ice Shelf may also contain crevasses deep within its meteoric and marine ice, but the surface crevassing prevents ordinary vehicle access to investigate its structure geophysically. We used a lightweight robotic vehicle to tow 200- and 40 MHz ground-penetrating radar antennas simultaneously along 10 parallel transects over a 28 km² grid spanning the SZ width. Transects were generally orthogonal to the ice flow. Total firn and meteoric ice thickness was approximately 160 m. Firn crevasses profiled at 400 MHz were up to 16 m wide, under snow bridges up to 10 m thick, and with strikes near 35°–40° to the transect direction. From the top down, 200- MHz profiles revealed firn diffractions originating to a depth of approximately 40 m, no discernible structure within the meteoric ice, a discontinuous transitional horizon, and at least 20 m of stratified marine ice; 28–31 m of freeboard found more marine ice exists. Based on 10 consecutive transects covering approximately 2.5 km², we preliminarily interpreted the transitional horizon to be a thin saline layer, and marine ice hyperbolic diffractions and reflections to be responses to localized fractures, and crevasses filled with unstratified marine ice, all at strikes from 27° to 50°. We preliminarily interpreted off nadir, marine ice horizons to be responses to linear and folded faults, similar to some in firn. The coinciding and synchronously folded areas of fractured firn and marine ice suggested that the visibly unstructured meteoric ice beneath our grid was also fractured, but either never crevassed, crevassed and sutured without marine ice inclusions, or that any ice containing crevasses might have eroded before marine ice accretion. We will test these interpretations with analysis of all transects and by extending our grid and increasing our depth ranges.
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Fong, Edward H. Acquisition of 3-D Map Structures for Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, May 2002. http://dx.doi.org/10.21236/ada403360.

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