Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators

1998 ◽  
Vol 122 (2) ◽  
pp. 386-388 ◽  
Author(s):  
Glenn K. Klute ◽  
Blake Hannaford
Keyword(s):  
Energy Storage ◽  
Mobile Robots ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Number Of Factors ◽  
Output Force ◽  
Wide Range ◽  
The Disabled ◽  
Muscle Actuators ◽  
Very High

The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. In this paper, we present a model that includes a nonlinear, Mooney–Rivlin mathematical description of the actuator’s internal bladder. Experimental results show that the model provides improvement in the ability to predict the actuator’s output force. However, a discrepancy between model and experiment, albeit smaller than previous models, still exists. A number of factors are identified that may be responsible for this discrepancy. [S0022-0434(00)00902-3]

Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators

2017 ◽  
Author(s):  
Sunil Kumar Rajendran ◽  
Feitian Zhang
Keyword(s):  
Heat Dissipation ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Robotic Fish ◽  
Artificial Muscles ◽  
Underwater Robotics ◽  
Closed Loop System ◽  
Underwater Robots ◽  
Muscle Actuators ◽  
Novel Design

Super-coiled polymer (SCP), one of the newly-developed artificial muscles, has various advantages over traditional artificial muscles in terms of cost, flexibility and power-to-weight ratio. This paper investigates the performance of super-coiled polymer-based actuation in underwater robotics, and presents a novel design of robotic fish using antagonistic SCP actuators. Dynamic model of the robot is derived. An example robotic fish prototype is developed and used in experiments to study SCP actuation for underwater robots. Furthermore, experimental results show that using SCP actuators in robotic fish solves the challenging heat-dissipation problem at ease, thus improving the dynamic response of SCP actuation significantly. A PID controller is designed to regulate the tail flap angle of the designed robotic fish. Simulation results of the closed-loop system are presented to validate the proposed robot design and actuation approach.

scholarly journals A Fluidic Muscle által kifejtett erő közelítésének vizsgálata MS Excel környezetben

2013 ◽  
Vol 8 (1-2) ◽  
pp. 70-76
Author(s):  
József Sárosi ◽  
Zoltán Fabulya
Keyword(s):  
Weight Ratio ◽  
Artificial Muscle ◽  
High Strength ◽  
Pneumatic Actuators ◽  
Highly Nonlinear ◽  
Wide Range ◽  
Mckibben Muscle ◽  
Air Muscle ◽  
Function Approximations ◽  
Fluidic Muscle

The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company and Shadow Air Muscle manufactured by Shadow Robot Company). Pneumatic artificial muscles have a wide range of use in industrial and medical fields. There are a lot of advantages of these muscles like the high strength, good power-weight ratio, low price, little maintenance needed, great compliance, compactness, inherent safety and usage in rough environments. The main disadvantage is that their dynamic behaviour is highly nonlinear. The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper the newest function approximations for the force generated by Fluidic Muscles are investigated in MS Excel.

TEM study of boron additions to cobalt aluminide

1988 ◽  
Vol 46 ◽  
pp. 546-547
Author(s):  
Gerald B. Feldewerth
Keyword(s):  
High Temperature ◽  
Turbine Engines ◽  
Major Drawback ◽  
University Of Missouri ◽  
Specific Strength ◽  
Aerospace Applications ◽  
Wide Range ◽  
Ordered Alloys ◽  
The University ◽  
Very High

In recent years an increasing emphasis has been placed on the study of high temperature intermetallic compounds for possible aerospace applications. One group of interest is the B2 aiuminides. This group of intermetaliics has a very high melting temperature, good high temperature, and excellent specific strength. These qualities make it a candidate for applications such as turbine engines. The B2 aiuminides exist over a wide range of compositions and also have a large solubility for third element substitutional additions, which may allow alloying additions to overcome their major drawback, their brittle nature.One B2 aluminide currently being studied is cobalt aluminide. Optical microscopy of CoAl alloys produced at the University of Missouri-Rolla showed a dramatic decrease in the grain size which affects the yield strength and flow stress of long range ordered alloys, and a change in the grain shape with the addition of 0.5 % boron.

Features of the Christian values ​​system

2004 ◽  
pp. 21-29
Author(s):  
G.V. Pyrog
Keyword(s):  
Public Opinion ◽  
Religious Beliefs ◽  
Religious Values ◽  
Direct Influence ◽  
Moral Norms ◽  
Value System ◽  
Christian Religion ◽  
Mass Consciousness ◽  
Wide Range ◽  
Very High

In domestic scientific and public opinion, interest in religion as a new worldview paradigm is very high. Today's attention to the Christian religion in our society is connected, in our opinion, with the specificity of its value system, which distinguishes it from other forms of consciousness: the idea of ​​God, the absolute, the eternity of moral norms. That is why its historical forms do not receive accurate characteristics and do not matter in the mass consciousness. Modern religious beliefs do not always arise as a result of the direct influence of church preaching. The emerging religious values ​​are absorbed in a wide range of philosophical, artistic, ethical ideas, acting as a compensation for what is generally defined as spirituality. At the same time, the appeal to Christian values ​​became very popular.

Designing the Electricity Market with Energy Storage Devices

2020 ◽  
Vol 12 (12) ◽  
pp. 31-43
Author(s):  
Tatiana A. VASKOVSKAYA ◽  
◽  
Boris A. KLUS ◽  
Keyword(s):  
Energy Storage ◽  
Electricity Market ◽  
Power Flow ◽  
Optimal Power Flow ◽  
Storage Systems ◽  
Energy System ◽  
Energy Storage Systems ◽  
Storage Model ◽  
Optimal Power ◽  
Wide Range

The development of energy storage systems allows us to consider their usage for load profile leveling during operational planning on electricity markets. The paper proposes and analyses an application of an energy storage model to the electricity market in Russia with the focus on the day ahead market. We consider bidding, energy storage constraints for an optimal power flow problem, and locational marginal pricing. We show that the largest effect for the market and for the energy storage system would be gained by integration of the energy storage model into the market’s optimization models. The proposed theory has been tested on the optimal power flow model of the day ahead market in Russia of 10000-node Unified Energy System. It is shown that energy storage systems are in demand with a wide range of efficiencies and cycle costs.

DURCOMET 100

Alloy Digest ◽  
1993 ◽  
Vol 42 (2) ◽  
Keyword(s):  
Fracture Toughness ◽  
Wear Resistance ◽  
Corrosion Resistance ◽  
Mechanical Strength ◽  
Heat Treating ◽  
Corrosion And Wear ◽  
Annealed Condition ◽  
Excellent Corrosion Resistance ◽  
Wide Range ◽  
Very High

Abstract Durcomet 100 is an improved version of Alloy CD-4 MCu with better corrosion and wear resistance. The alloy is used in the annealed condition and possesses excellent corrosion resistance over a wide range of corrosion environments. Mechanical strength is also very high. This datasheet provides information on composition, physical properties, hardness, and tensile properties as well as fracture toughness. It also includes information on corrosion resistance as well as heat treating and joining. Filing Code: SS-540. Producer or source: Duriron Company Inc.

Influencia de las condiciones de secado solar en la coloración de plantas medicinales

2019 ◽  
pp. 28-34
Author(s):  
Margarita Castillo-Téllez ◽  
Beatriz Castillo-Téllez ◽  
Juan Carlos Ovando-Sierra ◽  
Luz María Hernández-Cruz
Keyword(s):  
Medicinal Plants ◽  
Forced Convection ◽  
Rural Areas ◽  
Color Change ◽  
Drying Process ◽  
Scientific Medicine ◽  
Drying Time ◽  
Bacterial Proliferation ◽  
Wide Range ◽  
Very High

For millennia, humans have used hundreds of medicinal plants to treat diseases. Currently, many species with important characteristics are known to alleviate a wide range of health problems, mainly in rural areas, where the use of these resources is very high, even replacing scientific medicine almost completely. This paper presents the dehydration of medicinal plants that are grown in the State of Campeche through direct and indirect solar technologies in order to evaluate the influence of air flow and temperature on the color of the final product through the L* a* scale. b*, analyzing the activity of water and humidity during the drying process. The experimental results showed that the direct solar dryer with forced convection presents a little significant color change in a drying time of 400 min on average, guaranteeing the null bacterial proliferation and reaching a final humidity between 9 % and 11 %.

scholarly journals Separate Universe calibration of the dependence of halo bias on cosmic web anisotropy

2020 ◽  
Vol 499 (3) ◽  
pp. 4418-4431 ◽  
Author(s):  
Sujatha Ramakrishnan ◽  
Aseem Paranjape
Keyword(s):  
Dark Matter ◽  
High Precision ◽  
Gaussian Distribution ◽  
Initial Perturbation ◽  
Analytical Framework ◽  
Web Environment ◽  
Wide Range ◽  
Galaxy Assembly ◽  
Very High ◽  
Good Agreement

ABSTRACT We use the Separate Universe technique to calibrate the dependence of linear and quadratic halo bias b1 and b2 on the local cosmic web environment of dark matter haloes. We do this by measuring the response of halo abundances at fixed mass and cosmic web tidal anisotropy α to an infinite wavelength initial perturbation. We augment our measurements with an analytical framework developed in earlier work that exploits the near-lognormal shape of the distribution of α and results in very high precision calibrations. We present convenient fitting functions for the dependence of b1 and b2 on α over a wide range of halo mass for redshifts 0 ≤ z ≤ 1. Our calibration of b2(α) is the first demonstration to date of the dependence of non-linear bias on the local web environment. Motivated by previous results that showed that α is the primary indicator of halo assembly bias for a number of halo properties beyond halo mass, we then extend our analytical framework to accommodate the dependence of b1 and b2 on any such secondary property that has, or can be monotonically transformed to have, a Gaussian distribution. We demonstrate this technique for the specific case of halo concentration, finding good agreement with previous results. Our calibrations will be useful for a variety of halo model analyses focusing on galaxy assembly bias, as well as analytical forecasts of the potential for using α as a segregating variable in multitracer analyses.

scholarly journals Modelling the atmosphere of lava planet K2-141b: implications for low- and high-resolution spectroscopy

2020 ◽  
Vol 499 (4) ◽  
pp. 4605-4612
Author(s):  
T Giang Nguyen ◽  
Nicolas B Cowan ◽  
Agnibha Banerjee ◽  
John E Moores
Keyword(s):  
Steady State ◽  
Ocean Circulation ◽  
Scale Height ◽  
High Resolution Spectroscopy ◽  
Return Flow ◽  
High Dispersion ◽  
Magma Ocean ◽  
Steady State Flow ◽  
Wide Range ◽  
Very High

ABSTRACT Transit searches have uncovered Earth-size planets orbiting so close to their host star that their surface should be molten, so-called lava planets. We present idealized simulations of the atmosphere of lava planet K2-141b and calculate the return flow of material via circulation in the magma ocean. We then compare how pure Na, SiO, or SiO2 atmospheres would impact future observations. The more volatile Na atmosphere is thickest followed by SiO and SiO2, as expected. Despite its low vapour pressure, we find that a SiO2 atmosphere is easier to observe via transit spectroscopy due to its greater scale height near the day–night terminator and the planetary radial velocity and acceleration are very high, facilitating high dispersion spectroscopy. The special geometry that arises from very small orbits allows for a wide range of limb observations for K2-141b. After determining the magma ocean depth, we infer that the ocean circulation required for SiO steady-state flow is only 10−4 m s−1, while the equivalent return flow for Na is several orders of magnitude greater. This suggests that a steady-state Na atmosphere cannot be sustained and that the surface will evolve over time.

New Thermal Energy Storage Materials From Industrial Wastes: Compatibility of Steel Slag With the Most Common Heat Transfer Fluids

2015 ◽  
Vol 137 (4) ◽  
Author(s):  
Iñigo Ortega-Fernández ◽  
Javier Rodríguez-Aseguinolaza ◽  
Antoni Gil ◽  
Abdessamad Faik ◽  
Bruno D’Aguanno
Keyword(s):  
Heat Transfer ◽  
Energy Storage ◽  
Thermal Energy ◽  
Thermal Energy Storage ◽  
Steel Slag ◽  
Industrial Wastes ◽  
Energy Storage Materials ◽  
Iron And Steel ◽  
Heat Transfer Fluids ◽  
Wide Range

Slag is one of the main waste materials of the iron and steel manufacturing. Every year about 20 × 106 tons of slag are generated in the U.S. and 43.5 × 106 tons in Europe. The valorization of this by-product as heat storage material in thermal energy storage (TES) systems has numerous advantages which include the possibility to extend the working temperature range up to 1000 °C, the reduction of the system cost, and at the same time, the decrease of the quantity of waste in the iron and steel industry. In this paper, two different electric arc furnace (EAF) slags from two companies located in the Basque Country (Spain) are studied. Their thermal stability and compatibility in direct contact with the most common heat transfer fluids (HTFs) used in the concentrated solar power (CSP) plants are analyzed. The experiments have been designed in order to cover a wide range of temperature up to the maximum operation temperature of 1000 °C corresponding to the future generation of CSP plants. In particular, three different fluids have been studied: synthetic oil (Syltherm 800®) at 400 °C, molten salt (Solar Salt) at 500 °C, and air at 1000 °C. In addition, a complete characterization of the studied slags and fluids used in the experiments is presented showing the behavior of these materials after 500 hr laboratory-tests.

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