Saudi Arabian Oil Company

King Abdullah University of Science and Technology

Hesham A Jifri

Fadl Abdellatif

Sahejad Patel

Amjad Felemban

Ali J Alrasheed

Jeff S Shamma

Ahmed Al Brahim

Abdulwahab A Halawani

An actuation system and method are actuated to control magnetic adhesion of a wheel to a surface. The actuation system is coupled to the wheel having inner and outer annular discs and the wheel is configured to adhere magnetically to a surface. The actuation system has a motor configured to rotate a first disc and to not rotate a second disc. In a first configuration, the motor rotates the first disc relative to the second disc in a first rotational direction, thereby generating a first magnetic flux to increase the adhesion of the wheel to the metallic surface. In a second configuration, the motor rotates the first disc relative to the second disc in a second rotational direction opposite the first rotational direction, thereby generating a second magnetic flux to decrease the adhesion of the wheel to the metallic surface. A method is also disclosed.

System and method for actuation to control magnetic wheel adhesion

A system and method control magnetic adhesion of a wheel to a surface using internal cancellation magnets. An inner annular disc of the wheel comprises a non-magnetic material and has first and second apertures which retain magnets while an outer annular disc comprises a ferromagnetic material and is disposed on a side of the inner annular disc and has a non-magnetic isolator ring which extends in a serpentine manner. In one configuration, the curves of the serpentine isolator ring isolate the first magnets from the second magnets. In another configuration, the outer annular disc rotates relative to the inner annular disc to dispose the curves of the serpentine isolator ring in a second position to allow magnetic interaction between the first and second magnets to generate a second magnetic flux between the second magnets and the ferromagnetic surface to thereby decrease the adhesion of the wheel to the ferromagnetic surface.

System and method using internal cancellation magnets to control magnetic wheel adhesion

An arrangement of cancellation electromagnets control magnetic adhesion of a wheel to a surface. The wheel has an inner annular disc composed of a non-magnetic material with apertures which retain electromagnets and permanent magnets, and an outer annular disc composed of a ferromagnetic material which is disposed on a side of the inner annular disc, with a non-magnetic isolator ring having curves extending in a serpentine manner. In one embodiment, the curves isolate the electromagnets from the permanent magnets. In another embodiment, the outer annular disc is rotated relative to the inner annular disc to dispose the curves of the serpentine isolator ring in a second position to allow magnetic interaction between the electromagnets and the permanent magnets to generate a second magnetic flux between the permanent magnets and the ferromagnetic surface which decreases adhesion of the wheel to the ferromagnetic surface. A method implements the system.

Electromagnets to control magnetic wheel adhesion

A method and an assembly for determining a volume of a tank. A measuring tape having multiple magnets is attached to a first location of the tank. A first circumference of the tank at the first location of the tank is measured. A value of the first circumference is recorded. Multiple wheels coupled to the measuring tape are rotated. Responsive to rotating the wheels, the measuring tape is moved from the first location to a second location of the tank. A second circumference of the tank at the second location is measured. A value of the second circumference is recorded. Based on the value of the first circumference and the value of the second circumference, the volume of the tank is calculated.

Determining a volume of a tank

A system and method passively normalize an ultrasonic dry coupled wheel probe as the probe traverses a surface of a structure to inspect the structure, such as a flat structure or a curved pipe. At least a pair of arms are configured to passively maintain normalization of the probe in a detection direction normal to the surface.

System and method for passive normalization of a probe

An unmanned aerial vehicle including a body and a docking mechanism coupled to the body is provided. The docking mechanism secures a magnetic crawler to the body during flight and during landing on a ferromagnetic cylindrical surface. The docking mechanism includes a docking hook that couples to the magnetic crawler and a linear actuator coupling the docking hook to the body. The docking hook includes passive latches that passively release the magnetic crawler from the docking hook onto the cylindrical surface after the landing, receive the magnetic crawler into the docking hook from the cylindrical surface after the releasing, and secure the magnetic crawler to the body during takeoff from the cylindrical surface after the receiving. The linear actuator lowers the docking hook and coupled magnetic crawler from the body to the cylindrical surface, and raises the docking hook and received magnetic crawler from the cylindrical surface to the body.

Mechanism for docking a magnetic crawler into a UAV

A magnetic crawler configured to navigate on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under the control of the controller, and only three articulated magnetic wheels configured to tangentially contact and magnetically adhere to the cylindrical surface. The wheels include two drive wheels respectively coupled to the chassis by two articulation joints and configured to drive the crawler in a desired direction on the cylindrical surface by actively rotating the two drive wheels independently about respective drive axes of rotation by respective drive motors under the control of the controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive axis of rotation in response to the active rotations of the two drive wheels.

Growing community of inventors

Thuwal, Saudi Arabia

Hesham A Jifri