Publications by Patrick Schoeneich

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Cy-mag3D is a miniature climbing robot with advanced mobility and magnetic adhesion. It is very compact: a cylindrical shape with 28 mm of diameter and 62 mm of width. Its design is very simple: two wheels, hence two degrees of freedom, and an advanced mag ...

Power plants require periodical inspections to control their state. To ensure a safe operation, parts that could fail before the next inspection are repaired or replaced, since a forced outage due to a failure can cost up to millions of dollars per day. No ...

In this paper, we describe a miniature climbing robot, 96 x 46 x 64 [mm3], able to climb ferromagnetic surfaces and to make inner plane to plane transition using only two degrees of freedom. Our robot, named TRIPILLAR, combines magnetic caterpillars and ma ...

A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It ...

This paper reports on a 3 years applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and 3 main achievements. The project is a common effort between industry and university, including ALS ...

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled betwee ...

We present a miniature magnetic climbing robot with dimensions 96 x 46 x 64mm(3). With two degrees of freedom it is able to climb ferromagnetic surfaces and to make inner plane to plane transitions whatever their inclination is. This robot, named TRIPILLAR ...

A Magnetic Switchable Device (MSD) is a ferromagnetic circuit using permanent magnets where the flux can circulate between different paths when its configuration is changed. This routes or cancels the flux through specific surfaces, and thus turns on or of ...

Cy-Mag3De is a magnetic climbing inspection robot with advanced mobility. It is based on an innovative, award-winning and patented magnetic design. Its mobility is further enhanced thanks to a novel active tail. The robot has a cylindrical shape of 80 mm i ...

Increased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incis ...

Purpose - The purpose of this paper is to present a novel miniature magnetic climbing robot for industrial inspection. The robot has high mobility with low complexity. ...

TUBULO II is a climbing inspection robot with for inner inspection of boiler tubes. Its locomotion principle is the inchworm type. The adhesion is realized with Magnetic Switchable Device [1]. The inner is able to operate within a tube of inner bore diamet ...

Patrick Schoeneich

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Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Miniature Mobile Systems for Inspection of Ferromagnetic Structures

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes

Highly Compact Robots for Inspection of Power Plants

Magnetic wheels optimization and application to the MagneBike climbing robot

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Design of Magnetic Switchable Device (MSD) and applications in climbing robot

Cy-mag3De: magnetic climbing inspection robot

Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling

Highly Compact Robots for Inspection of Power Plants

Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Tubulo II: magnetic climbing inchworm for inspection of boiler tubes