THE FIRST,  "UNNAMED"  ROBOT / FATHER OF UPUAUT

The first prototype was constructed largely of poly-carbonate plastic. The drive system consisted of 4 serial gears with electric motors, powering two independently controllable tracks. A conventional, industrial remote-control unit was used to guide the robot. A Panasonic color video camera was statically mounted, facing forward. It transmitted images via a specially-constructed "umbilical cord." The robot's maximum tractive power was approx. 6 kg.

UPUAUT-1

Upuaut-1 was used solely to explore the upper shafts of Cheops. The robot, actually a camera sled, had no drive unit – it had to be pulled through the shafts using a winch system. Its dimensions were reduced to a minimum in order to enable passage through the narrowest sections of the shafts. A front-mounted "Laser Rod" enabled exact measurement of the height and width of the shafts, and of the block joints and gaps.

UPUAUT-2

Upuaut-2 is an original design - only one model exists. All structural parts are milled from aircraft aluminum.

The robot is fitted with a laser guidance system and a SONY CCD miniature video camera with pan and tilt capabilities.

Seven independent electric motors with specially-designed Swiss precision gears drive the upper and lower wheel / track systems, providing leverage thrust of 20 kg and pulling power of 40 kg (under ideal traction conditions). Power supply is via "umbilical cord", a specially manufactured cable only 4.2 mm in diameter.

The remote control console is microprocessor - controlled.

THE ROPE CLIMBER

This device was developed to carry out two very different tasks:

1) Exact measurement of the shaft angles, and

2) Reduction of the drag force exerted by the control cable on the robot Upuaut-2.

The Rope Climber pulls itself upward through the shaft by grasping Upuaut-2's cable. The vehicle carries a high-resolution, numeric-digital instrument designed to measure the shaft's angle of ascent. It also features a special device which allows the robot to wedge itself in the shaft with a force of 120 kg. Then, with its motors set in reverse, it plays forward slack control cable, allowing Upuaut-2 to maneuver free of the usual drag force exerted by the cable. Without this feature, Upuaut-2 would never have been able to overcome several of the obstacles in the lower shafts.