Epi.q Mobile Robots Family

2011 ◽  
Author(s):  
Giuseppe Quaglia ◽  
Luca Bruzzone ◽  
Riccardo Oderio ◽  
Roberto P. Razzoli
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Energetic Efficiency ◽  
Modular Approach ◽  
Mobility Performance ◽  
Control Intervention ◽  
The Family ◽  
Under Construction ◽  
Positive Results

The family of Epi.q mobile robots is based on a three-wheeled locomotion unit which is capable of switching between wheeled locomotion and legged locomotion depending on the dynamic conditions, without control intervention. This feature allows to conjugate the benefits of both the locomotion modes: high speed and energetic efficiency on even terrains with the wheeled locomotion, and mobility performance on uneven terrains and in presence of obstacles with the legged locomotion. Two prototypes of the Epi.q family have been already realized and tested, with positive results; a further evolution with four actuated locomotion units (instead of two active and two idle units) is currently under construction. The present paper outlines the evolution of the family of Epi.q mobile robots and proposes several possible architectural evolutions exploiting a modular approach; this approach could be used also to simplify the design phase, obtaining different mobile robots from a limited set of base modules.

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2015 ◽  
pp. 567-630
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Improve Performance ◽  
Obstacle Crossing ◽  
Low Speed ◽  
Pitch Control ◽  
High Speeds ◽  
Hybrid Locomotion

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals Influence of Hydrogeochemistry on Tunnel Drainage in Evaporitic Formations: El Regajal Tunnel Case Study (Aranjuez, Spain)

2021 ◽  
Vol 13 (3) ◽  
pp. 1505
Author(s):  
Ignacio Menéndez Pidal ◽  
Jose Antonio Mancebo Piqueras ◽  
Eugenio Sanz Pérez ◽  
Clemente Sáenz Sanz
Keyword(s):  
High Speed ◽  
Civil Engineering ◽  
Saturation Index ◽  
The Subject ◽  
Under Construction ◽  
Underground Flow ◽  
Very High ◽  
Over Time

Many of the large number of underground works constructed or under construction in recent years are in unfavorable terrains facing unusual situations and construction conditions. This is the case of the subject under study in this paper: a tunnel excavated in evaporitic rocks that experienced significant karstification problems very quickly over time. As a result of this situation, the causes that may underlie this rapid karstification are investigated and a novel methodology is presented in civil engineering where the use of saturation indices for the different mineral specimens present has been crucial. The drainage of the rock massif of El Regajal (Madrid-Toledo, Spain, in the Madrid-Valencia high-speed train line) was studied and permitted the in-situ study of the hydrogeochemical evolution of water flow in the Miocene evaporitic materials of the Tajo Basin as a full-scale testing laboratory, that are conforms as a whole, a single aquifer. The work provides a novel methodology based on the calculation of activities through the hydrogeochemical study of water samples in different piezometers, estimating the saturation index of different saline materials and the dissolution capacity of the brine, which is surprisingly very high despite the high electrical conductivity. The circulating brine appears unsaturated with respect to thenardite, mirabilite, epsomite, glauberite, and halite. The alteration of the underground flow and the consequent renewal of the water of the aquifer by the infiltration water of rain and irrigation is the cause of the hydrogeochemical imbalance and the modification of the characteristics of the massif. These modifications include very important loss of material by dissolution, altering the resistance of the terrain and the increase of the porosity. Simultaneously, different expansive and recrystallization processes that decrease the porosity of the massif were identified in the present work. The hydrogeochemical study allows the evolution of these phenomena to be followed over time, and this, in turn, may facilitate the implementation of preventive works in civil engineering.

High-speed hazard avoidance for mobile robots in rough terrain

2004 ◽  
Author(s):  
Matthew J. Spenko ◽  
Karl D. Iagnemma ◽  
Steven Dubowsky
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Rough Terrain ◽  
Hazard Avoidance

Polysomatic series in the structures of complex cuprates

1999 ◽  
Vol 55 (4) ◽  
pp. 628-634 ◽  
Author(s):  
L. Leonyuk ◽  
G.-J. Babonas ◽  
V. Maltsev ◽  
V. Rybakov
Keyword(s):  
Structural Analysis ◽  
Classification Scheme ◽  
Modular Approach ◽  
The Family ◽  
Layered Cuprates

The modular approach was applied to analyse the structure of complex cuprates. The modular series of various types were distinguished in the family of layered cuprates making use of the classification scheme in a fragment approximation developed earlier. The polysomatic series were revealed in the groups of cuprates which were expected to possess the properties of both salt and oxide. The structure of the ladder-type cuprates was analysed in more detail. The present study has shown that the polysomatic model can be efficiently applied to the structural analysis of complex cuprates.

scholarly journals SUBSIDENCE EVALUATION OF HIGH-SPEED RAILWAY IN SHENYANG BASED ON TIME-SERIES INSAR

2018 ◽  
Vol IV-3 ◽  
pp. 273-276
Author(s):  
Yun Zhang ◽  
Lianhuan Wei ◽  
Jiayu Li ◽  
Shanjun Liu ◽  
Yachun Mao ◽  
...  
Keyword(s):  
Time Series ◽  
High Speed ◽  
Cross Validation ◽  
Surface Deformation ◽  
Local Environment ◽  
Local Area ◽  
Safe Operation ◽  
High Speed Rail ◽  
High Speed Railway ◽  
Under Construction

More and more high-speed railway are under construction in China. The slow settlement along high-speed railway tracks and newly-built stations would lead to inhomogeneous deformation of local area, and the accumulation may be a threat to the safe operation of high-speed rail system. In this paper, surface deformation of the newly-built high-speed railway station as well as the railway lines in Shenyang region will be retrieved by time series InSAR analysis using multi-orbit COSMO-SkyMed images. This paper focuses on the non-uniform subsidence caused by the changing of local environment along the railway. The accuracy of the settlement results can be verified by cross validation of the results obtained from two different orbits during the same period.

scholarly journals High-speed laser localization for mobile robots

2005 ◽  
Vol 51 (4) ◽  
pp. 275-296 ◽  
Author(s):  
Kai Lingemann ◽  
Andreas Nüchter ◽  
Joachim Hertzberg ◽  
Hartmut Surmann
Keyword(s):  
Mobile Robots ◽  
High Speed
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