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A 2wheel drive system was established by the use of a DC motor and a series of gears which synchronized the two drive wheels. 2V rechargeable battery pack supplied the motor with power and control. Figure 2-6. Phase II robot. Control of the entire system was provided by a Z-World Jackrabbit BL1800 microcontroller and a network of touch sensors similar to those used in Phase I. The overall concept of deployment was similar to that of Phase I as well. The predetermined path was defined by the restrictive geometry of the beam, while the embedded ASM 29 nodes would again trigger the cessation of the robot movement via the touch sensors.

Ultrasound refers to those vibrations occurring at a frequency above the human hearing range—generally greater than 20 KHz. Ultrasound waves behave similarly to sound waves. However, ultrasound waves are reflected off much smaller surfaces because of the short wavelength of the high frequency signals (GE Panametrics, 2003). This property is the basis for ultrasonic non-destructive testing. The acoustic properties of a material can be described by the acoustic impedance and sound attenuation characteristics of the material.

Each unit is fastened to the chassis by three socket screws. The chassis can be quickly mounted to the beam by removing the socket screws of two roller units from one side and refastening once the chassis is in place. One person can accomplish mounting and dismounting in typically fewer than five minutes. Because mounting and dismounting increases thread wear, heli-coil inserts are used in the aluminum threads to prevent premature thread stripping. 16mm Ball Bearings 102 mm 76mm Mounting Screws Aluminum Block Figure 3-2.

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Robotic systems for inspection surveillance of civil structures by Jonathan Miller

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