Mariusz Giergiel

The mono-wheel robot with dynamic stabilisation

This article presents a design process of a mono-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in a mono-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.

The Project of Tank Inspection Robot

The paper presents the project of tank inspection robot. In order to discuss the designing process, algorithm of design has been provided. There are four design stages: the analysis of the construction problem, the synthesis, testing/improving robots construction and finally testing it. First stage of project process is divided into constructive and imitative analysis. Constructive analysis means searching for still not existing solutions of robots and detection methods. In this paper we concentrate only on constructive analysis.

Review of the modular self reconfigurable robotic systems

Modular Self-Reconfigurable robot (MSR) is a system composed of a group, connected together identical modules, resulting structure can carry out specific, even complicated tasks. Such design allows for easy reconfiguration of the robot and its structure in order to continuously adapt it to the current needs or tasks, without the use of additional tools. Currently, the use of MSRs is very limited due to the early stage of technology development. In the future this type of robots will probably be widely used in industry and leisure activities. This paper describes the challenges and opportunities facing the modular robots, an explanation of key terms and the latest designs of artificial cell.

Robotic system for off-shore infrastructure monitoring

ABSTRACT In this paper, a novel modular reconfigurable mobile inspection robotic system is presented. The system consists of two underwater robotic platforms, including a tracked mobile robot for moving on rough terrain and a remotely operated vehicle robot for free underwater operation. Applications of the system include structural monitoring of off-shore infrastructure made of steel, concrete or other materials. The system is equipped with a 3D sonar, high-definition cameras and laser sensors to navigate underwater and locate structural defects. Mathematical models of the tracked robot are derived for operation underwater. Operation and verification of the ROV vision system is shown. The system sensing equipment is capable of performing simultaneous localisation and mapping tasks, thus an algorithm for navigation and localisation of defects based on sensor fusion is proposed and discussed.

Concept of Swarm Specialized Distributed Localization System

The article describes the concept and design of indoor distributed localization system. Presented solution was designed primarily for swarm system and was aimed to cooperate with other environment recognition system used for mobile robots. Usage of network connected set of processes, running across simple Linux based computerized platform, provides high redundancy and platform interoperability.

Ultralight mobile drilling system - design and analyses of a robotic platform intended for terrestrial and space applications

In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for environment difficult to explore is presented. The main goal of the system is to extract soil probes from hardly accessible places, thus appropriate mobility must be a significant feature of the system. A special design of a rover is described. The main objectives are related to weight reduction of particular components, preserving demanded durability. The rover features obstacle passing capabilities by an ultralight rocker design with four wheels and central differential mechanism. Additionally, the platform provides tilt angle compensation by adjustments of rocker arms height. Tests of the mobile platform are presented in actual operating conditions.

Mechatronic Approach in Inspection of Water Supply Networks

The paper describes design process of the two inspection robots. Both are able to work in water environment. There is provided problem statement which cause need of designing robots and solution for it. The paper presents exemplary usage of the robots and sample results of inspection tasks. The inspection process and equipment can be different for each robot. Common assumption in design of both robots was versatility of the construction. Tank inspection robot can be set in two different configuration with two different inspection equipment. Pipe inspection robot has configurable construction of tracks arms which enables work in different conditions.

Personal Lower Limb Rehabilitation Robot for Children

The article describes the process of developing a concept, design and building a working lower limb rehabilitation device with comparison to other existing systems. The described robot was designed primarily for rehabilitation of children with cerebral palsy (and other illnesses that need constant, long term rehabilitation).

The Construction of a Biomimetic Mobile Underwater Robot

This article presents the concept and construction of a mobile underwater robot. The robot is designed to work on battery power (cordless) and its movement systems is design after fish locomotion. The robot is propelled using fins which allow it to emerge submerge and move in a water environment. The robot is controlled using a remote control panel which communicates with the main control unit inside the robot

Mobile Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.