This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

OBJECTIVES A water pipe (hookah) is a tobacco smoking tool which is thought to be more harmless than a cigarette, and there are no adequate studies about its hazards to health. Water-pipe smoking is threatening health of the youth in the world today. The objective of this study has been to investigate the carbon monoxide (CO) levels in breath, examine the changes in pulmonary function tests (PF...

Sewer overflows may cause communities to be vulnerable to various health problems and other monetary losses. This puts a lot of burden on responsible to minimize end user complaints. Therefore, crack prediction would be helpful to facilitate decision makers to control sewer overflow problems and prioritize inspection and rehabilitation needs . The accurate prediction of current underground sewe...

Underground tunnel face bolting and pipe umbrella reinforcement are one of the most challenging tasks in construction whether industrial or not, and infrastructures such as roads or pipelines. It is one of the first sectors of economic activity in the world. Through a variety of soil and rock, a cyclic Conventional Tunneling Method (CTM) remains the best one for projects with highly variable gr...

In order to mimic and better understand the way an earthworm uses its many segments to navigate diverse terrain, this paper describes the design, performance, and sensing capabilities of a new modular soft robotic worm. The robot, Compliant Modular Mesh Worm (CMMWorm), utilizes a compliant mesh actuated at modular segments to create waveforms along its body. These waveforms can generate perista...

Worldwide, millions of kilometres sewers are constructed from concrete pipes. Unfortunately, susceptible to corrosion biogenic hydrogen sulphide, and, though they may pass visual inspection, their ability hold together under load be degraded. This paper presents the design a teleoperated robot with protractible probe, that allows an operator apply localised selected points within sewer pipe. We...

An existing deteriorated or hydraulically undersized pipe can be replaced with a new pipe by static pipe bursting. Cavity expansion during pipe bursting induces ground movements, which may potentially damage nearby buried utilities if they are in close proximity to the pipe bursting operation. A large-scale pipe bursting experiment was performed in an 8 m long, 8 m wide, and 3 m deep test pit f...