A survey of technologies and applications for climbing robots locomotion and adhesion

The interest in the development of climbing robots has grown rapidly in the last years. Climbing robots are useful devices that can be adopted in a variety of applications, such as maintenance and inspection in the process and construction industries. These systems are mainly adopted in places where direct access by a human operator is very expensive, because of the need for scaffolding, or very dangerous, due to the presence of an hostile environment. The main motivations are to increase the operation efficiency, by eliminating the costly assembly of scaffolding, or to protect human health and safety in hazardous tasks. Several climbing robots have already been developed, and other are under development, for applications ranging from cleaning to inspection of difficult to reach constructions. A wall climbing robot should not only be light, but also have large payload, so that it may reduce excessive adhesion forces and carry instrumentations during navigation. These machines should be capable of travelling over different types of surfaces, with different inclinations, such as floors, walls, or ceilings, and to walk between such surfaces (Elliot et al. (2006); Sattar et al. (2002)). Furthermore, they should be able of adapting and reconfiguring for various environment conditions and to be self-contained. Up to now, considerable research was devoted to these machines and various types of experimental models were already proposed (according to Chen et al. (2006), over 200 prototypes aimed at such applications had been developed in the world by the year 2006). However, we have to notice that the application of climbing robots is still limited. Apart from a couple successful industrialized products, most are only prototypes and few of them can be found in common use due to unsatisfactory performance in on-site tests (regarding aspects such as their speed, cost and reliability). Chen et al. (2006) present the main design problems affecting the system performance of climbing robots and also suggest solutions to these problems. The major two issues in the design of wall climbing robots are their locomotion and adhesion methods. With respect to the locomotion type, four types are often considered: the crawler, the wheeled, the legged and the propulsion robots. Although the crawler type is able to move relatively faster, it is not adequate to be applied in rough environments. On the other hand, the legged type easily copes with obstacles found in the environment, whereas generally its speed is lower and requires complex control systems. Regarding the adhesion to the surface, the robots should be able to produce a secure gripping force using a light-weight mechanism. The adhesion method is generally classified into four groups: suction force, magnetic, gripping to the surface and thrust force type. Nevertheless, recently new methods for assuring the adhesion, based in biological findings, were proposed. The vacuum type principle is light and easy to control though it presents the problem of supplying compressed air. An alternative, with costs in terms of weight, is the adoption of a vacuum pump. The magnetic type principle implies heavy actuators and is used only for ferromagnetic surfaces. The thrust force type robots make use of the forces developed by thrusters to adhere to the surfaces, but are used in very restricted and specific applications. Bearing these facts in mind, this chapter presents a survey of different applications and technologies adopted for the implementation of climbing robots locomotion and adhesion to surfaces, focusing on the new technologies that are recently being developed to fulfill these objectives. The chapter is organized as follows. Section two presents several applications of climbing robots. Sections three and four present the main locomotion principles, and the main "conventional" technologies for adhering to surfaces, respectively. Section five describes recent biological inspired technologies for robot adhesion to surfaces. Section six introduces several new architectures for climbing robots. Finally, section seven outlines the main conclusions.

Climbing robots: a survey of technologies and applications

The interest in the development of climbing robots is growing rapidly. Motivations are typically to increase the operation efficiency by obviating the costly assembly of scaffolding or to protect human health and safety in hazardous tasks. Climbing robots are starting to be developed for applications ranging from cleaning to inspection of difficult to reach constructions. These robots should be capable of travelling on different types of surfaces, with varying inclinations, such as floors, walls, ceilings, and to walk between such surfaces. Furthermore, these machines should be capable of adapting and reconfiguring for various environment conditions and to be self-contained. Regarding the adhesion to the surface, they should be able to produce a secure gripping force using a light-weight mechanism. This paper presents a survey of different applications and technologies proposed for the implementation of climbing robots.

XATA 2010 : XML : Associated Technologies and Applications, 8th

These are the proceedings for the eighth national conference on XML, its Associated Technologies and its Applications (XATA'2010). The paper selection resulted in 33% of papers accepted as full papers, and 33% of papers accepted as short papers. While these two types of papers were distinguish during the conference, and they had different talk duration, they all had the same limit of 12 pages. We are happy that the selected papers focus both aspects of the conference: XML technologies, and XML applications. In the first group we can include the articles on parsing and transformation technologies, like “Processing XML: a rewriting system approach", “Visual Programming of XSLT from examples", “A Refactoring Model for XML Documents", “A Performance based Approach for Processing Large XML Files in Multicore Machines", “XML to paper publishing with manual intervention" and “Parsing XML Documents in Java using Annotations". XML-core related papers are also available, focusing XML tools testing on “Test::XML::Generator: Generating XML for Unit Testing" and “XML Archive for Testing: a benchmark for GuessXQ". XML as the base for application development is also present, being discussed on different areas, like “Web Service for Interactive Products and Orders Configuration", “XML Description for Automata Manipulations", “Integration of repositories in Moodle", “XML, Annotations and Database: a Comparative Study of Metadata Definition Strategies for Frameworks", “CardioML: Integrating Personal Cardiac Information for Ubiquous Diagnosis and Analysis", “A Semantic Representation of Users Emotions when Watching Videos" and “Integrating SVG and SMIL in DAISY DTB production to enhance the contents accessibility in the Open Library for Higher Education". The wide spread of subjects makes us believe that for the time being XML is here to stay what enhances the importance of gathering this community to discuss related science and technology. Small conferences are traversing a bad period. Authors look for impact and numbers and only submit their works to big conferences sponsored by the right institutions. However the group of people behind this conference still believes that spaces like this should be preserved and maintained. This 8th gathering marks the beginning of a new cycle. We know who we are, what is our identity and we will keep working to preserve that. We hope the publication containing the works of this year's edition will catch the same attention and interest of the previous editions and above all that this publication helps in some other's work. Finally, we would like to thank all authors for their work and interest in the conference, and to the scientific committee members for their review work.

Query Technologies and Applications for Program Comprehension

Industrial software systems are large and complex, both in terms of the software entities and their relationships. Consequently, understanding how a software system works requires the ability to pose queries over the design-level entities of the system. Traditionally, this task has been supported by simple tools (e.g., grep) combined with the programmer's intuition and experience. Recently, however, specialized code query technologies have matured to the point where they can be used in industrial situations, providing more intelligent, timely, and efficient responses to developer queries. This working session aims to explore the state of the art in code query technologies, and discover new ways in which these technologies may be useful in program comprehension. The session brings together researchers and practitioners. We survey existing techniques and applications, trying to understand the strengths and weaknesses of the various approaches, and sketch out new frontiers that hold promise.

Low Power instrument Transformer: technologies and applications

Instrument transformers serve an important role in the protection and isolation of AC electrical systems for measurements of different electrical parameters like voltage, current, power factor, frequency, and energy. As suggested by name these transformers are used in connection with suitable measuring instruments like an ammeter, wattmeter, voltmeter, and energy meters. We have seen how higher voltages and currents are transformed into lower magnitudes to provide isolation between power networks, relays, and other instruments. Reducing transient, suppressing electrical noises in sensitive devices, standardization of instruments and relays up to a few volts and current. Transformer performance directly affects the accuracy of power system measurements and the reliability of relay protection. We classified transformers in terms of purpose, insulating medium, Voltage ranges, temperature ranges, humidity or environmental effect, indoor and outdoor use, performance, Features, specification, efficiency, cost analysis, application, benefits, and limitations which enabled us to comprehend their correct use and selection criteria based on our desired requirements. We also discussed modern Low power instrument transformer products that are recently launched or offered by renowned companies like Schneider Electric, Siemens, ABB, ZIV, G&W etc. These new products are innovations and problem solvers in the domain of measurement, protection, digital communication, advance, and commercial energy metering. Since there is always some space for improvements to explore new advantages of Low power instrument transformers in the domain of their wide linearity, high-frequency range, miniaturization, structural and technological modification, integration, smart frequency modeling, and output prediction of low-power voltage transformers.

Digital Repository of Information and Knowledge - Fund “BellKnow”

The aim was to develop an archive containing detailed description of church bells. As an object of cultural heritage the bell has general properties such as geometric dimensions, weight, sound of each of the bells, the pitch of the tone as well as acoustical diagrams obtained using contemporary equipment. The audio, photo and video archive is developed by using advanced technologies for analysis, reservation and data protection.

Building OWL Ontology of Unique Bulgarian Bells Using Protégé Platform

We describe an ontological representation of data in an archive containing detailed description of church bells. As an object of cultural heritage the bell has general properties such as geometric dimensions, weight, sound of each of the bells, the pitch of the tone as well as acoustical diagrams obtained using contemporary equipment. We use Protégé platform in order to define basic ontological objects and relations between them.

Developments in technologies for human-centric mobile computing and applications

With recent expansions in technology, mobile computing continues to play a vital role in all aspects of our lives. Digital technology tools such as Web browsing, media tracking, social media, and emailing have made mobile technology more than just a means of communication but has widespread use in business and social networks. Developments in Technologies for Human-Centric Mobile Computing and Applications is a comprehensive collection of knowledge and practice in the development of technologies in human –centric mobile technology. This book focuses on the developmental aspects of mobile technology; bringing together researchers, educators, and practitioners to encourage readers to think outside of the box.

Doctor-Patient Knowledge Transfer: Innovative Technologies and Policy Implications

The aim of this study was to empirically investigate the barriers in doctor-patient communication and knowledge transfer and the role of innovative technologies in overcoming these barriers. We applied qualitative research methods. Our results show that patients extensively use information sources, primarily the Internet before the visits. Patients regularly apply a self-diagnosis regarding their diseases. This implies several risks as many of them are not able to properly interpret the found information and at the same time the information might not be reliable. To overcome these risks efforts are required within the fields of technology developments for making web sites more reliable and improvement of the health culture of patients, as well. Our research identified the most significant barriers of doctor-patient communication including limited time, the patients’ distress, inadequate health culture and prior knowledge, as well as poor communication skills of some clinicians. Technology might help clinicians to use their limited time more effectively. In the long term, innovative technology solutions might take over some tasks of the health care personnel if they provide reliable health information adapted to the patient’s health, emotional and psychosocial status. Barriers of access to the new technology should be identified and addressed otherwise it would increase the already existing knowledge gap between patients and doctors.

Knowledge discovery and data mining in biological databases

The new technologies for Knowledge Discovery from Databases (KDD) and data mining promise to bring new insights into a voluminous growing amount of biological data. KDD technology is complementary to laboratory experimentation and helps speed up biological research. This article contains an introduction to KDD, a review of data mining tools, and their biological applications. We discuss the domain concepts related to biological data and databases, as well as current KDD and data mining developments in biology.

Improving discovery in the life sciences using semantic Web technologies and linked data: design principles for life sciences knowledge organization systems

Dissertation presented to obtain the Ph.D degree in Bioinformatics

Interdisciplinary knowledge transfer and technological applications for assessment, strengthening and monitoring of timber structures in Europe

COST (European Co-operation in the field of scientific and technical research) is the longest running framework for research co-operation iri Europe, having been established in 1971 by a Ministerial Conference attended by Ministers for Science and Technology from 19 countries. Today COST is used by the scientific communities of 35 European countries to cooperate in exchanging knowledge and technology developed within research projects supported by national or European funds. The main objective of COST is to contribute to the realization of the European Research Área (ERA) anticipating and complementing the activities of the' Framework Programmes, constituting a "bridge" towards the scientific communities of emerging countries, increasing the mobility of researchers across Europe and fostering the establishment of "Networks of Excelience". Another essential objective is the knowledge transfer between the scientific soc'iety and industry. It is widely acknowledged that European scientific performance in relation to investment in science is excellent but technological and commercial performance has steadily worsened. The present paper discusses how the COST Action's instruments, from training schools to short scientific missions and workshops have been used within The COST ACTION FP11O1 Assessment, Reinforcement and Monitoring of Timber Structures to achieve such objectives.