Gamma-ray irradiation test of electric components of rescue mobile robot Quince

Nagatani, Keiji; Kiribayashi, Seiga; Okada, Yoshito; Otake, Kazuki; Yoshida, Kazuya; Tadokoro, Satoshı; Nishimura, Takeshi; Yoshida, Tomoaki; Koyanagi, Eiji; Fukushima, Mineo; Kawatsuma, Shinji

doi:10.1109/ssrr.2011.6106756

Cited by 52 publications

(32 citation statements)

References 1 publication

(1 reference statement)

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“…Generally, the radiation effect on electrical circuits in robotic systems has been weil studied [8]- [10]; however, the radiation effect on the performance of robot motor system has never been weil studied before. A robot joint usually consist ofDC motor, speed reducer and associated controller.…”

Section: Raymond (Lei) Cao Mechanical and Aerospace Engineeringmentioning

confidence: 99%

Analysis of radiation effects on DC motorized manipulator

Wang

Zheng

et al. 2016

2016 2nd International Conference on Control, Automation and Robotics (ICCAR)

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Robots have great potential in substituting human beings for operation in hazard environments, such as the scenario under radiation. Previously, we have studied the magnet demagnetization within the DC motor. In this paper, we merge this effect and apply a stochastic model in DC motor modelling. The stochastic DC motor model captures the possible radiation damage to the motor performance. Once the damage occurs, the DC motor model is deterministic. Position control performances of the normal and irradiated DC motor are compared. Finally a three degree-of-freedom (DOF) manipulator is chosen to analyse the motion difference due to radiation.

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Section: Raymond (Lei) Cao Mechanical and Aerospace Engineeringmentioning

confidence: 99%

Analysis of radiation effects on DC motorized manipulator

Wang

Zheng

et al. 2016

2016 2nd International Conference on Control, Automation and Robotics (ICCAR)

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“…These large-scale machines are difficult to use in such narrow environments, so on-site workers currently engage in such work. A broad area by radioactivity caused by the Great East Japan Earthquake still remains untouched because both current robots and humans cannot enter [10]. Thus, disaster response robots must be able to be deployed in arbitrary environments; therefore, we need to systematize a design principle of disaster response robots depending on the environment.…”

Section: Introductionmentioning

confidence: 99%

Design of four-arm four-crawler disaster response robot OCTOPUS

Kamezaki

Ishii

Ishida

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

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“…In many cases, however, detailed information cannot be obtained or it takes a long time even if sufficient information can be obtained. To assist in these tasks, data collection technologies such as threedimensional mapping for planning restoration strategies, [4,5] unmanned aerial vehicles for observing the scale of damage, [6,7] and small crawler robots for measuring radiation [8] have been developed. Phase 2: Emergency work.…”

Section: Introductionmentioning

confidence: 99%

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

2014

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A practical operator support system for disaster response work using construction machinery is applied to object-break operations using a dual-arm machine. An object-break operation, which separates an object into two different parts by applying massive pulling force, requires skillful force and trajectory controls. Operators typically have trouble visually perceiving the movement of the manipulator because the target object is strongly restrained. As a result, after the object has been separated into two pieces, the operator may continue performing lever operations because of unavoidable perception reaction time and the manipulator may collide with the surrounding environment. A control input cancellation system based on object-break identification is proposed to reduce the time difference between the object break and operation stoppage. A support system for disaster response situations must be safe and efficient and accommodate operators with various skill levels; thus, common physical phenomena related to the object breakage should be exploited. The system cancels control inputs to stop the movement of the manipulator when an object-break flag is detected, which is defined as a situation where the force applied to each joint of a manipulator decreases rapidly when a lever operation and load on the inside of the grapple are detected. Demolition experiments were conducted using a hydraulic dual-arm system. The results indicate that the displacement of the end-point after the object breaks is greatly decreased and the completion time of the task is reduced as well.

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Gamma-ray irradiation test of electric components of rescue mobile robot Quince

Cited by 52 publications

References 1 publication

Analysis of radiation effects on DC motorized manipulator

Analysis of radiation effects on DC motorized manipulator

Design of four-arm four-crawler disaster response robot OCTOPUS

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

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