scholarly journals Locomotion of a Cylindrical Rolling Robot with a Shape Changing Outer Surface

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 52 ◽  
Author(s):  
Michael Puopolo ◽  
Jamey Jacob ◽  
Emilio Gabino
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Outer Surface ◽  
Shape Change ◽  
Angular Position ◽  
Low Energy ◽  
Roll Torque ◽  
Low Energy Consumption ◽  
Rolling Robot ◽  
Angular Velocity Profile

A cylindrical rolling robot is developed that generates roll torque by changing the shape of its flexible, elliptical outer surface whenever one of four elliptical axes rotates past an inclination called trigger angle. The robot is equipped with a sensing/control system by which it measures angular position and angular velocity, and computes error with respect to a desired step angular velocity profile. When shape change is triggered, the newly assumed shape of the outer surface is determined according to the computed error. A series of trial rolls is conducted using various trigger angles, and energy consumed by the actuation motor per unit roll distance is measured. Results show that, for each of three desired velocity profiles investigated, there exists a range of trigger angles that results in relatively low energy consumption per unit roll distance, and when the robot operates within this optimal trigger angle range, it undergoes minimal actuation burdening and inadvertent braking, both of which are inherent to the mechanics of rolling robots that use shape change to generate roll torque. A mathematical model of motion is developed and applied in a simulation program that can be used to predict and further understand behavior of the robot.

Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing

2015 ◽  
Author(s):  
Michael Puopolo ◽  
J. D. Jacob
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Velocity Profile ◽  
Average Velocity ◽  
Equations Of Motion ◽  
Angular Position ◽  
Velocity Control ◽  
Control Scheme ◽  
Rolling Robot ◽  
Angular Velocity Profile

A mathematical model is developed for a rolling robot with a cylindrically-shaped, elliptical outer surface that has the ability to alter its shape as it rolls, resulting in a torque imbalance that accelerates or decelerates the robot. A control scheme is implemented, whereby angular position and angular velocity are used as feedback to trigger and define morphing actuation. The goal of the control is to direct the robot to follow a given angular velocity profile. Equations of motion for the rolling robot are formulated and solved numerically. Results show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to start from rest, achieve constant average velocity and slow itself in order to follow a desired velocity profile with significant accuracy.

A Study on the Use of Bipolar-Particles-Electrodes in Decolorization of Dyeing Effluents and Its Principle

1987 ◽  
Vol 19 (3-4) ◽  
pp. 391-400 ◽  
Author(s):  
Zhou Ding ◽  
Cai Wei Min ◽  
Wang Qun Hui
Keyword(s):  
Energy Consumption ◽  
High Efficiency ◽  
Low Energy ◽  
Acid Dyes ◽  
Underlying Principle ◽  
Low Energy Consumption ◽  
Transparent Liquid

This paper studies the use of bipolar-particles-electrodes in the decolorization of dyeing effluents. Treatment of highly colored solutions of various soluble dyes (such as direct, reactive, cationic or acid dyes) and also samples of dyeing effluents gave rise to an almost colorless transparent liquid, with removal of CODcr and BOD5 being as high as over 80%. The method is characterized by its high efficiency, low energy consumption and long performance life. A discussion of the underlying principle is given.

Bubble Electrospinning and Bubble-Spun Nanofibers

2020 ◽  
Vol 14 (1) ◽  
pp. 10-13 ◽  
Author(s):  
Lynn Y. Wan
Keyword(s):  
Surface Tension ◽  
Low Energy ◽  
Efficient Technology ◽  
High Productivity ◽  
Needleless Electrospinning ◽  
Polymeric Nanofibers ◽  
Low Energy Consumption ◽  
Potential Applications ◽  
Surface Morphologies ◽  
Unique Surface

Electrospinning is a highly efficient technology for fabrication of a wide variety of polymeric nanofibers. However, the development of traditional needle-based electrospinning has been hampered by its low productivity and need of tedious work dealing with needles cleaning, installation and uninstallation. As one of the most promising needleless electrospinning means, bubble electrospinning is known for its advantages of high productivity and relatively low energy consumption due to the introduction of a third force, air flow, as a major force overcoming the surface tension. In this paper, the restrictions of conventional electrospinning and the advantages of needleless electrospinning, especially the bubble electrospinning were elaborated. Reports and patents on bubble-spun nanofibers with unique surface morphologies were also reviewed in respect of their potential applications.

Top-down Fabricated Gold Nanostrip on Silicon-on-insulator Wafer: A Promising Building Block towards Ultra-compact Optical Device

Nanoscale ◽  
2020 ◽  
Author(s):  
Fuping Zhang ◽  
Weikang Liu ◽  
Li Chen ◽  
Zhiqiang Guan ◽  
Hongxing Xu
Keyword(s):  
Optical Communication ◽  
Data Transmission ◽  
Building Block ◽  
High Speed ◽  
Large Data ◽  
Low Energy ◽  
Silicon On Insulator ◽  
Fundamental Building Block ◽  
Low Energy Consumption ◽  
Controllable Fabrication

he plasmonic waveguide is the fundamental building block for high speed, large data transmission capacity, low energy consumption optical communication and sensing. Controllable fabrication and simultaneously optimization of the propagation...

scholarly journals A Long-Distance Communication Architecture for Medical Devices Based on LoRaWAN Protocol

Electronics ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 940
Author(s):  
Nicoleta Cristina Gaitan
Keyword(s):  
Energy Consumption ◽  
Long Range ◽  
Medical Devices ◽  
Low Energy ◽  
Area Network ◽  
Wide Area Network ◽  
Long Distance ◽  
Communication Architecture ◽  
Low Energy Consumption ◽  
Distance Communication

Recent market studies show that the market for remote monitoring devices of different medical parameters will grow exponentially. Globally, more than 4 million individuals will be monitored remotely from the perspective of different health parameters by 2023. Of particular importance is the way of remote transmission of the information acquired from the medical sensors. At this time, there are several methods such as Bluetooth, WI-FI, or other wireless communication interfaces. Recently, the communication based on LoRa (Long Range) technology has had an explosive development that allows the transmission of information over long distances with low energy consumption. The implementation of the IoT (Internet of Things) applications using LoRa devices based on open Long Range Wide-Area Network (LoRaWAN) protocol for long distances with low energy consumption can also be used in the medical field. Therefore, in this paper, we proposed and developed a long-distance communication architecture for medical devices based on the LoRaWAN protocol that allows data communications over a distance of more than 10 km.

Absorbent cotton derived mesoporous CeO2 hollow tubule for enhanced detection of p-xylene at low energy consumption

2021 ◽  
pp. 159774
Author(s):  
Jing-Shuo Liu ◽  
Bao-Yu Song ◽  
Jing Huang ◽  
Zhao-Peng Deng ◽  
Xian-Fa Zhang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Low Energy ◽  
Absorbent Cotton ◽  
Low Energy Consumption ◽  
Mesoporous Ceo2
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