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We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are(More)
—New areas of research focus on bridging the gap between mobile robotics on land and at sea. This paper describes the evolution of RHex, a power-autonomous legged land-based robot, into one capable of both sea and land-based locomotion. In working towards an amphibious robot, three versions of RHex with increasing levels of aquatic capability were created.(More)
— This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine—mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage—includes several(More)
Membrane bioreactors (MBRs) are an advanced technology for wastewater treatment whose wide application has been hindered by rapid fouling of the membranes. MBRs can be operated with long sludge retention time (SRT), a crucial parameter impacting microbial selection in the reactor. This also affects filtration performance, since a major fouling agent are the(More)
  • Simon Mcilroy, Jon, Aaron Saunders, Marc, Mads Albertsen, Marta Nierychlo +19 others
  • 2015
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