Performance evaluation of linear variable valve actuation for a linear engine generator

The Joule cycle Linear Engine Generator (LEG) is a promising power generation technology with the potential to achieve zero carbon emissions. However, the LEG expander valve actuation system presents unique challenges due to its lack of a traditional crankshaft, the need for swift valve lift and reversal, and variable lift. This paper presents a Linear Variable Valve Actuation (LVVA) system for a LEG prototype. The LVVA system is powered by voice coil motors. Rigorous experimental investigations were conducted to analyze crucial performance factors, including energy consumption, force balance, energy flow distribution, and the relationship between valve lift duration and energy consumption. The results show that the LVVA system can achieve the desired valve lift and timing, as well as very small variations in LEG performance compared to the model using an ideal lift curve. The LVVA accounts for approximately 3.59 % of the LEG power output. The energy consumption of 1.607 J per valve stroke provides a slight advantage over traditional actuation systems. The obtained optimal lift curves were used to refine the LEG model. The influence of valve lift curves on LEG performance was evaluated which reveals rapid valve openings and relatively short duration contributing to improved LEG performance

Evaluation of a pneumatic ankle-foot orthosis: portability and functionality

There are currently many challenges in creating portable human-assistive robotics and exoskeletons, although the need for robotic human assist continues to grow. These challenges span disciplines such as control, design, fuel and efficiency, user-interfaces, neuroscience, and kinesiology. Our lab has developed a pneumatically powered ankle-foot orthosis (PPAFO) to address some of these issues. In this dissertation, we address the issue of availability of portable pneumatic power sources, and we evaluate the short-term kinematic and metabolic impact of a bilateral, bidirectional portable powered ankle-foot orthosis (PPAFO) in an able-bodied population during over-ground walking, and we evaluate the kinematic and metabolic impact of a unilateral, bidirectional portable powered ankle-foot orthosis (PPAFO) in persons with gait impairment due to Multiple Sclerosis. First, in Chapter 2, we address the state of portable powered pneumatic power sources. Specifically, we evaluated the use of compressed gas tanks with carbon dioxide or nitrogen as fuel. A test bench model of the PPAFO and walking trials (treadmill and over-ground) were used to evaluate each tank and gas, investigating normalized run time, minimum tank temperature, and rate of cooling. We concluded that compressed gas tanks can be used to successfully power portable pneumatic robotic platforms, especially when a recycling circuit can be implemented to increase the longevity of the fuel source, but considerations need to be taken into account in order to determine the proper fuel, based on size, weight, cost, and availability. In Chapter 3, we evaluated a bidirectional, bilateral powered ankle-foot orthosis or exoskeleton system during over-ground walking in able-bodied individuals. With the powered PPAFOs, participants were able to reduce the metabolic power needed for walking compared to the unpowered PPAFO condition, and they were able to match the minimum metabolic power needed in shoes walking. Some kinematic changes were seen while using the PPAFOs, specifically an unexpected reduction in plantarflexion during toe-off. In Chapters 4 and 5, we evaluated the use of a bidirectional powered ankle-foot orthosis to assist persons with gait impairment due to multiple sclerosis. Use of the current embodiment of the portable powered AFO did not improve gait performance as measured by spatiotemporal parameters of gait. Significant differences in kinematic parameters at the ankle were observed such that the PPAFO was able to provide better assistance for foot drop during swing than the AFO or a shoes condition. Changes in kinematics at the knee were found such that the changes are likely due to compensatory reactions to the changes at the ankle induced by the footwear. Throughout this work, we have been motivated to further research the mechanical design of the device so that users can better match their natural gait pattern in regards to spatiotemporal and kinematic parameters. Improving device design and functionality will help to determine if powered orthoses can be effective at assisting and improving gait function in persons with gait impairment

Proceeding Of Mechanical Engineering Research Day 2015 (MERD’15)

This Open Access e-Proceeding contains 74 selected papers from the Mechanical Engineering Research Day 2015 (MERD’15) event, which is held in Kampus Teknologi, Universiti Teknikal Malaysia Melaka (UTeM) - Melaka, Malaysia, on 31 March 2015. The theme chosen for this event is ‘Pioneering Future Discovery’. The response for MERD’15 is overwhelming as the technical committees have received more than 90 papers from various areas of mechanical engineering. From the total number of submissions, the technical committees have selected 74 papers to be included in this proceeding. The selected papers are grouped into 12 categories: Advanced Materials Processing; Automotive Engineering; Computational Modeling and Analysis & CAD/CAE; Energy Management & Fuels and Lubricants; Hydraulics and Pneumatics & Mechanical Control; Mechanical Design and Optimization; Noise, Vibration and Harshness; Non-Destructive Testing & Structural Mechanics; Surface Engineering and Coatings; Others Related Topic. With the large number of submissions from the researchers in other faculties, the event has achieved its main objective which is to bring together educators, researchers and practitioners to share their findings and perhaps sustaining the research culture in the university. The topics of MERD’15 are based on a combination of advanced research methodologies, application technologies and review approaches. As the editor-in-chief, we would like to express our gratitude to the editorial board members for their tireless effort in compiling and reviewing the selected papers for this proceeding. We would also like to extend our great appreciation to the members of the Publication Committee and Secretariat for their excellent cooperation in preparing the proceedings of MERD’15

Optimal Design Methods for Increasing Power Performance of Multiactuator Robotic Limbs

abstract: In order for assistive mobile robots to operate in the same environment as humans, they must be able to navigate the same obstacles as humans do. Many elements are required to do this: a powerful controller which can understand the obstacle, and power-dense actuators which will be able to achieve the necessary limb accelerations and output energies. Rapid growth in information technology has made complex controllers, and the devices which run them considerably light and cheap. The energy density of batteries, motors, and engines has not grown nearly as fast. This is problematic because biological systems are more agile, and more efficient than robotic systems. This dissertation introduces design methods which may be used optimize a multiactuator robotic limb's natural dynamics in an effort to reduce energy waste. These energy savings decrease the robot's cost of transport, and the weight of the required fuel storage system. To achieve this, an optimal design method, which allows the specialization of robot geometry, is introduced. In addition to optimal geometry design, a gearing optimization is presented which selects a gear ratio which minimizes the electrical power at the motor while considering the constraints of the motor. Furthermore, an efficient algorithm for the optimization of parallel stiffness elements in the robot is introduced. In addition to the optimal design tools introduced, the KiTy SP robotic limb structure is also presented. Which is a novel hybrid parallel-serial actuation method. This novel leg structure has many desirable attributes such as: three dimensional end-effector positioning, low mobile mass, compact form-factor, and a large workspace. We also show that the KiTy SP structure outperforms the classical, biologically-inspired serial limb structure.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

NASA Automated Rendezvous and Capture Review. Executive summary

In support of the Cargo Transfer Vehicle (CTV) Definition Studies in FY-92, the Advanced Program Development division of the Office of Space Flight at NASA Headquarters conducted an evaluation and review of the United States capabilities and state-of-the-art in Automated Rendezvous and Capture (AR&C). This review was held in Williamsburg, Virginia on 19-21 Nov. 1991 and included over 120 attendees from U.S. government organizations, industries, and universities. One hundred abstracts were submitted to the organizing committee for consideration. Forty-two were selected for presentation. The review was structured to include five technical sessions. Forty-two papers addressed topics in the five categories below: (1) hardware systems and components; (2) software systems; (3) integrated systems; (4) operations; and (5) supporting infrastructure