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Impact on the Sustainable Development Goals (SDGs)

Analysis of institutional authors

Gomez Lambo, Virgilio AugustoAuthorHernando MCorresponding AuthorGómez VAuthorBrunete AAuthorGambao EAuthor

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February 17, 2021
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Cfd modelling and optimization procedure of an adhesive system for a modular climbing robot

Publicated to: SENSORS. 21 (4): 1117-22 - 2021-02-01 21(4), DOI: 10.3390/s21041117

Authors:

Hernando, Miguel; Gomez, Virgilio; Brunete, Alberto; Gambao, Ernesto
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Affiliations

Escuela Tecnica Superior de Ingenieria y Diseno Industrial, Universidad Politecnica de Madrid - Author
Universidad Politécnica de Madrid - Author
‎ Univ Politecn Madrid, Ctr Automat & Robot UPM CSIC, Madrid 28012, Spain - Author
‎ Univ Politecn Madrid, Escuela Tecn Super Ingn & Diseno Ind, Madrid 28012, Spain - Author
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Abstract

© 2021 by the authors. Licensee MDPI, Basel, Switzerland. Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper, a CFD (computer fluid dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.
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Keywords

Computer fluid dynamicsIndustry, innovation and infrastructureModular climbing robotsOptimizationRadial impellerTest rig measurementsVacuum generation

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal SENSORS due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2021, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Instrumentation.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations from Scopus Elsevier, it yields a value for the Field-Weighted Citation Impact from the Scopus agency: 1.06, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 13, 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2026-04-25, the following number of citations:

  • WoS: 15
  • Scopus: 19
  • Europe PMC: 3
  • Open Alex: 1
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-25:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 22 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

    It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

    • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
    • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/90810/

    As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

    • Views: 93
    • Downloads: 75
    Continuing with the social impact of the work, it is important to emphasize that, due to its content, it can be assigned to the area of interest of ODS 9 - Industry, innovation and infrastructure, with a probability of 63% according to the mBERT algorithm developed by Aurora University.
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    Leadership analysis of institutional authors

    There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (HERNANDO GUTIERREZ, MIGUEL) and Last Author (GAMBAO GALAN, ERNESTO).

    the author responsible for correspondence tasks has been HERNANDO GUTIERREZ, MIGUEL.

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    Project objectives

    Los objetivos perseguidos en esta aportación se centran en mejorar el sistema de adhesión de un robot modular para inspección en infraestructuras. Se pretende analizar el comportamiento del sistema de adhesión mediante modelado CFD para predecir su rendimiento. Se busca desarrollar y validar modelos analíticos y numéricos mediante calibración con mediciones experimentales. Se pretende evaluar el efecto de diferentes parámetros geométricos sobre la relación vacío/consumo energético. Se aspira a determinar la configuración óptima que maximice dicha relación. Finalmente, se orienta a optimizar parámetros específicos del sistema, como el número de palas del impulsor, para mejorar la eficiencia del robot ROMERIN.
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    Most relevant results

    El estudio presenta un modelado CFD y un procedimiento de optimización para un sistema de adhesión en un robot modular escalador. Se desarrollaron modelos analíticos y numéricos para predecir el comportamiento del sistema bajo distintas configuraciones. Los modelos fueron validados mediante mediciones en banco de pruebas, calibrando una altura de entrada arbitraria para simular la fuga de flujo. Se evaluaron diferentes parámetros geométricos para optimizar la relación vacío/consumo de potencia. El modelo predijo el vacío con un margen de error del 15% y el consumo de potencia del motor con un 25%. Finalmente, se optimizó el número de palas del impulsor para mejorar el rendimiento del sistema de adhesión.
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