Purpose -The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces. Design/methodology/approach -The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot. Findings -The paper shows that the new design provides a reliable and high-performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.Research limitations/implications -In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned. Practical implications -The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small-lot production of the robots TITO 500. Originality/value -A new design has been developed for a high-performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.

Critical care units are equipped with commercial monitoring devices capable of sensing patients’ physiological parameters and supervising the achievement of the established therapeutic goals. This avoids human errors in this task and considerably decreases the workload of the healthcare staff. However, at present there still is a very relevant physiological parameter that is measured and supervised manually by the critical care units’ healthcare staff: urine output. This paper presents a patent-pending device capable of automatically recording and supervising the urine output of a critical care patient. A high precision scale is used to measure the weight of a commercial urine meter. On the scale’s pan there is a support frame made up of Bosch profiles that isolates the scale from force transmission from the patient’s bed, and guarantees that the urine flows properly through the urine meter input tube. The scale’s readings are sent to a PC via Bluetooth where an application supervises the achievement of the therapeutic goals. The device is currently undergoing tests at a research unit associated with the University Hospital of Getafe in Spain.

In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the foot/feet against the ground during robot locomotion. Zero moment point based mathematical models are developed to establish a relationship between the robot state variables and the stability margin of the foot (feet) contact surface and the supporting ground. Then, in correspondence with the developed dynamical model and its associated uncertainty, and in the presence of non-modeled robot mechanical structure vibration modes, we propose a robust control architecture that uses two cascade regulators. The overall robust control system consists of a nonlinear robust variable structure controller in an inner feedback loop for joint trajectory tracking, and an H∞ linear robust regulator in an outer, direct zero moment point feedback loop to ensure the foot-ground contact stability. The effectiveness of this cascade controller is evaluated using a simplified prototype of a nonlinearly actuated biped robot in double support placed on top of a one-degree-of-freedom mobile platform and subjected to external disturbances. The achieved experimental results have revealed that the simplified prototype is successfully stabilized.

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