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Article
Publication date: 19 June 2017

Hector Montes, Lisbeth Mena, Roemi Fernández and Manuel Armada

The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several…

Abstract

Purpose

The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.

Design/methodology/approach

First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.

Findings

The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.

Originality/value

This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.

Details

Industrial Robot: An International Journal, vol. 44 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 11 January 2008

Manuel Armada

Abstract

Details

Industrial Robot: An International Journal, vol. 35 no. 1
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 1 April 2005

Rezia Molfino, Manuel Armada, Francesco Cepolina and Matteo Zoppi

The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks.

Abstract

Purpose

The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks.

Design/methodology/approach

A multidisciplinary approach has been adopted to solve the problem: mechanical and control architecture have been conceived simultaneously. Modularity and lifecycle are considered. The robot can climb by means of four legs and two ropes. The drilling system is hosted onboard. Drilling process is fully automated, motion can be controlled in tele‐operation.

Findings

The performance of the first prototype has satisfied the end‐user; new on‐site tests and improvements are planned.

Research limitations/implications

Roboclimber is cumbersome; both robot transport and on‐site positioning are complex operations. Coordination between legs motion and ropes tensioning is a difficult task.

Practical implications

The system reduces operating costs and working time, while avoiding the human presence in unsafe and harsh environments.

Originality/value

Roboclimber is the first robot able to do heavy duty works on rocky walls

Details

Industrial Robot: An International Journal, vol. 32 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 1 April 2005

Manuel A. Armada

Abstract

Details

Industrial Robot: An International Journal, vol. 32 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 19 June 2009

Teodor Akinfiev, Manuel Armada and Samir Nabulsi

The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.

Abstract

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.

Details

Industrial Robot: An International Journal, vol. 36 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

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Book part
Publication date: 19 November 2012

Manuel J. Rocha Armada and Ricardo M. Sousa

Purpose – The purpose of this chapter is to assess the role of the wealth-to-income ratio in forecasting housing risk premium.Methodology/approach – To investigate this…

Abstract

Purpose – The purpose of this chapter is to assess the role of the wealth-to-income ratio in forecasting housing risk premium.

Methodology/approach – To investigate this issue, the chapter uses the residuals of the trend relationship among asset wealth and labor income to predict future real housing returns. It shows that deviations of asset wealth from its cointegrating relationship with labor income, wy, track time-variation in expected housing returns.

Findings – Using data for a set of industrialized countries, this chapter finds that if agents are hit by a shock that generates a fall in the wealth-to-income ratio, they will demand (i) a higher housing risk premium when housing assets are complements of financial assets and (ii) a lower housing risk premium when housing assets are substitutes of financial assets.

Originality/value of chapter – The findings of this chapter are novel in the field of alternative finance and, in particular, durable (housing) finance. Indeed, they build on a representative agent's theoretical model to infer about the degree of substitution or complementarity between financial and housing assets, which, in turn, can be useful at developing investment strategies for hedging against the risk of unfavorable housing fluctuations. Additionally, they open a new research avenue for understanding the determinants of housing risk premium by linking the dynamics of asset wealth and labor income with the behavior of future housing returns.

Details

Recent Developments in Alternative Finance: Empirical Assessments and Economic Implications
Type: Book
ISBN: 978-1-78190-399-5

Keywords

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Article
Publication date: 1 April 1997

Manuel Armada and Pablo Gonzalez de Santos

Explains how the Automatic Control Department of the Instituto de Automatica Industrial (CSIC) in Madrid, Spain has been developing robots for over 15 years. This activity…

Abstract

Explains how the Automatic Control Department of the Instituto de Automatica Industrial (CSIC) in Madrid, Spain has been developing robots for over 15 years. This activity began in the 1980s with the realization of industrial robots and then the department focused its attention on the area of robots for hostile/hazardous environments. Describes several achievements in this field including a complex tele‐operated system for steam generator inspection and maintenance in nuclear power plants; a tele‐manipulator for servicing a new concept of urban infrastructures; a self‐propelling climbing robot with magnetic feet; and a four‐legged walking robot for hazardous environments.

Details

Industrial Robot: An International Journal, vol. 24 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 October 1997

Manuel Armada, Mario Maza, Jean‐Guy Fontaine, Pablo Gonzalez de Santos and Vasilios Papantoniou

Explains how the Tracminer project aimed to provide a robust, low cost device to be mounted as an accessory on the motorized wheels of traction machines, in order to…

Abstract

Explains how the Tracminer project aimed to provide a robust, low cost device to be mounted as an accessory on the motorized wheels of traction machines, in order to increase grip on loose soils. The main goal was to provide a device increasing by 30‐40 per cent the traction capacity of the given machine in soft or marshy soil working conditions. The intended device was designed to be robust and simple to adapt to existing machines. A key element of the development strategy was to provide an accessory easy to mount on the machine, which can remain “idle” (in this case, retracted) while not needed. The machine may then be operated as usual, with the opportunity to engage the accessory in action when a better ground grip is required. Such a possibility offers significant advantages for the Tracminer accessory when compared with other permanent traction enhancement solutions such as metallic frames with grids attached to the wheels, accessory caterpillars, etc.

Details

Industrial Robot: An International Journal, vol. 24 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 April 2005

Richard Bloss

Highlights new robots introduced in the fall 2004 offer various benefits such as lower prices, internal cable management for arc welding, reduced floor space requirements…

Abstract

Purpose

Highlights new robots introduced in the fall 2004 offer various benefits such as lower prices, internal cable management for arc welding, reduced floor space requirements, environmental protection and features for quicker application design and commissioning.

Design/methodology/approach

Attended various trade shows and contacted key vendors for information on product introductions.

Findings

Vendors are addressing more and more application needs with features like cable management/protection, smaller footprints, lower pricing, greater application integration and other features.

Research limitations/implications

Not all the new products which may have been introduced have been covered.

Practical implications

Users and systems integrators can find answers to previously troubling aspects of robot applications.

Originality/value

Highlights new robot offerings that may be real problem solutions for users who previously considered a robot solution as not fully addressing their requirements.

Details

Industrial Robot: An International Journal, vol. 32 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 April 2005

A. Correia da Cruz and M. Silva Ribeiro

To present an entirely new technology to be used in the in‐service inspection of storage tanks for hazardous products in several different industries.

Abstract

Purpose

To present an entirely new technology to be used in the in‐service inspection of storage tanks for hazardous products in several different industries.

Design/methodology/approach

Current interior storage oil tank plate inspection is a very expensive and time‐consuming task. The related tasks involve high cost, several hazards to environment and the operators involved in the cleaning jobs. Several research areas were investigated during the development of this tool, fundamentally robotics and non‐destructive test tools. Initial trials in laboratory were complemented with a field test program in near‐real conditions.

Findings

A new design of tool for in‐service inspection of such equipments proved to be feasible to be constructed and operated and in accordance with current safety regulations.

Research limitations/implications

New robotics application in non‐destructive testing methodologies for application in in‐service storage equipments. The internal conditions possible to find in the interior of a storage tank, like fixtures, properties of the stored products (inflammable and aggressive), sludge and sand on the bottom, no ambient light, etc., are significant challenges to the development of such a tool.

Practical implications

Developed a robotized tool for inspection of the floor and walls of in‐service tanks, in order to allow an evaluation of the condition of the plates of these tanks, avoiding the long period, hazards and high costs necessary for creating the conditions for reality out of service inspection.

Originality/value

The novelty of the RobTank Inspec project could be evaluated from the two or three existing competitors in the world, and the results of the surveys undertaken.

Details

Industrial Robot: An International Journal, vol. 32 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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