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H.M.C.W.B.Herath,H.M.S.Herath,S.W.Sumangala,Oscar de Silva,Damith Chathuranga,Thilina Dulantha Lalitharatne 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Multirotor Aerial Vehicles (MAVs) have a problem with their persistent functioning over the years because of their less flight time compared to the charging time. This is caused by two facts. One is the large power requirement of the flight control systems, and the second is the limitations in the battery capacity. To overcome the problem of less persistent functioning of MAVs, this paper introduces a battery charging and swapping station which swaps the depleted battery of a MAV to a recharged battery while keeping the MAV in its active state to protect the mission parameters and data to operate continuously. Considering the heterogeneity of MAV designs, the designed station works in a way where the depleted battery is automatically recharged after it is swapped to the station. In this paper, design considerations, design steps and implementation process are discussed. A set of experiments are carried out to validate the effectiveness of the proposed system and results are presented with potential future improvements.
Design and Development of a Novel Bio-inspired Worm-type Soft Robot for In-pipe Locomotion
Jalitha I. Dewapura,Pasindu S. Hemachandra,Tharindu Dananjaya,W.V.I. Awantha,Ashan T. Wanasinghe,Asitha L. Kulasekera,Damith S. Chathuranga,V.P.C. Dassanayake 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
The following paper presents the concept of an earthworm like soft robot for pipe crawling for the inspection of tubes and its design, development, and fabrication process. The soft robot was designed to help in preventing accidents in the industry caused due to faulty pipelines as conventional robots are unable to move through pipes efficiently. The proposed design employs a combination of two radial and one linear actuator fabricated using Ecoflex 00-30 to execute its worm-type locomotion. The radial actuators grip the walls of the pipe while the linear actuator traverses the robot forward. The robot, measuring 240mm in length and 68mm in diameter, was simulated for the expected results and tested in an experimental setup. Experiments were conducted to evaluate the blocked force and radial displacement of the radial actuator, and the linear displacement of the linear actuator against the pressure applied. The experimentation shows that the blocked force is sufficient to grip the tube preventing slip while a significant variation in radial displacement is observed at moderate pressures. The experiments conclude that the optimal usage parameters of the robot is an optimal operating pressure of 20kPa with a speed of 14.4 mm/s.