Design and Control of a Wall Cleaning Robot with Adhesion-Awareness
<p>Wall-C design.</p> "> Figure 2
<p>Wall-C parts diagram with a top view (left) and side view (right).</p> "> Figure 3
<p>Signal and power supply architecture of Wall-C. The orange arrows represent the power supply and the blue ones data communication.</p> "> Figure 4
<p>Power and communication physical connections circuit diagram.</p> "> Figure 5
<p>Force distribution of a robot with vacuum based adhesion. The variables and symbols are defined as follows. <math display="inline"><semantics> <msub> <mi>P</mi> <mi>A</mi> </msub> </semantics></math>: atmospheric pressure; <math display="inline"><semantics> <msub> <mi>P</mi> <mi>I</mi> </msub> </semantics></math>: pressure of the inside chamber; <math display="inline"><semantics> <msub> <mi>F</mi> <mi>P</mi> </msub> </semantics></math>: adhesion force acting on the robot toward the wall; <math display="inline"><semantics> <msub> <mi>N</mi> <mi>R</mi> </msub> </semantics></math>: orthogonal reaction force acted on the robot; <math display="inline"><semantics> <mrow> <mo>Σ</mo> <msub> <mi>f</mi> <mi>R</mi> </msub> </mrow> </semantics></math>: summation of friction forces between the robot and the wall; <math display="inline"><semantics> <mrow> <mn>2</mn> <mi>h</mi> </mrow> </semantics></math>: the robot’s height; <span class="html-italic">m</span>: mass; <span class="html-italic">g</span>: acceleration of gravity; and <math display="inline"><semantics> <msub> <mi>C</mi> <msub> <mi>g</mi> <mi>x</mi> </msub> </msub> </semantics></math>: horizontal displacement of center of gravity of the robot.</p> "> Figure 6
<p>Configuration of the proposed fuzzy logic controller.</p> "> Figure 7
<p>(<b>a</b>) Input membership function for the pressure difference, <span class="html-italic">P</span>. (<b>b</b>) Input membership function for the present impeller power, <span class="html-italic">C</span>. (<b>c</b>) Membership function for the output, required impeller power (i.e., <span class="html-italic">R</span>). The fuzzy labels are defined as VL: very low, L: low, M: medium, H: high, and VH: very high.</p> "> Figure 8
<p>Fuzzy decision surface: expected variation of the output with the two inputs; pressure difference and present impeller power.</p> "> Figure 9
<p>Experimental setups: (<b>a</b>) A typical wall surface. (<b>b</b>) A wall surface with two vertical negative dents of different depths. Both dents had a width of 3 mm. However, the depth of the first dent was 10 mm, and the second dent did not have a bottom (i.e., an open gap). (<b>c</b>) A metal wall surface with an uneven curvature.</p> "> Figure 10
<p>Variation of pressure difference (<span class="html-italic">P</span>) and impeller power (<span class="html-italic">R</span>) when the robot moves from <span class="html-italic">O</span> to <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on the typical wall surface (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>a).</p> "> Figure 11
<p>Trajectory of the robot when it was moved toward <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on the typical wall (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>a). The initial position of the marker is considered as the origin of x-y coordinate system; x: horizontal axis and y: vertical axis. It should be noted that the x and y axes are given in pixels, and one pixel represents 1.8 mm.</p> "> Figure 12
<p>Variation of pressure difference (<span class="html-italic">P</span>) and impeller power (<span class="html-italic">R</span>) when the robot moved from <span class="html-italic">O</span> to <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on the wall’s surface with two vertical negative dents (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>b). The distance axis was extrapolated after falls by assuming the distance moved was proportional to time.</p> "> Figure 13
<p>Trajectory of the robot when it was moved toward <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on the wall’s surface with two vertical negative dents (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>b). The initial position of the marker is considered the origin of x-y coordinate system; x: horizontal axis and y: vertical axis. It should be noted that the x and y axes are given in pixels, and one pixel represents 0.71 mm. The falling off situations are annotated in dashed circles.</p> "> Figure 14
<p>Variation of pressure difference (<span class="html-italic">P</span>) and impeller power (<span class="html-italic">R</span>) when the robot moves from <span class="html-italic">O</span> to <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on a metal wall’s surface with an uneven curvature (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>c).</p> "> Figure 15
<p>Trajectory of the robot when it was moved toward <math display="inline"><semantics> <msup> <mi>O</mi> <mo>′</mo> </msup> </semantics></math> on the metal wall surface with an uneven curvature (situation shown in <a href="#symmetry-12-00122-f009" class="html-fig">Figure 9</a>c). The initial position of the marker was considered as the origin of the x-y coordinate system; x—horizontal axis, and y—vertical axis. It should be noted that the x and y axes are given in pixels, and one pixel represents 1.08 mm. The falling off situations are annotated in dashed circles.</p> ">
Abstract
:1. Introduction
2. Design of Wall-C
3. Improving Safety and Reliability Based on Adhesion-Awareness
3.1. Rationale behind Controlling Adhesion
3.2. An Adhesion-Awareness Based Control Strategy to Improve Safety and Reliability
4. Results and Discussion
4.1. Experimental Setup
4.2. Experiment and Results
5. Conclusions
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
References
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i | Rule |
---|---|
1 | If (P is L) and (C is L) then (R is M) |
2 | If (P is L) and (C is M) then (R is H) |
3 | If (P is L) and (C is H) then (R is VH) |
4 | If (P is M) and (C is L) then (R is L) |
5 | If (P is M) and (C is M) then (R is M) |
6 | If (P is M) and (C is H) then (R is H) |
7 | If (P is H) and (C is L) then (R is VL) |
8 | If (P is H) and (C is M) then (R is L) |
9 | If (P is H) and (C is H) then (R is M) |
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Muthugala, M.A.V.J.; Vega-Heredia, M.; Mohan, R.E.; Vishaal, S.R. Design and Control of a Wall Cleaning Robot with Adhesion-Awareness. Symmetry 2020, 12, 122. https://doi.org/10.3390/sym12010122
Muthugala MAVJ, Vega-Heredia M, Mohan RE, Vishaal SR. Design and Control of a Wall Cleaning Robot with Adhesion-Awareness. Symmetry. 2020; 12(1):122. https://doi.org/10.3390/sym12010122
Chicago/Turabian StyleMuthugala, M. A. Viraj J., Manuel Vega-Heredia, Rajesh Elara Mohan, and Suresh Raj Vishaal. 2020. "Design and Control of a Wall Cleaning Robot with Adhesion-Awareness" Symmetry 12, no. 1: 122. https://doi.org/10.3390/sym12010122
APA StyleMuthugala, M. A. V. J., Vega-Heredia, M., Mohan, R. E., & Vishaal, S. R. (2020). Design and Control of a Wall Cleaning Robot with Adhesion-Awareness. Symmetry, 12(1), 122. https://doi.org/10.3390/sym12010122