Dynamic analysis of astronaut motions in microgravity: Applications for Extravehicular Activity (EVA)

Simulations of astronaut motions during extravehicular activity (EVA) tasks were performed using computational multibody dynamics methods. The application of computational dynamic simulation to EVA was prompted by the realization that physical microgravity simulators have inherent limitations: viscosity in neutral buoyancy tanks; friction in air bearing floors; short duration for parabolic aircraft; and inertia and friction in suspension mechanisms. These limitations can mask critical dynamic effects that later cause problems during actual EVA's performed in space. Methods of formulating dynamic equations of motion for multibody systems are discussed with emphasis on Kane's method, which forms the basis of the simulations presented herein. Formulation of the equations of motion for a two degree of freedom arm is presented as an explicit example. The four basic steps in creating the computational simulations were: system description, in which the geometry, mass properties, and interconnection of system bodies are input to the computer; equation formulation based on the system description; inverse kinematics, in which the angles, velocities, and accelerations of joints are calculated for prescribed motion of the endpoint (hand) of the arm; and inverse dynamics, in which joint torques are calculated for a prescribed motion. A graphical animation and data plotting program, EVADS (EVA Dynamics Simulation), was developed and used to analyze the results of the simulations that were performed on a Silicon Graphics Indigo2 computer. EVA tasks involving manipulation of the Spartan 204 free flying astronomy payload, as performed during Space Shuttle mission STS-63 (February 1995), served as the subject for two dynamic simulations. An EVA crewmember was modeled as a seven segment system with an eighth segment representing the massive payload attached to the hand. For both simulations, the initial configuration of the lower body (trunk, upper leg, and lower leg) was a neutral microgravity posture. In the first simulation, the payload was manipulated around a circular trajectory of 0.15 m radius in 10 seconds. It was found that the wrist joint theoretically exceeded its ulnal deviation limit by as much as 49. 8 deg and was required to exert torques as high as 26 N-m to accomplish the task, well in excess of the wrist physiological limit of 12 N-m. The largest torque in the first simulation, 52 N-m, occurred in the ankle joint. To avoid these problems, the second simulation placed the arm in a more comfortable initial position and the radius and speed of the circular trajectory were reduced by half. As a result, the joint angles and torques were reduced to values well within their physiological limits. In particular, the maximum wrist torque for the second simulation was only 3 N-m and the maximum ankle torque was only 6 N-m

Apport de la modélisation météorologique à l'évaluation des besoins énergétiques des bâtiments

Buildings represent 40 percents of the end-use energy. Thus, they constitute a key point of the energy saving policies. Recently, climate modeling systems that include a mesoscale atmospheric model, sophisticated urban parameterizations have been developed to account for the complexity of the urban climate and its interactions with the building energy loads. This study aims to assess the capability of such climate modeling systems to provide climate and energy guidelines to urban planners.For this, we used the research collaborative WRF/ARW-BEP+BEM climate modeling system and performed sensitivity tests considering the territory of the Eurodistrict in 2010, and then in 2030. The results reveal that the climate modeling system achieves estimating the building energy needs over the study area, but also indicate that the building energy needs are more sensitive to the building intrinsic properties and occupant behavior than to the urban forms and their induced urban heat island.Les bâtiments représentent 40 pourcents de la consommation finale d'énergie. Ils sont ainsi le fer de lance des politiques de réduction des dépenses énergétiques. Récemment, des systèmes de modèles climatiques qui incluent un modèle atmosphérique régional et des paramétrisations urbaines sophistiquées ont été développés. Ils considèrent la complexité de l’îlot de chaleur urbain et ses interactions avec les besoins énergétiques des bâtiments. Dans quelle mesure ces systèmes constituent-ils des outils d’aide à la décision pour les autorités locales ? Cette étude menée sur le territoire de l'Eurodistrict (Strasbourg-Kehl) en 2010, puis en 2030, à l’aide du système de modèles de climat WRF/ARW-BEP+BEM a démontré que si le système de modèles estimait de manière fiable les besoins en chauffage des bâtiments, ces derniers étaient davantage sensibles aux caractéristiques intrinsèques des bâtiments qu'aux formes urbaines et à l'îlot de chaleur urbain induit par ces formes

Sliding mode control of robotics systems actuated by pneumatic muscles.

This dissertation is concerned with investigating robust approaches for the control of pneumatic muscle systems. Pneumatic muscle is a novel type of actuator. Besides having a high ratio of power to weight and flexible control of movement, it also exhibits many analogical behaviors to natural skeletal muscle, which makes them the ideal candidate for applications of anthropomorphic robotic systems. In this dissertation, a new phenomenological model of pneumatic muscle developed in the Human Sensory Feedback Laboratory at Wright Patterson Air Force Base is investigated. The closed loop stability of a one-link planar arm actuated by two pneumatic muscles using linear state feedback is proved. Robotic systems actuated by pneumatic muscles are time-varying and nonlinear due to load variations and uncertainties of system parameters caused by the effects of heat. Sliding mode control has the advantage that it can provide robust control performance in the presence of model uncertainties. Therefore, it is mainly utilized and further complemented with other control methods in this dissertation to design the appropriate controller to perform the tasks commanded by system operation. First, a sliding mode controller is successfully proposed to track the elbow angle with bounded error in a one-Joint limb system with pneumatic muscles in bicep/tricep configuration. Secondly, fuzzy control, which aims to dynamically adjust the sliding surface, is used along with sliding mode control. The so-called fuzzy sliding mode control method is applied to control the motion of the end-effector in a two-Joint planar arm actuated by four groups of pneumatic muscles. Through computer simulation, the fuzzy sliding mode control shows very good tracking accuracy superior to nonfuzzy sliding mode control. Finally, a two-joint planar arm actuated by four groups of pneumatic muscles operated in an assumed industrial environment is presented. Based on the model, an integral sliding mode control scheme is proposed as an ultimate solution to the control of systems actuated by pneumatic muscles. As the theoretical proof and computer simulations show, the integral sliding mode controller, with strong robustness to model uncertainties and external perturbations, is superior for performing the commanded control assignment. Based on the investigation in this dissertation, integral sliding mode control proposed here is a very promising robust control approach to handle systems actuated by pneumatic muscles

Optimisation of performance in running jumps

Running jumps such as the high jump and the long jump involve complex movements of the human body. The factors affecting performance include approach conditions, strength of the athlete and the muscle activation timings at each joint. In order to investigate the mechanics of jumping performances and the effect of these factors, an eight-segment, subject specific, torque-driven computer simulation model of running jumps was developed, evaluated and used to optimise performances of jumps for height and distance. Wobbling masses within the shank, thigh and trunk segments, and the ground-foot interface were modelled as non-linear spring-damper systems. The values for the stiffness and damping constants were determined through optimisation. The inertia data were obtained from anthropometric measurements on the subject using the inertia model of Yeadon (1990b). Joint torques predicted by the simulation model were expressed as a function of angular velocity and angle using data collected from an isovelocity dynamometer. The simulation model was evaluated by comparing the actual performances with simulations using kinematic and kinetic data collected. Movement of the wobbling masses was found to be in the region of 40 mm in the shank and thigh and 90 mm in the trunk. This movement resulted in a lower, more realistic initial peak in the ground reaction force. Co-contraction was found to occur at the joints during impact in order to increase the initial level of eccentric activation and also the rise time to maximum eccentric activation. Differences of 2% and 1% in the height and distance achieved were obtained between actual performances and simulations. An optimisation procedure was used to maximise the height reached and distance travelled by the mass centre, in simulations of jumps for height and distance respectively, by varying the torque generator activation time histories at each joint. An increase of 12% in the height reached by the mass centre in the jump for height and 14% in the distance reached by the mass centre in the jump for distance were achieved

Dynamic loads on Francis turbines

New installations of unregulated power to the electrical grid have led to more fluctuations in the grid frequency. Hydropower plants with large reservoirs can provide services to balance the frequency by increasing or reducing production in accordance to what is needed. However, such balancing services are putting stress on the turbines by exposing them to dynamic loads. In the recent years, several high head Francis turbines have been taken out of operation due to cracks in the runner. It is thought to be because the turbines are not designed with sufficient measures to handle all the types of dynamic loads appearing during variations in operation. Analysis of stresses caused by fluid-structure interaction (FSI) is therefore of increasing interest in the hydropower industry. In this thesis, pressure and strain measurements have been performed on the Francis test rig in the Waterpower Laboratory at NTNU. The results were further used as validation of a FSI analysis conducted on the same turbine model in the software program ANSYS. The rotational speed of the runner was decreased by 60 rpm over a time period of 2 seconds to illustrate how an estimated change in grid frequency impact stresses in the turbine. The results from the FSI simulation showed high stresses both on the leading and trailing edge of the runner blades, where the maximum stress was found on the trailing edge tip towards the shroud. A decrease in runner speed resulted in a decrease in material stresses. At the end time, the maximum equivalent stress has a magnitude of 5 MPa, which is way below the yielding limit for the material. Validation of the CFD simulation showed sufficient correlation between the measured and simulated pressures. However, it was difficult to achieve a comparison of strain results with the strain gage, and the FSI results should therefore be further validated before they can be used as background for more research

Design, Modeling and Performance Optimization of a Novel Rotary Piezoelectric Motor

This work has demonstrated a proof of concept for a torsional inchworm type motor. The prototype motor has shown that piezoelectric stack actuators can be used for rotary inchworm motor. The discrete linear motion of piezoelectric stacks can be converted into rotary stepping motion. The stacks with its high force and displacement output are suitable actuators for use in piezoelectric motor. The designed motor is capable of delivering high torque and speed. Critical issues involving the design and operation of piezoelectric motors were studied. The tolerance between the contact shoes and the rotor has proved to be very critical to the performance of the motor. Based on the prototype motor, a waveform optimization scheme was proposed and implemented to improve the performance of the motor. The motor was successfully modeled in MATLAB. The model closely represents the behavior of the prototype motor. Using the motor model, the input waveforms were successfully optimized to improve the performance of the motor in term of speed, torque, power and precision. These optimized waveforms drastically improve the speed of the motor at different frequencies and loading conditions experimentally. The optimized waveforms also increase the level of precision of the motor. The use of the optimized waveform is a break-away from the traditional use of sinusoidal and square waves as the driving signals. This waveform optimization scheme can be applied to any inchworm motors to improve their performance. The prototype motor in this dissertation as a proof of concept was designed to be robust and large. Future motor can be designed much smaller and more efficient with lessons learned from the prototype motor

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

Small-Scale Hydropower and Energy Recovery Interventions: Management, Optimization Processes and Hydraulic Machines Applications

Several topics in the small-scale hydropower sector are of great interest for pursuing the goal of a more sustainable relationship with the environment. The goal of this Special Issue entitled “Small-Scale Hydropower and Energy Recovery Interventions: Management, Optimization Processes and Hydraulic Machines Applications” was to collect the most important contributions from experts in this research field and to arouse interest in the scientific community towards a better understanding of what might be the main key aspects of the future hydropower sector. Indeed, the Guest Editors are confident that the Special Issue will have an important impact on the entire scientific community working in this research field that is currently facing important changes in paradigm to achieve the goal of net-zero emissions in both the energy and water sectors