A miniature biped wall-climbing robot for inspection of magnetic metal surfaces
Bibliographic record
Abstract
In order to carry out automatic ultrasonic inspection tasks, a miniature biped wall-climbing robot, the so-called MiniBibot-W, has been developed in inspiration of inchworm climbing. Developed with a modular method, this robot consists of six joint modules connected in series as the main body and two electromagnetic adhesion modules at the two ends as the two feet. An ultrasonic probe is mounted to one of the feet. MiniBibot-W thus can not only climb on magnetic surfaces with high mobility, but also perform ultrasonic inspections. In this paper, the development of the robotic system is first presented, and then three climbing gaits and inspection action are introduced. Driving force and adhesion force are analyzed to ensure the safety during climbing and manipulating procedure. A series of experiments are conducted to verify the feasibility and effectiveness of the proposed robotic system and the analysis. A potential application with MiniBibot-W is also demonstrated in ultrasonic detection.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".