{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T15:00:18Z","timestamp":1773414018225,"version":"3.50.1"},"reference-count":14,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2004,4,1]]},"abstract":"<jats:p>The system proposed in this paper is the Alicia<jats:sup>3<\/jats:sup> robot, which is based on the Alicia II module. Its aim is to inspect non\u2010porous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials and cleanliness levels. To meet this aim, pneumatic\u2010like adhesion has been selected for the system. The system is also required to move over the surface at a suitable speed, to pass over obstacles and to have a suitable payload to carry mission\u2010specific instrumentation. The robot design mainly aimed at finding a solution with a high degree of modularity, so that it can easily be disassembled for maintenance purposes and to replace consumable parts such as the wheels and the sealing, making its design easier. Some onboard control algorithms have also been introduced to increase system reliability and reduce energy consumption.<\/jats:p>","DOI":"10.1108\/01439910410522838","type":"journal-article","created":{"date-parts":[[2004,2,23]],"date-time":"2004-02-23T17:53:34Z","timestamp":1077558814000},"page":"148-158","source":"Crossref","is-referenced-by-count":41,"title":["A modular approach for the design of the Alicia<sup>3<\/sup> climbing robot for industrial inspection"],"prefix":"10.1108","volume":"31","author":[{"given":"Domenico","family":"Longo","sequence":"first","affiliation":[]},{"given":"Giovanni","family":"Muscato","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2021010620170679300_b1","unstructured":"American Petroleum Institute (2000), \u201cTank inspection, repair, alteration and reconstruction\u201d, Standard 653, January 1992, API, Washington, DC."},{"key":"key2021010620170679300_b2","unstructured":"Berns, K. and Hillenbrand, C. (2003a), \u201cClimbing robots for commercial applications \u2013 a survey\u201d,Proceedings of the 6th International Conference on Climbing and Walking Robots CLAWAR 2003, 17\u201019 September 2003, Professional Engineering Publishing, Catania, Italy, pp. 771\u20106."},{"key":"key2021010620170679300_b3","unstructured":"Berns, K. and Hillenbrand, C. (2003b), \u201cA climbing robot for inspection tasks in civil engineering\u201d, Proceedings of the ASER '03 1st International Workshop on Advances in Service Robotics Bardolino, 13\u201015 March 2003, Italy, pp. 34\u201040."},{"key":"key2021010620170679300_b4","unstructured":"Chen, S., Billings, S.A., Cowant, C.F.N. and Grant, P.M. (1990), \u201cPractical identification of NARMAX models using radial basis functions\u201d, Int. J. Control, Vol. 52 No. 6, pp. 1327\u201050."},{"key":"key2021010620170679300_b5","unstructured":"Fortuna, L., Gallo, A., Giudice, G. and Muscato, G. (1996), \u201cROBINSPEC: a mobile walking robot for the semi\u2010autonomous inspection of industrial plants\u201d, Robotics and Manufacturing: Recent Trends in Research and Applications, May 1996, Vol. 6, ASME Press, New York, NY, pp. 223\u20108."},{"key":"key2021010620170679300_b6","unstructured":"La Rosa, G., Messina, M., Muscato, G. and Sinatra, R. (2002), \u201cA low cost lightweight climbing robot for the inspection of vertical surfaces\u201d, Mechatronics, Vol. 12, pp. 71\u201096."},{"key":"key2021010620170679300_b7","unstructured":"Longo, D. and Muscato, G. (2001), \u201cSCID \u2013 a non\u2010actuated robot for walls exploration\u201d, 2001 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, 8\u201012 July 2001, Como, Italy, pp. 29\u201033."},{"key":"key2021010620170679300_b8","unstructured":"Muscato, G. and Trovato, G. (1998), \u201cMotion control of a pneumatic climbing robot by means of a fuzzy processor\u201d, First International Symposium CLAWAR '98 Climbing and Walking Robots, 26\u201028 November 1998, Brussels, pp. 26\u20108."},{"key":"key2021010620170679300_b9","unstructured":"Narendra, K.S. and Mukhopadhyay, S. (1997), \u201cAdaptive control using neural networks and approximate models\u201d, IEEE Transaction on Neural Networks, Vol. 8 No. 3, pp. 475\u201085."},{"key":"key2021010620170679300_b10","unstructured":"Narendra, K.S. and Parthasarathy, K. (1990), \u201cIdentification and control of dynamical system using neural networks\u201d, IEEE Transaction on Neural Networks, Vol. 1 No. 1, pp. 4\u201027."},{"key":"key2021010620170679300_b11","unstructured":"Nguyen, D.H. and Widrow, B. (1990), \u201cNeural networks for self learning control systems\u201d, IEEE Control System Magazine, pp. 18\u201023."},{"key":"key2021010620170679300_b12","unstructured":"Schraft, R.D., Simons, F., Schafer, T., Keil, W. and Anderson, S. (2003), \u201cConcept of a low\u2010cost, window\u2010cleaning robot\u201d, Proceedings of the 6th International Conference on Climbing and Walking Robots CLAWAR 2003, 17\u201019 September 2003, Professional Engineering Publishing, Catania, Italy, pp. 785\u201092."},{"key":"key2021010620170679300_b13","unstructured":"Weise, F., Kohnen, J., Wiggenhauser, H., Hillenbrand, C. and Berns, K. (2001), \u201cNon\u2010destructive sensors for inspection of concrete structures with a climbing robot\u201d, Proceedings of the 4th International Conference on Climbing and Walking Robots CLAWAR 2001, 24\u201026 September 2001, Professional Engineering Publishing, Karlsruhe, Germany, pp. 945\u201052."},{"key":"key2021010620170679300_frd1","unstructured":"Berns, K. 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