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A Quick but Clingy Creepy-Crawler that will MARVEL You
Engineered by KAIST Mechanics, a quadrupedal robot climbs steel walls and crawls across metal ceilings at the fastest speed that the world has ever seen.
< Photo 1. (From left) KAIST ME Prof. Hae-Won Park, Ph.D. Student Yong Um, Ph.D. Student Seungwoo Hong >
- Professor Hae-Won Park's team at the Department of Mechanical Engineering developed a quadrupedal robot that can move at a high speed on ferrous walls and ceilings.
- It is expected to make a wide variety of contributions as it is to be used to conduct inspections and repairs of large steel structures such as ships, bridges, and transmission towers, offering an alternative to dangerous or risky activities required in hazardous environments while maintaining productivity and efficiency through automation and unmanning of such operations.
- The study was published as the cover paper of the December issue of Science Robotics.
KAIST (President Kwang Hyung Lee) announced on the 26th that a research team led by Professor Hae-Won Park of the Department of Mechanical Engineering developed a quadrupedal walking robot that can move at high speed on steel walls and ceilings named M.A.R.V.E.L. - rightly so as it is a Magnetically Adhesive Robot for Versatile and Expeditious Locomotion as described in their paper, “Agile and Versatile Climbing on Ferromagnetic Surfaces with a Quadrupedal Robot.” (DOI: 10.1126/scirobotics.add1017)
To make this happen, Professor Park's research team developed a foot pad that can quickly turn the magnetic adhesive force on and off while retaining high adhesive force even on an uneven surface through the use of the Electro-Permanent Magnet (EPM), a device that can magnetize and demagnetize an electromagnet with little power, and the Magneto-Rheological Elastomer (MRE), an elastic material made by mixing a magnetic response factor, such as iron powder, with an elastic material, such as rubber, which they mounted on a small quadrupedal robot they made in-house, at their own laboratory. These walking robots are expected to be put into a wide variety of usage, including being programmed to perform inspections, repairs, and maintenance tasks on large structures made of steel, such as ships, bridges, transmission towers, large storage areas, and construction sites.
This study, in which Seungwoo Hong and Yong Um of the Department of Mechanical Engineering participated as co-first authors, was published as the cover paper in the December issue of Science Robotics.
< Image on the Cover of 2022 December issue of Science Robotics >
Existing wall-climbing robots use wheels or endless tracks, so their mobility is limited on surfaces with steps or irregularities. On the other hand, walking robots for climbing can expect improved mobility in obstacle terrain, but have disadvantages in that they have significantly slower moving speeds or cannot perform various movements.
In order to enable fast movement of the walking robot, the sole of the foot must have strong adhesion force and be able to control the adhesion to quickly switch from sticking to the surface or to be off of it. In addition, it is necessary to maintain the adhesion force even on a rough or uneven surface.
To solve this problem, the research team used the EPM and MRE for the first time in designing the soles of walking robots. An EPM is a magnet that can turn on and off the electromagnetic force with a short current pulse. Unlike general electromagnets, it has the advantage that it does not require energy to maintain the magnetic force. The research team proposed a new EPM with a rectangular structure arrangement, enabling faster switching while significantly lowering the voltage required for switching compared to existing electromagnets.
In addition, the research team was able to increase the frictional force without significantly reducing the magnetic force of the sole by covering the sole with an MRE. The proposed sole weighs only 169 g, but provides a vertical gripping force of about *535 Newtons (N) and a frictional force of 445 N, which is sufficient gripping force for a quadrupedal robot weighing 8 kg.
* 535 N converted to kg is 54.5 kg, and 445 N is 45.4 kg. In other words, even if an external force of up to 54.5 kg in the vertical direction and up to 45.4 kg in the horizontal direction is applied (or even if a corresponding weight is hung), the sole of the foot does not come off the steel plate.
MARVEL climbed up a vertical wall at high speed at a speed of 70 cm per second, and was able to walk while hanging upside down from the ceiling at a maximum speed of 50 cm per second. This is the world's fastest speed for a walking climbing robot. In addition, the research team demonstrated that the robot can climb at a speed of up to 35 cm even on a surface that is painted, dirty with dust and the rust-tainted surfaces of water tanks, proving the robot's performance in a real environment. It was experimentally demonstrated that the robot not only exhibited high speed, but also can switch from floor to wall and from wall to ceiling, and overcome 5-cm high obstacles protruding from walls without difficulty.
The new climbing quadrupedal robot is expected to be widely used for inspection, repair, and maintenance of large steel structures such as ships, bridges, transmission towers, oil pipelines, large storage areas, and construction sites. As the works required in these places involves risks such as falls, suffocation and other accidents that may result in serious injuries or casualties, the need for automation is of utmost urgency.
One of the first co-authors of the paper, a Ph.D. student, Yong Um of KAIST’s Department of Mechanical Engineering, said, "By the use of the magnetic soles made up of the EPM and MRE and the non-linear model predictive controller suitable for climbing, the robot can speedily move through a variety of ferromagnetic surfaces including walls and ceilings, not just level grounds. We believe this would become a cornerstone that will expand the mobility and the places of pedal-mobile robots can venture into." He added, “These robots can be put into good use in executing dangerous and difficult tasks on steel structures in places like the shipbuilding yards.”
This research was carried out with support from the National Research Foundation of Korea's Basic Research in Science & Engineering Program for Mid-Career Researchers and Korea Shipbuilding & Offshore Engineering Co., Ltd..
< Figure 1. The quadrupedal robot (MARVEL) walking over various ferrous surfaces. (A) vertical wall (B) ceiling. (C) over obstacles on a vertical wall (D) making floor-to-wall and wall-to-ceiling transitions (E) moving over a storage tank (F) walking on a wall with a 2-kg weight and over a ceiling with a 3-kg load. >
< Figure 2. Description of the magnetic foot (A) Components of the magnet sole: ankle, Square Eletro-Permanent Magnet(S-EPM), MRE footpad. (B) Components of the S-EPM and MRE footpad. (C) Working principle of the S-EPM. When the magnetization direction is aligned as shown in the left figure, magnetic flux comes out of the keeper and circulates through the steel plate, generating holding force (ON state). Conversely, if the magnetization direction is aligned as shown in the figure on the right, the magnetic flux circulates inside the S-EPM and the holding force disappears (OFF state). >
Video Introduction: Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot - YouTube
2022.12.30 View 12417 -
Professor Jae-Kyu Lee Elected to Head the Association for Information Systems
Jae Kyu Lee, HHI (Hyundai Heavy Industries, Co., Ltd.) Chair Professor, College of Business at KAIST, was elected to lead the world major academic society, Association for Information Systems (AIS), from July 2015 to June 2016. Professor Lee will be the first Korean to serve the organization as president. From July 2014 to June 2015, he will serve as president-elect.
Currently, Professor Lee is the Director of EEWS (Energy, Environment, Water, and Sustainability) Research Center at KAIST, focusing on research and development in finding solutions to critical issues facing humanity. He also played a pivotal role in the conclusion of a memorandum of understanding between HHI and KAIST in June 2013 to establish HHI-KAIST EEWS Research Center within the KAIST campus.
The AIS is the premier professional association for individuals and organizations who lead the research, teaching, practice, and study of information systems worldwide.
A news article on his appointment:
Asian Scientist, May 16, 2014
Korean Engineer To Lead The Association For Information Systems
http://www.asianscientist.com/academia/korean-engineer-lead-association-information-systems-2014/
2014.05.19 View 9985 -
Professor Jae-Kyu Lee Elected to Head the Association for Information Systems
Jae Kyu Lee, HHI (Hyundai Heavy Industries, Co., Ltd.) Chair Professor, College of Business at KAIST, has been elected to lead the world major academic society, Association for Information Systems (AIS), from July 2015 to June 2016. Professor Lee will be the first Korean to serve the organization as president. From July 2014 to June 2015, he will serve as president-elect.
Currently, Professor Lee is the Director of EEWS (Energy, Environment, Water, and Sustainability) Research Center at KAIST, focusing on research and development in finding solutions to critical issues facing humanity. He also played a pivotal role in the conclusion of a memorandum of understanding between HHI and KAIST in June 2013 to establish HHI-KAIST EEWS Research Center within the KAIST campus.
The AIS is the premier professional association for individuals and organizations who lead the research, teaching, practice, and study of information systems worldwide.
2014.05.14 View 9108 -
2013 Graduation Ceremony Held on February 22
KAIST held a graduation ceremony for the year 2013 at Ryu Keun-Chul Sports Complex on February 22nd.
A total of 2,475 academic degrees were awarded this day, including 482 doctoral degrees, 1,153 master’s degrees, 838 bachelor’s degrees, and two honorary doctorates to Dr. Han Seung-Soo, a former prime minister of South Korea, and Lee Soo-young, the chairwoman of Kwang Won Industrial Co. Ltd. This commencement made KAIST to have turned out overall 46,117 talented graduates – 9,383 doctorates, 23,941 master’s degrees, and 12,793 bachelor’s degrees – to the fields of science and technology since its establishment in 1971.
The Minister of Education and Science Technology Award, which is for the student receiving bachelor’s degree with the highest academic performance, was given to Seung-Uk Jang from the Department of Mathematical Sciences. In addition, the Chairman of the KAIST Board of Trustees Award was given to Chi-Heon Kwon from the Department of Chemistry, KAIST Presidential Award to Yong-Jin Park from the Department of Chemical and Biomolecular Engineering, President of Alumni Association Award to Bong-Soo Choi from the Department Electrical Engineering, and School Supporting Association’s Award to Bo-Kyung Kim from the Bio and Brain Engineering Department.
“Climate changes due to humanity’s economic activities are threatening crucial resources such as water, food, and energy security,” said Former Prime Minister Han Seung-Soo, who received an honorary doctorate at the commencement ceremony. “Please try to solve the greatest issues that human society is facing,” he entreated in his congratulatory message.
“Use the excellent education that you have received at KAIST wisely with good purpose and ethics,” also congratulated President Suh Nam-Pyo. “I hope the graduating students of KAIST to become global leaders in the near future,” he said to the graduates entering the society.
“It was a great honor to contribute as the president of KAIST for almost 7 years, which has been the most challenging and worthwhile time in my life,” he delivered words of gratitude to all members of KAIST. “I appreciate everyone’s efforts for KAIST to develop so far.”
President Suh completed his duty as the fourteenth president of KAIST with the ceremony and returned to the United States on the 25th.
2013.02.26 View 8573 -
High Efficiency Bio-butanol production technology developed
KAIST and Korean Company cooperative research team has developed the technology that increases the productivity of bio-butanol to equal that of bio-ethanol and decreases the cost of production.
Professor Lee Sang Yeop (Department of Biological-Chemical Engineering) collaborated with GS Caltex and BioFuelChem Ltd. to develop a bio-butanol production process using the system metabolism engineering method that increased the productivity and decreased the production cost.
Bio-butanol is being widely regarded as the environmentally friendly next generation energy source that surpasses bio-ethanol.
The energy density of bio-butanol is 29.9MJ (mega Joule) per Liter, 48% larger than bio-ethanol (19.6MJ) and comparable to gasoline (32MJ). Bio-butanol is advantageous in that it can be processed from inedible biomass and is therefore unrelated to food crises.
Especially because bio-butanol shows similar characteristics especially in its octane rating, enthalpy of vaporization, and air-fuel ratio, it can be used in a gasoline engine.
However barriers such as difficulty in gene manipulation of producer bacterium and insufficient information prevented the mass production of bio-butanol.
Professor Lee’s team applied the system metabolism engineering method that he had invented to shift the focus to the production pathway of bio-butanol and made a new metabolism model.
In the new model the bio-butanol production pathway is divided into the hot channel and the cold channel.
The research team focused on improving the efficiency of the hot channel and succeeded in improving the product yield of 49% (compared to theoretical yield) to 87%.
The team furthered their research and developed a live bio-butanol collection and removal system with GS Caltex. The collaboration succeeded in producing 585g of butanol using 1.8kg of glucose at a rate of 1.3g per hour, boasting world’s highest concentration, productivity, and rate and improving productivity of fermentation by three fold and decreasing costs by 30%.
The result of the research was published in world renowned ‘mBio’ microbiology journal.
2012.12.21 View 8533 -
KAIST to Support R&D Plans of Mid-Small Sized Enterprises
KAIST signed a MOU for the ‘Support for R&D Plans for Mid-Small Sized Firms’ with the Small and Medium Business Conference and Korea South-East Power Co. Ltd.
KAIST and Korea South-East Power Co. Ltd. will now be improving their cooperation on supporting R&D plans to help the technology development and commercialization for Small and Medium Businesses.
Korea South-East Power Co. Ltd. will now select 20 best qualified firms out of its 300 cooperating firms and suggest them as candidates to KAIST Business membership System.
The suggested firms will be given: ▲Strategy R&D Planning ▲Consult Difficult Technology ▲Provide Information on Research Labs and Researchers among other various programs.
The firms participating in the KAIST Business membership System will be able to minimize risk and increase its possibility for success on Development Technology.
KAIST Business membership System is a program provided to firms for a membership fee, in order to create technological innovation and strengthen cooperation between university and industry.
2012.01.31 View 8401
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Lecture Hall Named After Venture Businessman Min-Hwa Lee
A lecture hall in the Alumni Start-Up Building on the KAIST campus was named Min-Hwa Lee Hall in a ceremony on Tuesday to pay tribute to KAIST alumnus Min-Hwa Lee"s contributions to the development of Korean venture business.
On hand at the ceremony were Sung-Woo Hong, head of the Small and Medium Business Administration, KAIST President Nam-Pyo Suh, dozens of KAIST alumni representatives, and figures from government research institutes.
Lee, who obtained his M.S. (1978) and Ph.D. (1985) in Electrical Engineering from KAIST, established a fund of 10 billion won along with other KAIST alumni in 2001 and donated it for the construction of the Alumni Start-Up Building for aspiring entrepreneurs. To remember his lofty vision, KAIST decided to name a lecture hall after him.
As a venture businessman, Lee founded the Madison, Ltd., one of the earliest venture companies in Korea, in 1985. Lee then played a leading role in the creation of the Korea Venture Industry Association in 1995, and in the establishment of KOSDAQ and the enactment of a special law for venture enterprises.
KAIST will appoint Lee as an adjunct professor in recognition of his expertise in venture business and commercialization of new inventions. Lee will teach entrepreneurship at the Graduate School of Management and the Institute for Gifted Students, a KAIST affiliate.
"Dr. Lee has made a great contribution to the development of Korean venture business. At a time when commercialization of new inventions was at an infant stage, he nurtured technology ventures and built the foundation for the proliferation of technology venture," President Suh said. "We expect that he will strive to open the generation of technologies which will lead the development of Korea in the future and become a mentor of aspiring entrepreneurs," Suh added.
2009.06.30 View 13981 -
CJIS donates development fund of two hundreds million won to KAIST
CJIS donates development fund of two hundreds million won to KAIST
CJ Investment & Securities Co., Ltd. (CJIS/ CEO Hong-Chang Kim) donated a development fund of two hundreds million won to KAIST (President Nam-Pyo Suh) on Monday, August 30 to contribute to the development of KAIST and its fostering of science genius.
At the donation ceremony held at the main conference room in KAIST main administration building, CJIS CEO Hong-Chang Kim said, “I am very pleased to contribute to the development of KAIST, which is developing into a world-class research university.” In response to this, KAIST president Nam-Pyo Suh said, “I am very grateful for CJIS’s support. I will do my best to make KAIST one of the world-class research universities to be the hub of the world as well as Korea in the field of the cutting-edge science and technology.”
2006.09.06 View 13087