Search Results (3)

The increasing presence of high-rise buildings with curved and convex facades poses significant challenges for facade-cleaning robots, particularly in terms of mobility and anchoring. To address this, we propose a rope-riding mobile anchor (RMA) system capable of repositioning the anchor point of a cleaning robot on convex building surfaces. The RMA travels horizontally along a roof-mounted nylon rope using caterpillar tracks with U-shaped grooves, and employs a four-bar linkage mechanism to fix its position securely by increasing rope contact friction. This structural principle was selected for its simplicity, stability under heavy loads, and efficient actuation. Experimental results show that the RMA can support a payload of 50.5 kg without slippage under tensions up to 495.24 N, and contributes to reducing the power consumption of the cleaning robot during operation. These findings demonstrate the RMA’s effectiveness in extending the robot’s working range and enhancing safety and stability in facade-cleaning tasks on complex curved surfaces. Full article

Maintenance of the exteriors of buildings with convex façades, such as skyscrapers, is in high demand in urban centers. However, manual maintenance is inherently dangerous due to the possibility of accidental falls. Therefore, research has been conducted on cleaning robots as a replacement for human workers, e.g., the dual ascension robot (DAR), which is an underactuated rope-driven robot, and the rope-riding mobile anchor (RMA), which is a rope-riding robot. These robots are equipped with a convex-façade-cleaning system. The DAR and RMA are connected to each other by a rope that enables vibration transmission between them. It also increases the instability of the residual vibration that occurs during the operation of the DAR. This study focused on reducing the residual vibrations of a DAR to improve the stability of the overall system. Because it is a rope-on-rope (ROR) system, we assumed it to be a simplified serial spring–damper system and analyzed its kinematics and dynamics. An input-shaping technique was applied to control the residual vibrations in the DAR. We also applied a disturbance observer to mitigate factors contributing to the system uncertainty, such as rope deformation, slip, and external forces. We experimentally validated the system and assessed the effectiveness of the control method, which consisted of the input shaper and disturbance observer. Consequently, the residual vibrations were reduced. Full article

Horse trainers and riders may have preconceived ideas of horse temperament based solely on the sex of the horse. A study (n = 1233) of horse enthusiasts (75% of whom had more than 8 years of riding experience) revealed that riders prefer geldings over mares and stallions. While these data may reflect different sex preferences in horses used for sport, they may also reduce the chances of some horses reaching their performance potential. Further, an unfounded sex prejudice is likely to contribute to unconscious bias when perceiving unwanted behaviours, simplistically attributing them to demographic characteristics rather than more complex legacies of training and prior learning. The current study analysed reported sex-related behavioural differences in ridden and non-ridden horses using data from responses to the pilot study of the Equine Behaviour Assessment and Research Questionnaire (E-BARQ) survey. Respondents (n = 1233) reported on the behaviour of their horse using a 151-item questionnaire. Data were searched for responses relating to mares and geldings, and 110 traits with the greatest percentage difference scores between mares and geldings were selected were tested for univariate significance at p < 0.2. Multivariable modelling of the effect of sex (mare or gelding) on remaining traits was assessed by ordinal logistic regression, using a cumulative proportional log odds model. Results revealed mares were significantly more likely to move away when being caught compared to geldings (p = 0.003). Geldings were significantly more likely to chew on lead ropes when tied (p = 0.003) and to chew on rugs (p = 0.024). However, despite sex-related differences in these non-ridden behaviours, there was no evidence of any significant sex-related differences in the behaviours of the horses when ridden. This finding suggests that ridden horse behaviour is not sexually dimorphic or that particular horse sports variously favour one sex over another. Full article