PSpHT-II: a water strider-like robot with cylindrical footpad

Water strider or Gerridae is very lightweight insect and has a long leg that able to stand and even jump on the surface of water surface tension. Mimicking this creature become one of the favorable areas in the bioinspired robotics field. A Portable Striding pH Tester (PSpHT) is one of the robotics...

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Main Authors:	Gan, Vi Vi, Niirmel, Ranjanendran, Siti Noor Zuliana, Irawan, Addie
Format:	Book Section
Language:	English English
Published:	Springer Singapore 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/1/30.%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf http://umpir.ump.edu.my/id/eprint/22942/2/30.1%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf

id	ump-22942
recordtype	eprints
spelling	ump-229422019-05-17T07:20:13Z http://umpir.ump.edu.my/id/eprint/22942/ PSpHT-II: a water strider-like robot with cylindrical footpad Gan, Vi Vi Niirmel, Ranjanendran Siti Noor Zuliana Irawan, Addie TK Electrical engineering. Electronics Nuclear engineering Water strider or Gerridae is very lightweight insect and has a long leg that able to stand and even jump on the surface of water surface tension. Mimicking this creature become one of the favorable areas in the bioinspired robotics field. A Portable Striding pH Tester (PSpHT) is one of the robotics systems that mimick-ing water strider with quadruped mechanism. The first PSpHT design had successfully operated with real-time pH monitoring, and long-haul remotely control. However, weakness in its footpad still existed when the rapid spatial motions were not making PSpHT faster enough on the water surface. Therefore this paper presents the improvement progress on PSpHT and introducing its second version named PSpHT-II. In this progress, a new footpad with light cylindrical shape is proposed by considering the water surface tension. The polypropylenebased footpad hold with light aluminum alloy as a link of the spatial leg and the flat plate was added as the paddler on each side of the footpad as water surface breaker. The leg design is recalculating and fabricated regarding the Archimedes principle and surface tension theory by considering the balance forces between the air and water. According to the calculations and buoyed test, the proposed cylindrical footpad is less submerged compares to the previous footpads designed. On the other hand, the proposed spatial motion was simulated for verification. As for validation, PSpHT-II was validated by running the system on the lakeside of Universiti Malaysia Pahang, Pekan, Pahang Campus. The experiment shows the additional paddlers help PSpHT-II striding faster and stable although with a mild and windy situation. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22942/1/30.%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf pdf en http://umpir.ump.edu.my/id/eprint/22942/2/30.1%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf Gan, Vi Vi and Niirmel, Ranjanendran and Siti Noor Zuliana and Irawan, Addie (2018) PSpHT-II: a water strider-like robot with cylindrical footpad. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering, 538 . Springer Singapore, Singapore, pp. 99-112. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_9 DOI: https://doi.org/10.1007/978-981-13-3708-6_9
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Gan, Vi Vi Niirmel, Ranjanendran Siti Noor Zuliana Irawan, Addie PSpHT-II: a water strider-like robot with cylindrical footpad
description	Water strider or Gerridae is very lightweight insect and has a long leg that able to stand and even jump on the surface of water surface tension. Mimicking this creature become one of the favorable areas in the bioinspired robotics field. A Portable Striding pH Tester (PSpHT) is one of the robotics systems that mimick-ing water strider with quadruped mechanism. The first PSpHT design had successfully operated with real-time pH monitoring, and long-haul remotely control. However, weakness in its footpad still existed when the rapid spatial motions were not making PSpHT faster enough on the water surface. Therefore this paper presents the improvement progress on PSpHT and introducing its second version named PSpHT-II. In this progress, a new footpad with light cylindrical shape is proposed by considering the water surface tension. The polypropylenebased footpad hold with light aluminum alloy as a link of the spatial leg and the flat plate was added as the paddler on each side of the footpad as water surface breaker. The leg design is recalculating and fabricated regarding the Archimedes principle and surface tension theory by considering the balance forces between the air and water. According to the calculations and buoyed test, the proposed cylindrical footpad is less submerged compares to the previous footpads designed. On the other hand, the proposed spatial motion was simulated for verification. As for validation, PSpHT-II was validated by running the system on the lakeside of Universiti Malaysia Pahang, Pekan, Pahang Campus. The experiment shows the additional paddlers help PSpHT-II striding faster and stable although with a mild and windy situation.
format	Book Section
author	Gan, Vi Vi Niirmel, Ranjanendran Siti Noor Zuliana Irawan, Addie
author_facet	Gan, Vi Vi Niirmel, Ranjanendran Siti Noor Zuliana Irawan, Addie
author_sort	Gan, Vi Vi
title	PSpHT-II: a water strider-like robot with cylindrical footpad
title_short	PSpHT-II: a water strider-like robot with cylindrical footpad
title_full	PSpHT-II: a water strider-like robot with cylindrical footpad
title_fullStr	PSpHT-II: a water strider-like robot with cylindrical footpad
title_full_unstemmed	PSpHT-II: a water strider-like robot with cylindrical footpad
title_sort	pspht-ii: a water strider-like robot with cylindrical footpad
publisher	Springer Singapore
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/ http://umpir.ump.edu.my/id/eprint/22942/1/30.%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf http://umpir.ump.edu.my/id/eprint/22942/2/30.1%20PSpHT-II-%20a%20water%20strider-like%20robot%20with%20cylindrical%20footpad.pdf
first_indexed	2023-09-18T22:34:09Z
last_indexed	2023-09-18T22:34:09Z
_version_	1777416482835136512

PSpHT-II: a water strider-like robot with cylindrical footpad

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