Exploration of robotic-wheel technology for enhanced urban mobility and city scale omni-directional personal transportation

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2008.Includes bibliographical references (leaves 50-52).Mobility is traditionally thought of as freedom to access more goods and services. However, in my view, mobility is also largely about personal freedom, i.e., the ability to exceed one's physical limitations, in essence, to become "more than human" in physical capabilities. This thesis explores novel designs for omni-directional motion in a mobility scooter, car and bus with the aim of increasing personal mobility and freedom. What links these designs is the use of split active caster wheel robot technology. In the first section, societal and technological impacts of omni-directional motion in the city are examined. The second section of the thesis presents built and rendered prototypes of these three designs. The third and final section, evaluates implementation issues including robotic controls and an algorithm necessary for real world omni-directional mobility.by Raul-David Valdivia Poblano.S.M

Development of active tilt control for a three-wheeled vehicle

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Hydraulic pressure and flow control of injection moulding

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Co-design of Security Aware Power System Distribution Architecture as Cyber Physical System

The modern smart grid would involve deep integration between measurement nodes, communication systems, artificial intelligence, power electronics and distributed resources. On one hand, this type of integration can dramatically improve the grid performance and efficiency, but on the other, it can also introduce new types of vulnerabilities to the grid. To obtain the best performance, while minimizing the risk of vulnerabilities, the physical power system must be designed as a security aware system. In this dissertation, an interoperability and communication framework for microgrid control and Cyber Physical system enhancements is designed and implemented taking into account cyber and physical security aspects. The proposed data-centric interoperability layer provides a common data bus and a resilient control network for seamless integration of distributed energy resources. In addition, a synchronized measurement network and advanced metering infrastructure were developed to provide real-time monitoring for active distribution networks. A hybrid hardware/software testbed environment was developed to represent the smart grid as a cyber-physical system through hardware and software in the loop simulation methods. In addition it provides a flexible interface for remote integration and experimentation of attack scenarios. The work in this dissertation utilizes communication technologies to enhance the performance of the DC microgrids and distribution networks by extending the application of the GPS synchronization to the DC Networks. GPS synchronization allows the operation of distributed DC-DC converters as an interleaved converters system. Along with the GPS synchronization, carrier extraction synchronization technique was developed to improve the system’s security and reliability in the case of GPS signal spoofing or jamming. To improve the integration of the microgrid with the utility system, new synchronization and islanding detection algorithms were developed. The developed algorithms overcome the problem of SCADA and PMU based islanding detection methods such as communication failure and frequency stability. In addition, a real-time energy management system with online optimization was developed to manage the energy resources within the microgrid. The security and privacy were also addressed in both the cyber and physical levels. For the physical design, two techniques were developed to address the physical privacy issues by changing the current and electromagnetic signature. For the cyber level, a security mechanism for IEC 61850 GOOSE messages was developed to address the security shortcomings in the standard

Active variable geometry suspension for cars

This thesis investigates the characteristics and performance of a new type of active suspension for cars through modelling, simulation, control design and experimental testing. The Series Active Variable Geometry Suspension (SAVGS) concept is first put in context by reviewing the history and current trends in automotive suspensions. Its potential is then critically evaluated and work is carried out to maximise its performance for various suspension functions. A multi-model multi-software modelling and simulation approach is followed throughout the thesis in order to cross-check and substantiate simulation results in the absence of experimental data. The simpler linear models are used to inform the selection of suitable parameter sets for the case studies, to synthesise control systems and to qualitatively validate the more complex, nonlinear multi-body models. The latter are developed as a platform to virtually test the system and its control algorithms. When possible, these tests are based on standard open-loop test manoeuvres and on standardised external disturbances. The SAVGS-retrofitted suspension displays a very nonlinear behaviour, which is at the same time a liability and an opportunity from the point of view of control. Nevertheless, different linear control techniques are effectively applied to improve various suspension functions: PIDs are applied to the lower frequency suspension functions such as mitigation of chassis attitude motions, and the H∞ framework is applied to the higher frequency suspension functions such as comfort and road holding enhancement. In all cases, a cascade control approach is employed, and mechanisms are implemented to ensure that physical and design actuator constraints are always respected. This thesis also covers the design and construction of a quarter-car experimental test rig facility. Step-by-step recommendations for its refinement as well as a testing plan are also outlined.Open Acces

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

The Fourteenth Scandinavian International Conference on Fluid Power, SICFP15: Abstracts

At this time the conference includes various themes like hybrids, drives, digital hydraulics and pneumatics. Special attention in the program is given for energy efficiency, renewable energy production and energy recovery. They are reflecting well the situation, where environmental issues and energy saving are increasingly important issues

Systems study for an Integrated Digital-Electric Aircraft (IDEA)

The results of the Integrated Digital/Electric Aircraft (IDEA) Study are presented. Airplanes with advanced systems were, defined and evaluated, as a means of identifying potential high payoff research tasks. A baseline airplane was defined for comparison, typical of a 1990's airplane with advanced active controls, propulsion, aerodynamics, and structures technology. Trade studies led to definition of an IDEA airplane, with extensive digital systems and electric secondary power distribution. This airplane showed an improvement of 3% in fuel use and 1.8% in DOC relative to the baseline configuration. An alternate configuration, an advanced technology turboprop, was also evaluated, with greater improvement supported by digital electric systems. Recommended research programs were defined for high risk, high payoff areas appropriate for implementation under NASA leadership