Design considerations for attachment and detachment in robot climbing with hot melt adhesives

Robust climbing in unstructured environments is a long-standing challenge in robotics research. Recently there has been an increasing interest in using adhesive materials for that purpose. For example, a climbing robot using hot melt adhesives (HMAs) has demonstrated advantages in high attachment strength, reasonable operation costs, and applicability to different surfaces. Despite the advantages, there still remain several problems related to the attachment and detachment operations, which prevent this approach from being used in a broader range of applications. Among others, one of the main problems lies in the fact that the adhesive characteristics of this material were not fully understood fin the context of robotic climbing locomotion. As a result, the previous robot often could not achieve expected locomotion performances and "contaminated" the environment with HMAs left behind. In order to improve the locomotion performances, this paper focuses on attachment and detachment operations in robot climbing with HMAs. By systematically analyzing the adhesive property and bonding strength of HMAs to different materials, we propose a novel detachment mechanism that substantially improves climbing performances without HMA traces. © 2012 IEEE.

Robotic body extension based on hot melt adhesives

The capability of extending body structures is one of the most significant challenges in the robotics research and it has been partially explored in self-reconfigurable robotics. By using such a capability, a robot is able to adaptively change its structure from, for example, a wheel like body shape to a legged one to deal with complexity in the environment. Despite their expectations, the existing mechanisms for extending body structures are still highly complex and the flexibility in self-reconfiguration is still very limited. In order to account for the problems, this paper investigates a novel approach to robotic body extension by employing an unconventional material called Hot Melt Adhesives (HMAs). Because of its thermo-plastic and thermo-adhesive characteristics, this material can be used for additive fabrication based on a simple robotic manipulator while the established structures can be integrated into the robot's own body to accomplish a task which could not have been achieved otherwise. This paper first investigates the HMA material properties and its handling techniques, then evaluates performances of the proposed robotic body extension approach through a case study of a "water scooping" task. © 2012 IEEE.

Scaling of velocity fluctuations in off-wall boundary conditions for turbulent flows

A model for off-wall boundary conditions for turbulent flow is investigated. The objective of such a model is to circumvent the need to resolve the buffer layer near the wall, by providing conditions in the logarithmic layer for the overlying flow. The model is based on the self-similarity of the flow at different heights in the logarithmic layer. It was first proposed by Mizuno and Jiménez (2013), imposing at the boundary plane a velocity field obtained on-the-fly from an overlying region. The key feature of the model was that the lengthscales of the field were rescaled to account for the self-similarity law. The model was successful at sustaining a turbulent logarithmic layer, but resulted in some disagreements in the flow statistics, compared to fully-resolved flows. These disagreements needed to be addressed for the model to be of practical application. In the present paper, a more refined, wavelength-dependent rescaling law is proposed, based on the wavelength-dependent dynamics in fully-resolved flows. Results for channel flow show that the new model eliminates the large artificial pressure fluctuations found in the previous one, and a better agreement is obtained in the bulk properties, the flow fluctuations, and their spectral distribution across the whole domain. © Published under licence by IOP Publishing Ltd.

Numerical analyses of tunnel-induced settlement damage to a masonry wall

Settlements due to underground construction represent a risk for the architectural heritage, especially in The Netherlands, because of the combination of soft soil, fragile pile foundation and brittle, un-reinforced masonry façade. Modelling of soil-structure interaction is fundamental to assess the risk of building damage due to tunnelling. This paper presents results of finite element analyses carried out with different models for a simple masonry wall. Focus is paid on the comparison between coupled, uncoupled and semi-coupled analyses, in which the soil-structure interaction is represented in different ways. In particular, the implementation of a soil-structure interface model in the numerical analyses is analysed, in order to asses its validity. The aim of the research project is the development of a damage classification system for different building typologies.