Stress fields in granular material and implications for performance of robot locomotion over granular media

Legged locomotion of robots has advantages in reducing payload in contexts such as travel over deserts or in planet surfaces. A recent study (Li et al. 2013) partially addresses this issue by examining legged locomotion over granular media (GM). However, they miss one extremely significant fact. When the robots wheels (legs) run over GM, the granules are set into motion. Hence, unlike the study of Li et al. (2013), the viscosity of the GM must be included to simulate the kinematic energy loss in striking and passing through the GM. Here the locomotion in their experiments is re-examined using an advanced Navier-Stokes framework with a parameterized granular viscosity. It is found that the performance efficiency of a robot, measured by the maximum speed attainable, follows a six-parameter sigmoid curve when plotted against rotating frequency. A correct scaling for the turning point of the sigmoid curve involves the footprint size, rotation frequency and weight of the robot. Our proposed granular response to a load, or the influencing domain concept points out that there is no hydrostatic balance within granular material. The balance is a synergic action of multi-body solids. A solid (of whatever density) may stay in equilibrium at an arbitrary depth inside the GM. It is shown that there exists only a minimum set-in depth and there is no maximum or optimal depth. The set-in depth of a moving robot is a combination of its weight, footprint, thrusting/stroking frequency, surface property of the legs against GM with which it has direct contact, and internal mechanical properties of the GM. If the vehicles working environment is known, the wheel-granular interaction and the granular mechanical properties can be grouped together. The unitless combination of the other three can form invariants to scale the performance of various designs of wheels/legs. Wider wheel/leg widths increase the maximum achievable speed if all other parameters are unchanged

MAIRS Working Paper Series # 1

This Initial Science Plan identifies key environmental changes that affect the people and societies of the regions of Asia affected by monsoons. The plan pinpoints people and environments which are most vulnerable to monsoon damage. The plan ends with a reflection on important scientific issues and lists a number of future actions for the Monsoon Asia Integrated Regional Study

Polluted dust promotes new particle formation and growth

Peer reviewe

Characteristics of Elemental Composition of PM2.5 in the Spring Period at Tongyu in the Semi-arid Region of Northeast China

Continuous observations of mass concentration and elemental composition of aerosol particles (PM2.5) were conducted at Tongyu, a semi-arid site in Northeast China in the spring of 2006. The average mass concentration of PM2.5 at Tongyu station was 260.9±274.4 µg m−3 during the observation period. Nine dust events were monitored with a mean concentration of 528.0±302.7 µg m−3. The PM2.5 level during non-dust storm (NDS) period was 111.65±63.37 µg m−3. High mass concentration shows that fine-size particles pollution was very serious in the semi-arid area in Northeast China. The enrichment factor values for crust elements during the dust storm (DS) period are close to those in the NDS period, while the enrichment factor values for pollution elements during the NDS period are much higher than those in the DS period, showing these elements were from anthropogenic sources. The ratios of dust elements to Fe were relative constant during the DS period. The Ca/Fe ratio in dust aerosols at Tongyu is remarkably different from that observed in other source regions and downwind regions. Meteorological analysis shows that dust events at Tongyu are usually associated with dry, low pressure and high wind speed weather conditions. Air mass back-trajectory analysis identified three kinds of general pathways were associated with the aerosol particle transport to Tongyu, and the northwest direction pathway was the main transport route