Functional Architecture

The system has 3 basic type of connections between all the blocks.

• The pneumatic lines are basically responsible for movement of compressed air from one block to the other.
• The signal lines are important for information transfer between individual blocks for control and sensing.
• The power lines are responsible for supplying all the blocks with energy from the external power supply to all the systems.

The sensing subsystem is responsible for providing information to the control system, which in turn can actuate the adhesion, locomotion and cleaning subsystems. The energy supply for all this will be a power supply system separate from the robot body, and a compressor is used for generating the pneumatic pressure needed for the adhesion system.