(02-08-2017, 02:11 PM)jaseela123 Wrote:

Ball-shaped robots Operates according to the principle of change in the center of gravity. The power source of these robots is the NiCd battery. Same as the hamster ball. They have eye movement ball mechanism. By controlling the speed of the drive, the speed of the robot is controlled. Mobility was provided by generating torque directly to the lever. The number of revolutions is counted on an inductive sensor. The large instrument board carries an on-board computer and interactivity tools. Pulse encoders are used for the measurement of motor rotation. The sensors are used for temperature, pan, tilt and title of internal mechanics. The local server transmits the control using commands that are invariant kinematic. These robots have an automatic location command. The user interface contains a virtual model for communication between the remote user and a local system.

This robot is specifically designed for direct visual inspection of water-filled infrastructure, such as inside nuclear power plants. The unique propulsion architecture consists of a single bi-directional centrifugal pump combined with two fluid valves. The pump is used to produce a high speed jet while the valves are used to quickly change the jet between outlet ports. The spherical shape means that the robot is simple to model and control, maneuverable and robust to collisions. The propulsion architecture is described in detail along with a rigid body model for maneuver control. A new PWM valve controller is used to achieve course control, and controller performance is confirmed with simulation and experiments. Finally, experiments are used to illustrate the spin and dive performance of the robot.                      

@jaseela123 "Yes i need that report please " send it to me on gaurav.kinng[at]gmail.com....please.