{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,12]],"date-time":"2026-10-12T20:47:24Z","timestamp":1791838044428,"version":"4.3.4"},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T00:00:00Z","timestamp":1448928000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes an optimized magnetic wheel solution for use in a novel grit-blasting robot intended to be used on the hulls of ships. The grit-blasting robot was designed for conducting surface operations on newly-built ships in dry yards. It can be adapted to curvatures of up to 0.833 m<jats:sup>\u22121<\/jats:sup>; can achieve a total payload of 120 kg and can also be steered. The proposed magnetic wheel solution for robots with such payloads and surface adaptability has not been seen in previous work.<\/jats:p><jats:p>As the magnetic force acting on a magnetic wheel is very sensitive to the working conditions, a mathematical model was built to derive the exact force requirements taking into account the mechanical structure of the robot and its disposition on the ship's hull. In this paper, the design of the wheels was optimized based on the model. Wheels were manufactured according to the optimized results and a prototype robot was constructed. The design was then validated using locomotion tests.<\/jats:p>","DOI":"10.1017\/s0263574715000788","type":"journal-article","created":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T06:09:11Z","timestamp":1448950151000},"page":"712-728","source":"Crossref","is-referenced-by-count":24,"title":["Design and optimization of a magnetic wheel for a grit-blasting robot for use on ship hulls"],"prefix":"10.1017","volume":"35","author":[{"given":"Zhengyi","family":"Xu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ke","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongqiang","family":"Hu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaopeng","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Shi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2015,12,1]]},"reference":[{"key":"S0263574715000788_ref4","unstructured":"V-ROBO brochure, Urakami Research Company (2010) pp. 12, 13, available at: http:\/\/www.urakami.co.jp\/img\/pdf\/vrobo_brochure_en.pdf."},{"key":"S0263574715000788_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2012.2200240"},{"key":"S0263574715000788_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.08.007"},{"key":"S0263574715000788_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000257"},{"key":"S0263574715000788_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0661-3"},{"key":"S0263574715000788_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227010"},{"key":"S0263574715000788_ref10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20296"},{"key":"S0263574715000788_ref2","doi-asserted-by":"crossref","unstructured":"Y. Bar-Cohen , X. Bao , B. P. Dolgin and N. I. Marzwell , \u201cResidue Detection for Real-time Removal of Paint from Metallic Surfaces,\u201d 6th Annual International Symposium on NDE for Health Monitoring and Diagnostics, Newport Beach, California, US (March 4\u20138, 2001) pp. 115\u2013120. International Society for Optics and Photonics.","DOI":"10.1117\/12.434165"},{"key":"S0263574715000788_ref14","unstructured":"D. Pazderski , K. Koz\u0142owski and W. E. Dixon , \u201cTracking and Regulation Control of a Skid Steering Vehicle,\u201d American Nuclear Society Tenth International Topical Meeting on Robotics and Remote Systems, Gainesville, Florida (Mar. 2004) pp. 369\u2013376."},{"key":"S0263574715000788_ref5","unstructured":"Jetstream Hochdruck-L\u00f6sungen GmbH, Available at: http:\/\/www.jetstream-germany.com\/en\/products\/crawler."},{"key":"S0263574715000788_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.01.007"},{"key":"S0263574715000788_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005797"},{"key":"S0263574715000788_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003964"},{"key":"S0263574715000788_ref3","doi-asserted-by":"crossref","first-page":"713","DOI":"10.1080\/10473220050129310","article-title":"Automated abrasive blasting equipment for use on steel structures","volume":"15","author":"Echt","year":"2000","journal-title":"Appl. Occup. Environ. Hygiene"},{"key":"S0263574715000788_ref11","doi-asserted-by":"publisher","DOI":"10.5772\/45663"},{"key":"S0263574715000788_ref7","first-page":"40","article-title":"Optimization of permanent-magnetic adhesion device for wall-climbing robot","volume":"21","author":"Gui","year":"2006","journal-title":"Diangong Jishu Xuebao\/Trans. China Electrotech. Soc."},{"key":"S0263574715000788_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-009-0082-4"},{"key":"S0263574715000788_ref18","first-page":"184","volume-title":"The Finite Element Method in Electromagnetics","author":"Jin","year":"2002"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000788","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,17]],"date-time":"2019-04-17T22:36:27Z","timestamp":1555540587000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000788\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,12,1]]},"references-count":18,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["S0263574715000788"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000788","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,12,1]]}}}