2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism.

This paper introduces a novel design and static optimization for a two-degrees-of-freedom transformable wheel based on a geared linkage mechanism. Overcoming obstacles, including stairs, with small wheels is a major challenge in the field of mobile robotics research. Among various robots, the transformable wheel, which can change the shape of the wheel to overcome steps and optimize the path, was presented and has undergone many improvements. Nevertheless, problems such as asymmetry and structural strength remain. Therefore, the design of this paper aims to address the structural inefficiencies identified in the previous research model, which were attributed to the asymmetric placement of the linear motion guide. Through the implementation of this mechanism, the linear motion of the lobe can be segregated, enabling each input motor to share the workload effectively. The optimization process focus on determining the optimal linkage length under static conditions, resulting in improved structural characteristics and force distribution of linkage within the designated workspace. As a result, asymmetry of motion is eliminated, required intervention angle of the driving motor and stress of linkage was reduced by 36.24% and 8.35%, respectively.

Examining the mechanics of rope bending over a three-dimensional edge in ascending robots.

This paper presents the analysis of ropes' bending on three-dimension edges by ascending robots. A rope ascending robot (RAR) is a type of exterior wall-working robot that utilizes a synthetic rope to traverse the outer surface of a building. Rope-based façade cleaning robots demonstrate effective performance in well-structured buildings. However, in unstructured buildings, the rope used by these robots may become entangled or caught on various structures, presenting a significant challenge for their operation. If the rope becomes caught on a structure, the robot will be unable to move to its intended position. In more severe cases, the rope may become damaged, leading to potential failure or even a fall of the robot. Therefore, solving this problem is crucial for safe and efficient robot operation. Consequently, this study defines the issue of the rope becoming caught on a structure as a rope-locking problem and analyzes it by categorizing it based on the dimensions of contact between the rope and the edge. To address the varying tension experienced in different areas, the rope was divided into micro units and subjected to a three-dimensional analysis to resolve the rope-locking problem. Additionally, the analysis was verified by experiments.

Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing.

This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future.

Detection method for transparent window cleaning device, image processing approach.

Recent years, there has been an increase in the number of high-rise buildings, and subsequently, the interest in external wall cleaning methods has similarly increased. While a number of exterior wall cleaning robots are being developed, a method to detect contaminants on the exterior walls is still required. The exteriors of most high-rise buildings today take the form of a window curtain-wall made of translucent glass. Detecting dust on translucent glass is a significant challenge. Here, we have attempted to overcome this challenge using image processing, inspired by the fact that people typically use just the 'naked eye' to recognize dust on windows. In this paper, we propose a method that detects dust through simple image processing techniques and estimates its density. This method only uses processing techniques that are not significantly restricted by global brightness and background, making it easily applicable in outdoor conditions. Dust separation was performed using a median filter, and dust density was estimated through a mean shift analysis technique. This dust detection method can perform dust separation and density estimation using only an image of the dust on a translucent window with blurry background.

Wafer-Scale Unidirectional Alignment of Supramolecular Columns on Faceted Surfaces.

The long-range alignment of supramolecular structures must be engineered as a first step toward advanced nanopatterning processes aimed at miniaturizing features to dimensions below 5 nm. This study introduces a facile method of directing the orientation of supramolecular columns over wafer-scale areas using faceted surfaces. Supramolecular columns with features on the sub-5 nm scale were highly aligned in a direction orthogonal to that of the facet patterning on unidirectional and nanoscopic faceted surface patterns. This unidirectional alignment of supramolecular columns is also observed by varying the thickness of the supramolecular film or by altering the dimensions of the facet pattern. The ordering behavior of the supramolecular columns can be attributed to the triangular depth profile of the bottom facet pattern. Furthermore, this directed self-assembly principle allows for the continuous alignment of supramolecular structures across ultralarge distances on flexible patterned substrates.

Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation.

Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard's bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard's lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail' motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard's undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard's undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators.

Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot.

This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the previous PD control ensures stable hovering motion within a certain ranges of tilting speed, a PD-SMC is suggested in this paper by combining PD control with sliding mode control in order to achieve acceptable hovering performance even at the much lower tilting speeds. Also, the sign function in the sliding mode control is replaced by a sigmoid function to reduce undesired chattering. Simulations show that while PD control is effective only for tilting duration of 600 ms, the PD-based sliding mode control can guarantee the stable hovering motion of underwater robot even for the tilting duration of up to 1500 ms. Extensive experimental results confirm the hovering performance of the proposed PD-SMC method is much superior to that of PD method for much larger tilting durations.