scholarly journals AAU-BOT1: A Platform for Studying Dynamic, Life-Like Walking

2009 ◽  
Vol 6 (3-4) ◽  
pp. 285-299 ◽  
Author(s):  
Mads Sølver Svendsen ◽  
Jan Helbo ◽  
Michael Rygaard Hansen ◽  
Dejan B. Popovic ◽  
Jakob Stoustrup ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Low Cost ◽  
Design Parameters ◽  
Practical Implementation ◽  
Joint Torques ◽  
Motion Data ◽  
Department Of Health ◽  
Development Costs ◽  
The Cost

This paper describes the development of the humanoid robot AAU-BOT1. The purpose of the robot is to investigate human-like walking and in this connection, test prosthetic limbs. AAU-BOT1 has been designed with modularity in mind making it possible to replace, e.g. the lower leg to test transfemoral or transtibial prosthesis or orthosis. Recorded motion data from a male test person, along with approximated inertial and mass properties, were used to determine necessary joint torques in human walking which was used as design parameters for the robot. The robot has 19 degrees of freedom (DoF), 17 actuated and 2 unactuated acting as passive toe joints. The project was granted 60,000 Euro, and to keep development costs below this, the development and instrumentation was carried out by three groups of master students from the Department of Mechanical Engineering (ME) and the Department of Electronic Systems at Aalborg University and supported by the Department of Health Sciences and Technology (HST). To further reduce the cost, the robot uses off-the-shelf hardware which also reduced the time from idea to practical implementation. The result is a low-cost humanoid robot fully assembled and equipped with sensors ready to take its first steps.

scholarly journals Low-Cost Solar Electricity Using Stationary Solar Fields; Technology Potential and Practical Implementation Challenges to Be Overcome. Outcomes from H2020 MOSAIC Project

Energies ◽  
2020 ◽  
Vol 13 (7) ◽  
pp. 1816
Author(s):  
Cristóbal Villasante ◽  
Saioa Herrero ◽  
Marcelino Sánchez ◽  
Iñigo Pagola ◽  
Adrian Peña ◽  
...  
Keyword(s):  
Low Cost ◽  
Lessons Learned ◽  
Practical Implementation ◽  
Spherical Mirror ◽  
The Sun ◽  
Implementation Challenges ◽  
Under Construction ◽  
Mobile Receiver ◽  
Solar Electricity ◽  
The Cost

At any time of the day, a spherical mirror reflects the rays coming from the sun along a line that points to the sun through the center of the sphere. This makes it possible to build concentrated solar power(CSP) plants with fixed solar fields and mobile receivers; that is, solar fields can be significantly cheaper and simpler, but challenging tracking systems for the mobile receiver need to be implemented. The cost-cutting possibilities for this technology have been under-researched. This article describes the MOSAIC concept, which aims to achieve low-cost solar energy by boosting the benefits of spherical reflectors while addressing their challenges. This new concept proposes to build large modular plants from semi-Fresnel solar bowls. One of these modules has been designed and is under construction in Spain. This article reports the main lessons learned during the design phase, describes the advantages and challenges of the concept, details the proposed routes to overcome them, and identifies the steps needed to develop a fully competitive industrial solution.

Parametric Optimization of Structures Under Combined Base Motion Direct Forces and Static Loading

1998 ◽  
Vol 124 (1) ◽  
pp. 132-140 ◽  
Author(s):  
Izhak Bucher
Keyword(s):  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Operating Conditions ◽  
Design Parameters ◽  
Power Spectral ◽  
Loading Patterns ◽  
The Cost ◽  
Selection Of ◽  
Eigenvectors And Eigenvalues

This paper deals with the optimization of vibrating structures as a mean for minimizing unwanted vibration. Presented in this work is a method for automatic determination of a set of preselected design parameters affecting the geometrical layout or shape of the structure. The parameters are selected to minimize the dynamic response to external forcing or base motion. The presented method adjusts the structural parameters by solving an optimization problem in which the constraints are dictated by engineering considerations. Several constraints are defined so that the static deflection, the stress levels and the total weight of the structure are kept within bounds. The dynamic loading acting upon the structure is described in this work by its power spectral density, with this representation the structure can be tailored to specific operating conditions. The uncertain nature of the excitation is overcome by combining all possible spectra into one PSD encompassing all possible loading patterns. An important feature of the presented method is its numerical efficiency. This feature is essential for any reasonably sized problem as such problems are usually described by thousands of degrees of freedom arising from a finite-element idealization of the structure. In this paper, efficient, closed form expressions, for the cost function and its gradients are derived. Those are computed with a partial set of eigenvectors and eigenvalues thus increasing the efficiency further. Several numerical examples are presented where both shape optimization and the selection of discrete components are illustrated.

scholarly journals СОВЕРШЕНСТВОВАНИЕ ГИДРОМЕЛИОРАТИВНЫХ МАШИНС  АВТОМАТИЗАЦИЕЙ ПРОЦЕССА ПОЛИВА

2019 ◽  
Author(s):  
A. Akhtyamov ◽  
A. Ryazantsev ◽  
O. Gavrilina ◽  
A. Boyko ◽  
S. Borychev ◽  
...  
Keyword(s):  
Low Cost ◽  
Economic Effect ◽  
Hydraulic Drive ◽  
Cost Savings ◽  
Practical Implementation ◽  
High Productivity ◽  
Low Degree ◽  
The Cost ◽  
Positive Results ◽  
Horizontal Arrangement

Целью исследования являлось теоретическое обоснование и практическая реализация нового способа полива гидромелиоративной машиной Фрегат с гидроприводом на сложном рельефе с минимальными затратами на модернизацию и энергозатратами. Объектом исследования является экспериментальный кранзадатчик скорости, устанавливаемый на гидромелиоративную машину. Исследования проводились в сравнении с показателями машин серийного производства. В ходе исследования было установлено, что существующая технология полива не отвечает необходимым требованиям гидромелиорации и имеет низкую степень экономической эффективности. Предлагаемая технология полива решает вопрос неравномерного распределения влаги по площади, повышает урожайность и снижает стоимость обслуживания машины вследствие уменьшения числа поломок. Имеющиеся модернизации дождевальной машины (ДМ) Фрегат , позволяющие работать по предлагаемой технологии, сложны по конструкции, ненадежны и имеют относительно высокую стоимость модернизации и сезонного обслуживания. С целью увеличения экономии средств и упрощения процесса модернизации серийных машин был разработан и протестирован кранзадатчик скорости, позволяющий снизить риск эрозии почв, застревания колес тележек и, тем самым, простой машины с необходимостью ее ремонта. Главной особенностью экспериментального краназадатчика скорости является его горизонтальное расположение относительно тележки. Два плеча с увеличенной длиной позволяют задавать поливную норму путем касания вех в начале каждого сектора, где необходимо сменить скорость движения машины. Таким образом, происходит регулирование поливной нормы, выдаваемой машиной при ее движении по орошаемой площади. Получившийся экономический эффект позволяет утверждать о положительных результатах в проведенных исследованияхThe aim of the research is the theoretical justification and practical implementation of the new method of irrigation irrigation and drainage machines Frigat with hydraulic drive for complex tasks of modernization and energy consumption. The object of the study is an experimental speedadjusting crane installed on a water reclamation machine. The studies were conducted in comparison with indicators of machine production. In the course of research it was found that the existing technology does not meet the requirements of irrigation and drainage and has a low degree of economic efficiency. The issue of uneven distribution of the owner by area, high productivity and low cost of maintenance is being addressed. DM Frigat, which allows you to work on the proposed technologies, does not require the cost of modernization and seasonal maintenance. In order to increase cost savings and develop new models of machines, a speed control crane has been developed and tested to reduce the risk of machine destruction. The operation of the trolley is the horizontal arrangement of the trolley. The speed of the machine can be increased. Thus, regulation of the irrigation rate occurs. The resulting economic effect allows us to argue about the positive results in the studies

Optimal Design of Underwater Shells With Active Stiffeners

2001 ◽  
Author(s):  
W. Akl ◽  
M. Ruzzene ◽  
A. Baz
Keyword(s):  
Optimal Design ◽  
Low Cost ◽  
Element Model ◽  
Design Parameters ◽  
Optimization Approach ◽  
Noise Radiation ◽  
Stiffened Shells ◽  
Shell Vibration ◽  
The Cost ◽  
Controllability And Observability

Abstract The optimal design parameters of fluid-loaded shells, provided with actively controlled stiffeners, are determined using a rational multi-criteria optimization approach. The adopted approach aims at simultaneously minimizing the shell vibration, associated sound radiation, weight of the stiffening rings, the control energy, and the cost of the shell/stiffeners assembly while maximizing the controllability and observability indices. A finite element model is presented to predict the vibration and noise radiation from cylindrical shells, with active stiffeners, into the surrounding fluid domain. The production cost as well as the life cycle and maintenance costs of the stiffened shells are computed using the Parametric Review of Information for Costing and Evaluation (PRICE) model. A Pareto/min-max multi-criteria optimization approach is then utilized to select the optimal locations and dimensions of the active stiffeners. Numerical examples are presented to compare the vibration and noise radiation characteristics of me optimally designed/controlled stiffened shells with the corresponding characteristics of plain un-stiffened and uncontrolled shells. The obtained results emphasize me importance of the adopted multi-criteria optimization approach in the design of quiet, low weight and low cost underwater shells which are suitable for various critical applications.

Marine Inertial Measurement Units: Communication, Capabilities, and Challenges

2015 ◽  
Vol 49 (3) ◽  
pp. 56-63
Author(s):  
Donal Kennedy ◽  
Eric Cullen ◽  
Regina McNulty ◽  
Mark Gaffney ◽  
Michael Walsh ◽  
...  
Keyword(s):  
Low Cost ◽  
Relevant Information ◽  
Inertial Measurement Units ◽  
Microelectromechanical System ◽  
Data Infrastructure ◽  
Inertial Measurement ◽  
Motion Data ◽  
Measurement Units ◽  
Marine Applications ◽  
The Cost

Abstract This paper describes the development of marine inertial measurement units (MIMUs) for the measurement of buoy motions. MIMUs are miniature, low-power, low-cost devices that utilize off-the-shelf microelectromechanical system (MEMS) components to monitor motion. Two MIMU devices have been deployed off the coast of Ireland—using SmartBay's test facilities and data infrastructure; these transmit buoy motion data to shore in real time. The recorded inertial data are used to develop algorithms that provide relevant information for marine applications, with the eventual aim of embedding these on the MIMU itself. Methods and results are presented of one such application—the measurement of significant wave height (Hs)—and are shown to be comparable to state-of-the-art solutions, at a fraction of the cost and power requirements. Additional applications and possible future developments of the work are also discussed.

Design of a Human-Like Range of Motion Hip Joint for Humanoid Robots

2014 ◽  
Author(s):  
Bryce Lee ◽  
Coleman Knabe ◽  
Viktor Orekhov ◽  
Dennis Hong
Keyword(s):  
Range Of Motion ◽  
Hip Joint ◽  
Disaster Response ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Large Range ◽  
Humanoid Robots ◽  
Linkage Mechanism ◽  
Joint Torques ◽  
Similar Range

For a humanoid robot to have the versatility of humans, it needs to have similar motion capabilities. This paper presents the design of the hip joint of the Tactical Hazardous Operations Robot (THOR), which was created to perform disaster response duties in human-structured environments. The lower body of THOR was designed to have a similar range of motion to the average human. To accommodate the large range of motion requirements of the hip, it was divided into a parallel-actuated universal joint and a linkage-driven pin joint. The yaw and roll degrees of freedom are driven cooperatively by a pair of parallel series elastic linear actuators to provide high joint torques and low leg inertia. In yaw, the left hip can produce a peak of 115.02 [Nm] of torque with a range of motion of −20° to 45°. In roll, it can produce a peak of 174.72 [Nm] of torque with a range of motion of −30° to 45°. The pitch degree of freedom uses a Hoeken’s linkage mechanism to produce 100 [Nm] of torque with a range of motion of −120° to 30°.

scholarly journals Behaviour Generation in Humanoids by Learning Potential-Based Policies from Constrained Motion

2008 ◽  
Vol 5 (4) ◽  
pp. 195-211 ◽  
Author(s):  
Matthew Howard ◽  
Stefan Klanke ◽  
Michael Gienger ◽  
Christian Goerick ◽  
Sethu Vijayakumar
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Movement Planning ◽  
Policy Learning ◽  
High Dimensional ◽  
Constrained Motion ◽  
Learning Potential ◽  
Kinematic Data ◽  
Motion Data

Movement generation that is consistent with observed or demonstrated behaviour is an efficient way to seed movement planning in complex, high-dimensional movement systems like humanoid robots. We present a method for learning potential-based policies from constrained motion data. In contrast to previous approaches to direct policy learning, our method can combine observations from a variety of contexts where different constraints are in force, to learn the underlying unconstrained policy in form of its potential function. This allows us to generalise and predict behaviour where novel constraints apply. We demonstrate our approach on systems of varying complexity, including kinematic data from the ASIMO humanoid robot with 22 degrees of freedom.

Development of a Full-Sized Bipedal Humanoid Robot Utilizing Spring Assisted Parallel Four-Bar Linkages With Synchronized Actuation

2011 ◽  
Author(s):  
Jeakweon Han ◽  
Dennis Hong
Keyword(s):  
Humanoid Robot ◽  
Low Cost ◽  
Humanoid Robots ◽  
Bipedal Walking ◽  
Measurement Unit ◽  
Research Education ◽  
New Class ◽  
Vision Based Localization ◽  
The Individual ◽  
The Cost

Besides the difficulties in control and gait generation, designing a full-sized (taller than 1.3m) bipedal humanoid robot that can walk with two legs is a very challenging task, mainly due to the large torque requirements at the joints combined with the need for the actuators’ size and weight to be small. Most of the handful of successful humanoid robots in this size class that exist today utilize harmonic drives for gear reduction to gain high torque in a compact package. However, this makes the cost of such a robot too high and thus puts it out of reach of most of those who want to use it for general research, education and outreach activities. Besides the cost, the heavy weight of the robot also causes difficulties in handling and raises concerns for safety. In this paper we present the design of a new class of full-sized bipedal humanoid robots that is lightweight and low cost. This is achieved by utilizing spring assisted parallel four-bar linkages with synchronized actuation in the lower body to reduce the torque requirements of the individual actuators which also enables the use of off the shelf components to further reduce the cost significantly. The resulting savings in weight not only makes the operation of the robot safer, but also allows it to forgo the expensive force/torque sensors at the ankles and achieve stable bipedal walking only using the feedback from the IMU (Inertial Measurement Unit.) CHARLI-L (Cognitive Humanoid Autonomous Robot with Learning Intelligence - Lightweight) is developed using this approach and successfully demonstrated untethered bipedal locomotion using ZMP (Zero Moment Point) based control, stable omnidirectional gaits, and carrying out tasks autonomously using vision based localization.

scholarly journals Utilization of Steel-Making Dust in Drilling Fluids Formulations

Processes ◽  
2020 ◽  
Vol 8 (5) ◽  
pp. 538
Author(s):  
Musaab I. Magzoub ◽  
Mohamed H. Ibrahim ◽  
Mustafa S. Nasser ◽  
Muftah H. El-Naas ◽  
Mahmood Amani
Keyword(s):  
Drilling Fluid ◽  
Low Cost ◽  
Drilling Fluids ◽  
Field Development ◽  
Steel Making ◽  
Development Costs ◽  
Water Based ◽  
The Cost ◽  
Drilling Muds ◽  
By Products

Steelmaking is an energy-intensive process that generates considerable amounts of by-products and wastes, which often pose major environmental and economic challenges to the steel-making industry. One of these by-products is steel dust that is produced during the separation of impurities in the smelting and refining of metals in steel-making furnaces. In this study, electric arc furnace (EAF) dust has been evaluated as a potential, low-cost additive to increase the viscosity and weight of drilling muds. Currently, the cost of drilling operations typically accounts for 50 to 80% of the exploration costs and about 30 to 80% of the subsequent field development costs. Utilization of steelmaking waste in drilling fluids formulations is aimed to produce new and optimized water-based drilling formulations, which is expected to reduce the amount of bentonite and other viscosifier additives used in the drilling formulations. The results showed that in a typical water-based drilling fluid of 8.6 ppg (1030.51 kg/m3), the amount of standard drilling grade bentonite could be reduced by 30 wt.% with the addition of the proposed new additive to complete the required mud weight. The mixture proved to be stable with no phase separation.

scholarly journals Low-Cost Interactive Humanoid Robot

2020 ◽  
Vol 9 (6) ◽  
pp. 498-501
Keyword(s):  
Humanoid Robot ◽  
Low Cost ◽  
Operation Time ◽  
Humanoid Robots ◽  
Motor Drives ◽  
Drive Train ◽  
Dc Motor Drives ◽  
Li Ion ◽  
The Cost ◽  
Computational Platform

Humanoid robots have been on the frontier of robotic science for several decades, where human alike capabilities have been replicated into electromechanical units. Humanoid robots hold promises in the field of rescue, quarantine, hazardous conditions, radiation leakage, medical trials, etc. Building a humanoid robot is very complicated as it has to deal with locomotion, power, drive train, sensors and computing at the real time. With the development of Single board computers (SBC), the cost of computers has drastically fallen in last 2 decades. At the same time the computation power (GF/Sec) has also increased exponentially. Similarly, MEMS and sensors have also become industrially available with micro sized, robust and reliable. The power source used by robots has also advanced from dry cell to Li-Ion batteries with 5 to 8 times more energy density, resulting in higher operation time. The objective of this paper is to propose a low-cost Humanoid platform comprising a computational platform, sensors, power unit and drive train to deliver basic human alike functions like speech, visual signs, and navigation. The proposed humanoid robot uses a single board computer (SBC) capable of executing python-based AI frameworks combined with Ultrasonic sensors, Li-ion battery and DC motor drives. A top mounted touch screen is used for human machine interface (HMI). This human robotics used in a mid-size campus to guide people to their respective destination, display brief information to new users and navigate to different locations. The humanoid robot adds an aesthetical value to the campus.

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