The influence of current collectors on Tayler instability and electro-vortex flows in liquid metal batteries

The Tayler instability is a kink-type flow instability which occurs when the electrical current through a conducting fluid exceeds a certain critical value. Originally studied in the astrophysical context, the instability was recently shown to be also a limiting factor for the upward scalability of liquid metal batteries. In this paper, we continue our efforts to simulate this instability for liquid metals within the framework of an integro-differential equation approach. The original solver is enhanced by multi-domain support with Dirichlet-Neumann partitioning for the static boundaries. Particular focus is laid on the detailed influence of the axial electrical boundary conditions on the characteristic features of the Tayler instability, and, secondly, on the occurrence of electro-vortex flows and their relevance for liquid metal batteries.Comment: 26 pages, 16 figure

Locomotion Control of Hexapod Walking Robot with Four Degrees of Freedom per Leg

V této práci představujeme nového šestinohého robota jménem HAntR, kterého jsme vytvořili dle potřeb Laboratoře výpočetní robotiky Centra umělé inteligence fakulty Elektrotechnické Českého vysokého učení technického v Praze. Jeho hlavním účelem jest vylepšit schopnosti pohybu v těžkém terénu původního robotu přidáním čtvrtého stupně volnosti každé noze. Na základě nově navržené nohy jsme také přepracovali celé tělo robotu tak, aby splnilo i další požadavky, jako například menší rozměry, či možnost osazení alespoň šesti Lithium-Iontovými monočlánky. V práci pečlivě popisujeme motivace a úvahy, které nás k výslednému návrhu vedly. Uvádíme řešení přímé i inverzní kinematické úlohy řešené pomocí podmínky na ideální orientaci konce nohy a uvažující i důležité kinematické singularity. Navržený robot byl vyzkoušen v několika experimentech, při kterých byl použit námi navržený řídicí systém napsaný v jazyce C++. Ukázalo se, že HAntR vydrží díky zvýšené energetické hustotě a lepšímu rozkladu sil v končetinách autonomně fungovat přes hodinu. Robot je také schopen jít rychlostí až 0.42m/s, což předčí mnohé srovnatelné roboty. Při experimentu, kdy robot stál na nakloněné rovině, bylo prokázáno zlepšení oproti předchozímu robotu. A také jsme dle pokynů této práce potvrdili, že i HAntR je schopen adaptivní chůze spoléhající pouze na poziční zpětnou vazbu.In this thesis a novel six-legged robot called HAntR is presented. The robot was developed according to needs of the Robotics Laboratory, at the Artificial Intelligent Center, Faculty of Electrical Engineering, Czech Technical University in Prague. Its main purpose is enhancing rough-terrain movement capabilities by upgrading a former design by adding fourth degree of freedom to each leg. We also revised robot torso to fit new leg design and incorporate other requirements such as smaller dimensions with space for at least six Lithium-Ion cells. We thoroughly describe motivations and considerations that led us to the presented particular solution. Further, the solutions of forward and inverse kinematic tasks with partial orientation constraint and important singularities avoidance are presented. The proposed design has been evaluated in several experimental deployments, which utilised developed software controller written in C++. Endurance tests showed, that HAntR is able to remotely operate for over an hour thanks to increased energy density. Maximal speed test resulted to 0.42m/s during tripod gait, which outpaces most of the comparable robotic platforms. Experiment where HAntR stood on platform with varying inclination showed qualitative improvement against former robot. Finally, in accord with the thesis assignment, we proved that HAntR is able to perform walking with adaptive gait using positional feedback only

A behavior-based framework for safe deployment of humanoid robots

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method

Pressurized Lunar Rover

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer)

Who Said That? Towards a Machine-Prediction-Based Approach to Tursiops Truncatus Whistle Localization and Attribution in a Reverberant Dolphinarium

Dolphin communication research is an active period of growth. Many researchers expect to find significant communicative capacity in dolphins given their known sociality and large and complex brains. Moreover, given dolphins’ known acoustic sensitivity, serving their well-studied echolocation ability, some researchers have speculated that dolphin communication is mediated in large part by a sophisticated “vocal” language. However, evidence supporting this belief is scarce. Among most dolphin species, a particular tonal class of call, termed the whistle, has been identified as socially important. In particular, for the common bottlenose dolphin, Tursiops truncatus – arguably the focal species of most dolphin cognitive and communication research – research has fixated on “signature whistles,” individuallydistinctive whistles that seem to convey an individual’s identity to conspecifics, can be mimicked, and can be modulated under certain circumstances in ways that may or may not be communicative. Apart from signature whistles, most studies of dolphin calls concern group-based repertoires of whistles and other, pulse-form call types. However, studies of individual repertoires of non-signature whistles, and the phenomenon of combined signature and non-signature vocal exchanges among dolphins, are conspicuously rare in the literature, tending to be limited by either extreme subject confinement or sparse attributions of vocalizer identity. Nevertheless, such studies constitute a logical prerequisite to an understanding of the communicative potential of whistles. This absence can be explained by a methodological limitation in the way in which dolphin sounds are recorded. In particular, no established method exists for recording the whistles of an entire social group of dolphins so as to reliably attribute them to their vocalizers. This thesis proposes a dolphinarium-based system for achieving audio recording with whistle attribution, as well as visual behavioral tracking. Towards achieving the proposed system, I present foundational work involving the installation of permanent hydrophone arrays and cameras in a dolphinarium that enforces strict animal safety regulations. Attributing tonal sounds via the process of sound localization – estimation of a sound’s point of origin based on the physical properties of its propagation – in a highly reverberant environment is a notoriously difficult problem, resistant to many conventional signal processing techniques. This thesis will provide evidence of this difficulty, and also a demonstration of a highly e↵ective machine-learning-based solution to the problem. This thesis also provides miscellaneous hardware and the pieces of a computational pipeline towards completion of the full proposed, automated system. Once completed, the proposed system will provide an enormous data stream that will lend itself to large-scale studies of individual repertoires of non-signature whistles and combined signature and non-signature vocal exchanges among an invariant group of socializing dolphins, representing a unique and necessary achievement in dolphin communication research

Rearward visibility issues related to agricultural machinery: Contributing factors, potential solutions

As the size, complexity, and speed of tractors and other agricultural self-propelled machinery have increased, so have the visibility-related issues, placing significant importance on the visual skills, alertness, and reactive abilities of the operator. Rearward movement of large agricultural equipment has been identified in the literature as causing not only damage to both machine and stationary objects, but also injuries (even fatalities) to bystanders not visible to the operator. Fortunately, monitoring assistance, while not a new concept, has advanced significantly, offering operators today more options for increasing awareness of the area surrounding their machines. In this research, an attempt is made to (1) identify and describe the key contributors to agricultural machinery visibility issues (both operator and machine-related), and (2) enumerate and evaluate the potential solutions and technologies that address these issues via modifications of ISO, SAE, and DOT standardized visibility testing methods. Enhanced operator safety and efficiency should result from a better understanding of the visibility problems (especially with regard to rearward movement) inherent in large tractors and self-propelled agricultural machinery. Used in this study were nine machines of different types that varied widely in size, horsepower rating, and operator station configuration to provide a broad representation of what is found on many U.S. farms/ranches. The two main rearward monitoring ‘technologies’ evaluated were the machines’ factory-equipped mirrors and cameras that the researchers affixed to these machines. A 58.06 m2 (625 ft2) testing grid was centered on the rear-most location of the tested machinery with height indicators centered in each of twenty-five grid cells. In general, the findings were consistent across all the machines tested—i.e., rather obstructed rearward visibility using mirrors alone versus considerably less obstructed rearward visibility with the addition of cameras. For example, having exterior extended-arm and interior mirrors only, a MFWD tractor with 1,100-bushel grain cart in tow measured, from the operator’s perspective, 68% obstructed view of the grid’s kneeling-worker-height markers and 100% throughout the midline of rearward travel; but when equipped with a rearview camera system, the obstructed area was decreased to only 4%. The visibility models created identified (1) a moderate-positive Pearson r correlation, indicating that many of the obstructed locations of the rearward area affected both mirrors and cameras similarly and (2) a strong-positive Pearson r correlation of kneeling worker height visibility, indicating that mirrors and camera systems share commonality of areas with high visibility (along the midline of travel and outward with greater distance from the rear of the machine, without implements in tow). Of the recommendations coming from this research, the key one is for establishment of engineering standards aimed at (1) enhancing operator ability to identify those locations around agricultural machinery that are obstructed from view, (2) reducing the risk of run-overs through improved monitoring capabilities of machine surroundings and components, and (3) alerting operators and co-workers of these hazardous locations

Trajectory tracking control of an aerial manipulator in presence of disturbances and modeling uncertainties

Development and dynamic validation of control techniques for trajectory tracking of a robotic manipulator mounted on a UAV. Tracking performances are evaluated in a context of simulated dynamic disturbance on manipulator base

Design analysis of levitation facility for space processing applications

Containerless processing facilities for the space laboratory and space shuttle are defined. Materials process examples representative of the most severe requirements for the facility in terms of electrical power, radio frequency equipment, and the use of an auxiliary electron beam heater were used to discuss matters having the greatest effect upon the space shuttle pallet payload interfaces and envelopes. Improved weight, volume, and efficiency estimates for the RF generating equipment were derived. Results are particularly significant because of the reduced requirements for heat rejection from electrical equipment, one of the principal envelope problems for shuttle pallet payloads. It is shown that although experiments on containerless melting of high temperature refractory materials make it desirable to consider the highest peak powers which can be made available on the pallet, total energy requirements are kept relatively low by the very fast processing times typical of containerless experiments and allows consideration of heat rejection capabilities lower than peak power demand if energy storage in system heat capacitances is considered. Batteries are considered to avoid a requirement for fuel cells capable of furnishing this brief peak power demand