Готові списки джерел за темами / Crawler robots

Добірка наукової літератури з теми "Crawler robots"

Автор: Grafiati
Опубліковано: 30 травня 2022
Оновлено: 31 травня 2022

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Статті в журналах з теми "Crawler robots"

1

Kimura, Hitoshi, Mokutaro Kataoka, and Norio Inou. "Hermetically-Sealed Flexible Mobile Robot “MOLOOP” for Narrow Terrain Exploration." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 361–72. http://dx.doi.org/10.20965/jrm.2022.p0361.

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Анотація:
Conventional mobile robots typically use a wheel or crawler mechanism for locomotion. However, these robots often get stuck in narrow spaces. To mitigate this issue, we propose an innovative flexible mobile robot named “MOLOOP” in this study. The proposed robot has double-looped and hermetically-sealed structure and all ground-contact-area moves to the same direction. Three synchronized flexible crawlers generate the driving force within the robot body. The crawler, named “HS crawler,” comprises of loop-connected flexible bags. The entire body of the robot is flexible; therefore, the robot can pass through narrow terrains with adaptive shape changes. However, in terms of power and size, performance improvement is necessary for the practical use of the robot. This paper describes the improvement of HS crawler performance, which directly affects the driving force, traveling speed, and size of the robot. For the purpose of high input pressure, this study reinforced the flexible bags of the crawler using fibrous materials. This reinforcement realizes the power-up and downsizing of the flexible bags. The new crawler achieves a performance of 3.43 Nm torque and 39.0 mm/s traveling speed, compared to a torque of 0.23 Nm and traveling speed of 3.0 mm/s of the previous crawler. Additionally, the width of the new MOLOOP changed to 270 mm from 420 mm because of the downsized crawler. Furthermore, a dedicated mechanical valve was developed. This valve achieves a flow rate of 2.39 L/min as compared to 0.92 L/min of a commercially available solenoid valve. Moreover, the traveling speed of MOLOOP increased from 3.0 mm/s to 9.0 mm/s. The prototype robot successfully passed through a narrow terrain with a minimum width of 200 mm (robot width: 270 mm).
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2

Osuka, Koichi, and Hiroshi Kitajima. "Development of Four-Crawler Multilink Mobile Robot MOIRA for Searching Debris." Journal of Robotics and Mechatronics 15, no. 5 (October 20, 2003): 561–70. http://dx.doi.org/10.20965/jrm.2003.p0561.

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Анотація:
Finding victims in disaster debris is the priority in search-and-rescue operations. Attempts to use robots and other mobile devices instead of humans involve such problems as 1) operating when pressed from 4 sides, 2) difficulty in continuing operation or becoming inoperable when overturned, and 3) robot size restricting mobility on uneven terrain. We developed a robot overcoming these problems and surveying debris too closely packed and/or dangerous for human workers to enter. MOIRA, a linked crawler consisting of 4 linked modules, each having crawlers on 4 sides enabling the robot to solve the above problems and improve navigation on uneven terrain. We discuss the linked crawler and its 4-crawler systemuse and qualitatively demonstrate its feasibility. From experiments on operational performance, we quantitatively evaluated its feasibility.
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3

Xu, Liang, Liang Zhang, Jinzhou Zhao, and Kiwan Kim. "Cornering Algorithm for a Crawler In-Pipe Inspection Robot." Symmetry 12, no. 12 (December 6, 2020): 2016. http://dx.doi.org/10.3390/sym12122016.

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Анотація:
Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.
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4

Orita, Yasuaki, and Takanori Fukao. "Robust Human Tracking of a Crawler Robot." Journal of Robotics and Mechatronics 31, no. 2 (April 20, 2019): 194–202. http://dx.doi.org/10.20965/jrm.2019.p0194.

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Анотація:
Carrying out firefighting activities at disaster sites is extremely difficult. Therefore, robots that support and enhance these operations are required. In this paper, a crawler robot that tracks the moving path of a firefighter is proposed. It is commonly believed that trained firefighters select the best route; thus, it was assumed that this route is the easiest for the crawler robot as well. Using two 3D light detection and ranging sensors, once the firefighter’s coordinates are detected, the coordinates are combined with 3D simultaneous localization and mapping results, then a target path is generated. The crawler robot follows the path using inverse optimal tracking control. The controller has a stability margin that guarantees robustness, which is an ideal property for disaster response robots used in severe conditions. The results of several experiments show that the proposed system is effective and practical for the crawler robot.
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Li, Juan, Shi Zhong Li, and Xiao Xue Guo. "Study of the Search and Rescue Robot’s Motion System in the Underground Environment." Advanced Materials Research 588-589 (November 2012): 1480–83. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1480.

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Анотація:
For the unstructured extreme environment of coal mine underground accidents, this paper puts forward a multi section crawler search robots. Based on the analysis of the working environment of the robot, underground search robot of crawler - ground model is built , overall configuration of robot that can cross obstacles flexibly in the complicated unstructured environment is put forward, high mobility of walking mechanism and joint module are designed and simulate by simulation software MATLAB, which provides the basis for establishing systematic engineering prototype and completing engineering test result.
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Naruse, Toshihisa. "Development of Bottom-Reliant Type Underwater Robots." Journal of Robotics and Mechatronics 26, no. 3 (June 20, 2014): 279–86. http://dx.doi.org/10.20965/jrm.2014.p0279.

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Анотація:
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/01.jpg"" width=""300"" />Underwater bulldozer</span></div> During the 1960s and 1970s, Japan entered rapidly into ocean development in such areas as ocean surveys, ocean civil engineering, and the development of ocean resources. And then equipment developments and technological advances encouraged by the public and private sectors accompanied Japan’s development efforts. Various underwater robots were developed and put to practical use. There are various type underwater robots such as free-swimming type, bottomreliant type and towed type. Aiming at robotization in seashore, undersea, and seabed construction works, we have developed various underwater robots with focusing on the bottom-reliant type. As a result, (1) an amphibious bulldozers and an underwater bulldozers as 2-crawler robots same as land construction machines, (2) an underwater rubble leveling robot and a “ReCus” (Remote-Controlled Underwater Surveyer) as an 8-legged walking robot, and (3) a 4-crawler underwater trencher has been developed. </span>
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7

Yamaguchi, Tomohiro, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi. "Obstacle Avoidance for Quadruped Robots Using a Neural Network." Journal of Advanced Computational Intelligence and Intelligent Informatics 7, no. 2 (June 20, 2003): 115–23. http://dx.doi.org/10.20965/jaciii.2003.p0115.

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Анотація:
Legged mobile robots, which differ from wheeled and crawler, need not avoid all obstacles by altering the path in the obstacle avoidance task. Because, legged mobile robots can get over or stride some obstacles, depending on the obstacle configuration and the current state of the robot. Legged mobile robots muse have suitable motion for each leg. We propose body motion control of a quadruped robot using a neural network (NN) for an obstacle avoidance task. Each leg motion is calculated by robot kinematics using body motion from the NN. NN design parameters are tuned off-line by a genetic algorithm (GA). Effectiveness of the present method is proved through an experiment.
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Mavrin, Ilya, Roman Lavrenov, Mikhail Svinin, Sergey Sorokin, and Evgeni Magid. "Remote control library and GUI development for Russian crawler robot Servosila Engineer." MATEC Web of Conferences 161 (2018): 03016. http://dx.doi.org/10.1051/matecconf/201816103016.

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Анотація:
Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot.
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9

You, Tsam Lung, Hemma Philamore, and Fumitoshi Matsuno. "A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns." Actuators 10, no. 4 (April 8, 2021): 74. http://dx.doi.org/10.3390/act10040074.

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Анотація:
In this work we present a soft crawler fabricated using a magneto-active elastomer. The crawler is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due to its structural simplicity, low mass, wirelessly controlled actuation and compliant body the design of this crawler has the potential to address the key challenges faced by existing crawling robots. Experimental data were gathered to evaluate the performance of the crawler locomotion in a pipe. The results validated the mathematical models proposed to estimate the distance traveled by the crawler. The crawler shows potential for use in exploration of confined spaces.
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Grigore, Lucian Ștefăniță, Ionica Oncioiu, Iustin Priescu, and Daniela Joița. "Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot." Applied Sciences 11, no. 9 (April 21, 2021): 3757. http://dx.doi.org/10.3390/app11093757.

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Анотація:
Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.
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Більше джерел

Дисертації з теми "Crawler robots"

1

Yevsieiev, V., and S. Shmatko. "Analysis of Crawler Robots." Thesis, International Science Group, 2022. https://openarchive.nure.ua/handle/document/20282.

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Анотація:
The issues of robot equilibrium on the surface oriented to the horizon at different angles are also insufficiently studied. Studying these issues will help determine the critical modes of operation of vertical movement robots and avoid accidents.
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2

Cope, Brian Alexander. "Robotic Platform for Internal Inspection." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/19268.

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Анотація:
This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations.
Master of Science
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3

Carlsson, Niklas. "Improved Omni Tri-Crawler for robotic exploration." Thesis, KTH, Maskinkonstruktion (Inst.), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177193.

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Анотація:
A robot with the purpose of utilizing so-called omnidirectional movement, movement in every direction, to conquer tough obstacles and rough terrain in order to conduct exploration and rescue missions has been developed at the Kaneko-Higashimori Laboratory at Osaka University, Japan. On account of the Japanese space agency JAXA it had now been requested to have an improved version of this so called Omni crawler developed, in order to further improve its terrain capabilites and even allow it to be thrown into an area and still resume its mission without getting stuck. In this project an improved variation of this model, called the Omni Tri-crawler, has been developed as a CAD model and a basic physical model, showing how a robot combining a unique type of tracks and a triangular shape could fulfill these requirements and look and behave.
En robot som har som syfte att utnyttja så kallad omni directional movement, rörelse i alla riktningar, för att övervinna svåra hinder och terräng under utforsknings- och räddningsuppdrag har utvecklats vid Kaneko-Higashimori-laboratoriet vid Osaka University, Japan. På uppdrag av den japanska rymdstyrelsen JAXA önskades det nu att en förbättrad version av denna skulle tas fram, med ännu bättre terrängegenskaper och även förmåga att kunna kastas in i ett område och fortsätta sitt uppdrag utan att fastna. I detta projekt har en sådan förbättrad modell, kallad Omni Tri-crawler, tagits fram i form av en CAD modell och en grundläggande fysisk modell, vilka visar på hur en robot med en unik typ av larvfötter och en triangulär form skulle kunna se ut och prestera.
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4

Matos, Jose Alfonso. "Development of a Body for a Pneumatic Crawler for Radioactive Waste Pipelines." FIU Digital Commons, 2013. http://digitalcommons.fiu.edu/etd/1026.

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The goal of this thesis was to develop a body for a crawler robot to navigate DOE Hanford Site transfer pipelines in a timely fashion. Previous work in pipe crawlers was analyzed and different configurations were studied by this author in order to design a suitable device. Tests were done in CAD to verify the device would fit and be able to travel within the confines of the pipelines’3” inner diameter and 90° elbows with 4.25”radii. Pipelines in Hanford can transition into 2” pipe and this was also taken into consideration when selecting the dimensions for the device. Manufacturing methods and materials were selected in order to ensure minimal cost and time for manufacture. The manufactured device was tested for speed in straight sections and elbows, pulling force, and adaptability to changes in pipe dimension from 3” to 2”. Modifications were made based on test results.
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5

Činčera, Jaroslav. "Pokročilý robot na procházení webu." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2010. http://www.nusl.cz/ntk/nusl-237201.

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Анотація:
This Master's thesis describes design and implementation of advanced web crawler. This crawler can be configured by user and is designed for web browsing according to specified parameters. Can acquire and evaluate content of web pages. Its configuration is performed by creating projects which are consisting of different types of steps. User can create simple action like downloading page, form submission, etc. or can create more complex and larger projects.
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6

Rude, Howard Nathan. "Intelligent Caching to Mitigate the Impact of Web Robots on Web Servers." Wright State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=wright1482416834896541.

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7

Lat, Radek. "Nástroj pro automatické kategorizování webových stránek." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2014. http://www.nusl.cz/ntk/nusl-236054.

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Анотація:
Tato diplomová práce popisuje návrh a implementaci nástroje pro automatickou kategorizaci webových stránek. Cílem nástroje je aby byl schopen se z ukázkových webových stránek naučit, jak každá kategorie vypadá. Poté by měl nástroj zvládnout přiřadit naučené kategorie k dříve nespatřeným webovým stránkám. Nástroj by měl podporovat více kategorií a jazyků. Pro vývoj nástroje byly použity pokročilé techniky strojového učení, detekce jazyků a dolování dat. Nástroj je založen na open source knihovnách a je napsán v jazyce Python 3.3.
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8

Stulce, John R. "Conceptual Design and Simulation of a Multibody Passive-Legged Crawling Vehicle." Diss., Virginia Tech, 2002. http://hdl.handle.net/10919/27304.

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Анотація:
Rugged terrains, including much of the earth's surface, other planets, and many man-made structures, are inaccessible to wheeled and tracked vehicles. This has inspired research into legged vehicles. Prior to the research described here, virtually all legged vehicle designs relied on the concept of mounting actuated leg-type mechanisms onto a single rigid frame or chassis. This dissertation research explores and advances a novel vehicle concept that uses passive legs attached to an actuated multibody structure. This new vehicle moves only its actuated body trunk to achieve locomotion; thus moving in a manner similar to that used by insect larvae known as caterpillars. The passive-legged design is termed a "crawling" vehicle, to differentiate it from "walking" vehicles, which have powered legs. A conceptual design for the proposed vehicle was developed using insights from observations of caterpillar specimen geometry, gaits, leg trajectories, and ranges of motion. The flexible, segmented body of the robot is realized using a series of actuated truss-like mechanisms, resulting in a configuration similar to the body structure of caterpillars. A computer simulation was developed to verify the concept and to assist in creating future designs. This simulation includes a parametric model of the robot structure, an efficient kinematics model, a motion programming method based on six-dimensional parametric cubic trajectories, static stability analysis, actuator velocity and acceleration analysis, wire-frame animations, and rendering, thus providing synthesis and analysis tools for this new class of vehicle. Results of this work show that by using properly designed Stewart-Gough platform mechanisms for the vehicle multibody structure, a range of motion very similar to that of caterpillars is achievable. Simulation tests showed that imitating the caterpillars" primary gait (or stepping sequence) yields superior speed and efficiency, with little reduction of stability, when compared to a simpler, more obvious gait. With proper controls, this crawling vehicle will, like its biological counterpart, be intrinsically stable and have excellent maneuverability over rough terrain. The crawling vehicle is shown to be a viable legged locomotion system that may prove to have superior rough terrain mobility to all previous types of man-made land vehicles.
Ph. D.
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9

Matulionis, Paulius. "Veiksmų ontologijos formavimas panaudojant internetinį tekstyną." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2012. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2012~D_20120620_113255-46777.

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Анотація:
Šio baigiamojo magistro darbo tikslas yra veiksmų ontologijos formavimo panaudojant automatiniu būdu sukauptą internetinį tekstyną problematikos tyrimas. Tyrimo metu buvo analizuojami tekstynų žymėjimo standartai, sukauptas internetinis tekstynas, pasitelkiant priemones sukurtas darbo metu. Tyrimo metu buvo kuriamos ir tobulinamos jau esamos priemonės atlikti įvairius eksperimentus su tekstynais, duomenų sisteminimu, vaizdavimu ir ontologijos formavimu. Buvo sukurta procesų valdymo sistema, kuri buvo realizuota nuo front-end iki back-end sistemos kūrimo lygiu. Darbe yra pateikiamos detalios sistemos ir jos komponentų schemos atspindinčios visą sistemos veikimą. Tyrimo metu buvo atlikti eksperimentai susiję su veiksmų ontologijos formavimu. Darbe yra aprašyti ontologijos kūrimo žingsniai, pateikiamos problemos ir jų sprendimai bei pasiūlymai, ką galima būtų padaryti, kad eksperimentų rezultatai būtų dar tikslesni. Taip pat yra įvardinamos taisyklės, kurios buvo naudojamos reikalingų duomenų gavimui iš sukaupto tekstyno, taip pat taisyklės buvo apibendrintos ir pateiktos sukurtoms priemonėms suprantamu pavidalu.
The goal of the master thesis is to investigate the problem of the automated action ontology design using a corpus harvested from internet. A software package including tools for internet corpus harvesting, network service access, markup, ontology design and representation was developed and tested in the carried out experiment. A process management system was realized covering both front-end and the back-end system design levels. Detailed system and component models are presented, reflecting all the operations of the system. The thesis presents the results of experiments on building ontologies for several selected action verbs. Ontology building process is described, problems in recognizing separate elements of the action environment are analysed, suggestions on additional rules leading to more accurate results, are presented. Rules have been summarized and integrated into the designed software package.
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10

Ingvast, Johan. "Quadruped robot control and variable leg transmissions." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-600.

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Книги з теми "Crawler robots"

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Santat, Dan. Ricky Ricotta's Mighty Robot vs the Naughty Night-Crawlers from Neptune. Scholastic, 2016.

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Частини книг з теми "Crawler robots"

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Yokota, Sho, Kuniaki Kawabata, Pierre Blazevic, and Hisato Kobayashi. "Study on Mobility of Connected Crawler Robot by Using GA." In Climbing and Walking Robots, 123–30. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_14.

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2

Gu, Nan-Jiang, and Zhong-Bin Liu. "Dynamics Modeling and Analysis of Compaction Force of Crawler on Cone Lamp Pole." In Advances in Reconfigurable Mechanisms and Robots I, 189–95. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_18.

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3

Bonato, Anthony, Rita M. del Río-Chanona, Calum MacRury, Jake Nicolaidis, Xavier Pérez-Giménez, Paweł Prałat, and Kirill Ternovsky. "The Robot Crawler Number of a Graph." In Lecture Notes in Computer Science, 132–47. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-26784-5_11.

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4

Allen, Joseph, Skye Rutan-Bedard, and Hadi Fekrmandi. "Robotic Inspection Crawler for Small Diameter Complex Piping." In Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics, 298–309. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-43929-3_26.

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Chen, Jan-Min. "A Crawler Guard for Quickly Blocking Unauthorized Web Robot." In Cyberspace Safety and Security, 1–13. Cham: Springer International Publishing, 2013. http://dx.doi.org/10.1007/978-3-319-03584-0_1.

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Morecki, Adam, and Teresa Zielińska. "Locomotion of a Machine of a Static Crawler Type: Gait Modelling." In Advanced Robotics: 1989, 664–75. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-83957-3_45.

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Li, Zhengtao, and Xiaoxia Liu. "Adaptive Sliding Mode Control of Crawler Robot Based on Fuzzy Neural Network." In The 2021 International Conference on Machine Learning and Big Data Analytics for IoT Security and Privacy, 152–60. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-89508-2_20.

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Liu, Cheng, Xiuli Zhang, Dongdong Li, and Kunling Zhou. "A Flexible-Waist Quadruped Robot Imitating Infant Crawl." In Advances in Reconfigurable Mechanisms and Robots I, 455–63. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_41.

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Davidson, A., and A. Ganesh. "The Robot Crawler Model on Complete k-Partite and Erdős-Rényi Random Graphs." In Lecture Notes in Computer Science, 57–70. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-25070-6_5.

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Iizuka, Kojiro, Hirofumi Komatsu, and Takashi Kubota. "Development of Crawler Robot with Pile Units to Traverse Loose Soil with Steep Slope." In Advances in Intelligent Systems and Computing, 169–78. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37374-9_17.

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Тези доповідей конференцій з теми "Crawler robots"

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Morimoto, Tatsuhiro, Nariaki Hirata, Kohei Ono, Naoto Mizutani, Hirokazu Matsui, and Ken’ichi Yano. "Turning Control on a Slope Based on a Vehicle Posture for a Tracked Vehicle." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-70313.

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Анотація:
Robots have been developed because it can provide many kind of support for human motion and work. Here, we focus on the use of robots in agriculture including orchards. We developed a crawler vehicle that can be stably run up slopes and over irregular ground. The crawler vehicle is a simple mechanism like those used in construction, and its running performance is very high. These vehicles can execute turns by revolving the left and right crawlers differently and with slip. Turning on a slope can cause slippage. However, making narrow turns is required in agriculture. The purpose of this study was to investigate how to prevent slippage in crawler vehicles when turning on a slope. We derived a vehicle model for driving speed ratio of the crawler vehicle turning radius, and the left and right crawlers in turning operations. As the result, we propose an approach to prevent a slipping by intervening in the input reference based on vehicle posture information. Finally, we demonstrated the effectiveness of the proposed method using a developed crawler vehicle.
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Watanabe, Ayaka, Masayuki Okugawa, Katsuji Ogane, Tetsuya Kimura, Tetsuya Kinugasa, and Yoshikazu Ohtsubo. "Effect of Compliance on Ground Adaptability of Crawler Mobile Robots with Sub-Crawlers." In 2020 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2020. http://dx.doi.org/10.1109/sii46433.2020.9026250.

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Sliker, Levin J., Jonathan A. Schoen, and Mark E. Rentschler. "Preliminary In Vivo Capsule Crawler Mobility." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28769.

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Despite revolutionary advances in many fields of medicine, there are no active mobile in vivo devices commercially available, or in use, today. Several research groups are actively looking at a number of mobility methods in a number of lumens, but little commercial work has been done. While robotic surgery is available today thanks to robots such as the da Vinci surgical system, these methods are very expensive, require heavy external equipment, and are still constrained by entry incisions. An alternative approach may be to place the robot completely inside the patient. Such devices may enable non-invasive imaging and diagnostics. These devices may be significantly less expensive than current minimally invasive methods, without extensive support equipment, which may allow them to be also used routinely in the ER/trauma sites and remote locations. This paper explores using mobile capsule crawlers inside the body. Preliminary designs are discussed, and current research efforts into providing contact locomotion using micro-tread tracks are explored including initial drawbar force generation experimental results.
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YOKOTA, Sho, Yasuhiro OHYAMA, Hiroshi HASHIMOTO, Jin-Hua SHE, Kuniaki KAWABATA, Hisato KOBAYASHI, and Pierre BLAZEVIC. "Autonomous Climbing Motions for Connected Crawler Robots." In Proceedings of 10th International Conference (CLAWAR 2007). WORLD SCIENTIFIC, 2007. http://dx.doi.org/10.1142/9789812770189_0010.

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Senuma, Takatoo, Motohiro Yasuda, Nobuto Matsuhira, and Hideyuki Nisawa. "Development of a teleoperated multiple crawler robotic system using robot service network protocol — Basic experiments by two crawler robots." In 2017 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2017. http://dx.doi.org/10.1109/sii.2017.8279257.

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Tavakoli, Reza, and Pouya Kamalinejad. "Development of Tethered Flying Robots with PAUT Capabilities for C-Scan and In-Service Inspection Mini-Crawler/Uav: Marsupial Robotic Approach." In Offshore Technology Conference. OTC, 2022. http://dx.doi.org/10.4043/31854-ms.

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Abstract Avestec has successfully developed proprietary contact-based flying robots (SKYRON™) for ultrasonic (UT) A scan measurement of metallic surfaces. The technology has been successfully validated with many asset owners in onshore and offshore industrial campaigns. Although the flying contact-based robot can easily access most asset surfaces to perform inspections, it has some limitations when it comes to challenging and dense spaces. Such shortcoming is exasperated specially for pipe inspection in offshore environments. Pipes are usually located in the vicinity of one another or in close proximity to walls or other structures, which makes it practically impossible for an unmanned aerial vehicle (UAV) to reach to every side of the pipe and carry out circumferential (3/6/9/12) measurement as needed. In order to enhance the advantages of contact-based aerial robots and overcome the aforementioned limitations, a marsupial robotic methodology has been followed by means of combining the proprietary contact-based UAV and a custom omni-directional mini crawler in a collaborative robotics fashion. An advanced marsupial connection between the two robots both in terms of mechanical (e.g., carrier/passenger roles) and control mechanism (e.g. master/slave roles) and versatility of the task deliveries can potentially introduce a lot of advantages over a single flying robot for asset inspection. In addition, Phased Array Ultrasonic (PAUT) sensory package has been integrated into the marsupial robot to expand NDT capabilities for inspection including thickness measurements, corrosion mapping, defect detection (e.g. such as cracks, voids, and pits caused by corrosion), weld inspection and many more.
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Mehrandezh, M., H. Najjaran, R. Paranjape, and S. Poozesh. "Dynamic analysis and control of a robotic pipe crawler." In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2008. http://dx.doi.org/10.1109/iros.2008.4651237.

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Quan, Qiquan, and Shugen Ma. "A modular crawler-driven robot: Mechanical design and preliminary experiments." In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). IEEE, 2009. http://dx.doi.org/10.1109/iros.2009.5354146.

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Tadakuma, K., R. Tadakuma, K. Nagatani, K. Yoshida, S. Peters, M. Udengaard, and K. Iagnemma. "Crawler vehicle with circular cross-section unit to realize sideways motion." In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2008. http://dx.doi.org/10.1109/iros.2008.4651223.

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NAGASE, JUN-YA, KOICHI SUZUMORI, and NORIHIKO SAGA. "DEVELOPMENT OF WORM-RACK DRIVEN CYLINDRICAL CRAWLER UNIT." In Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2013. http://dx.doi.org/10.1142/9789814525534_0042.

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Звіти організацій з теми "Crawler robots"

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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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