Fatigue life and self-induced volumetric changes of CARDIFRC

A class of ultra-high-performance fibre-reinforced cementitious composites (UHPFRCC) has been developed at Cardiff university and registered under the trade name CARDIFRC. The method of its production and its mechanical and fracture properties were reported previously in a series of papers in Magazine of Concrete Research. Here the results of recent fatigue and shrinkage tests on this material are reported. As with the mechanical and fracture properties, it is shown that an even and uniform distribution of fibres throughout the bulk of the material is crucial to its superior fatigue performance and to the reduction in the shrinkage strains. © 2010 Thomas Telford Ltd.

Durability indicators of SCC towards performance-based specifications for the durability of SCC

The fundamental principle behind the development of SCC has been the nanoscale tailoring of cementitious matrices. Although self-compacting concrete (SCC) is currently used in many countries, there is a fundamental lack of the intrinsic durability of the material itself. The scope of the current paper is to present the outcomes of a research study on some principal indicators (porosity and capillary absorption) that define the durability of SCC, and how these are compared with the corresponding parameters of conventional concrete. Furthermore, this paper investigates the addition of industrial by-products, such as fly-ash or lime powder, to SCC mixtures and their effect on the durability indicators.

Climbing vertical terrains with a self-contained robot

Vertical climbing on a variety of flat surfaces with a single robot has been previously demonstrated using vacuum suction, electrostatic adhesion, and biologically inspired approaches, etc. These methods generally have a low attachment strength, and it is not clear whether they can provide satisfactory attachment on vertical terrains with richer 3D features. Recent development of a climbing technology based on hot melt adhesives (HMAs) has shown its advantage with a high attachment strength through thermal bonding and viability to any solid surfaces. However, its feasibility for vertical climbing has only been proven on flat surfaces and with external energy supplies. This paper provides quantitative measurements for vertical climbing performance on five types of surfaces and terrains with a self-contained robot exploiting HMAs. We show that robust vertical climbing on multiple terrains can be achieved with reliable high-strength attachment. © 2012 IEEE.

Towards soft self-reconfigurable robots

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of soft self-reconfigurable robots which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts. © 2012 IEEE.