Design and development of a hominid robot with local control in its adaptable feet to enhance locomotion capabilities

With increasing mechanization of our daily lives, the expectations and demands in robotic systems increase in the general public and in scientists alike. In recent events such as the Deepwater Horizon''-accident or the nuclear disaster at Fukushima, mobile robotic systems were used, e.g., to support local task forces by gaining visual material to allow an analysis of the situation. Especially the Fukushima example shows that the robotic systems not only have to face a variety of different tasks during operation but also have to deal with different demands regarding the robot's mobility characteristics. To be able to cope with future requirements, it seems necessary to develop kinematically complex systems that feature several different operating modes. That is where this thesis comes in: A robotic system is developed, whose morphology is oriented on chimpanzees and which has the possibility due to its electro-mechanical structure and the degrees of freedom in its arms and legs to walk with different gaits in different postures. For the proposed robot, the chimpanzee was chosen as a model, since these animals show a multitude of different gaits in nature. A quadrupedal gait like crawl allows the robot to traverse safely and stable over rough terrain. A change into the humanoid, bipedal posture enables the robot to move in man-made environments. The structures, which are necessary to ensure an effective and stable locomotion in these two poses, e.g., the feet, are presented in more detail within the thesis. This includes the biological model and an abstraction to allow a technical implementation. In addition, biological spines are analyzed and the development of an active, artificial spine for the robotic system is described. These additional degrees of freedom can increase the robot's locomotion and manipulation capabilities and even allow to show movements, which are not possible without a spine. Unfortunately, the benefits of using an artificial spine in robotic systems are nowadays still neglected, due to the increased complexity of system design and control. To be able to control such a kinematically complex system, a multitude of sensors is installed within the robot's structures. By placing evaluation electronics close by, a local and decentralized preprocessing is realized. Due to this preprocessing is it possible to realize behaviors on the lowest level of robot control: in this thesis it is exemplarily demonstrated by a local controller in the robot's lower leg. In addition to the development and evaluation of robot's structures, the functionality of the overall system is analyzed in different environments. This includes the presentation of detailed data to show the advantages and disadvantages of the local controller. The robot can change its posture independently from a quadrupedal into a bipedal stance and the other way around without external assistance. Once the robot stands upright, it is to investigate to what extent the quadrupedal walking pattern and control structures (like the local controller) have to be modified to contribute to the bipedal walking as well

Analytical results for the distribution of shortest path lengths in random networks

We present two complementary analytical approaches for calculating the distribution of shortest path lengths in Erdos-R\'enyi networks, based on recursion equations for the shells around a reference node and for the paths originating from it. The results are in agreement with numerical simulations for a broad range of network sizes and connectivities. The average and standard deviation of the distribution are also obtained. In the case that the mean degree scales as $N^{\alpha}$ with the network size, the distribution becomes extremely narrow in the asymptotic limit, namely almost all pairs of nodes are equidistant, at distance $d=\lfloor 1/\alpha \rfloor$ from each other. The distribution of shortest path lengths between nodes of degree $m$ and the rest of the network is calculated. Its average is shown to be a monotonically decreasing function of $m$, providing an interesting relation between a local property and a global property of the network. The methodology presented here can be applied to more general classes of networks.Comment: 12 pages, 4 figures, accepted to EP

Studying hydrogen bonding and dynamics of the acetylate groups of the Special Pair of Rhodobacter sphaeroides WT

Although the cofactors in the bacterial reaction centre of Rhodobacter sphaeroides wild type (WT) are arranged almost symmetrically in two branches, the light-induced electron transfer occurs selectively in one branch. As origin of this functional symmetry break, a hydrogen bond between the acetyl group of PL in the primary donor and His-L168 has been discussed. In this study, we investigate the existence and rigidity of this hydrogen bond with solid-state photo-CIDNP MAS NMR methods offering information on the local electronic structure due to highly sensitive and selective NMR experiments. On the time scale of the experiment, the hydrogen bond between PL and His-L168 appears to be stable and not to be affected by illumination confirming a structural asymmetry within the Special Pair

Studying hydrogen bonding and dynamics of the acetylate groups of the Special Pair of Rhodobacter sphaeroides WT

Although the cofactors in the bacterial reaction centre of Rhodobacter sphaeroides wild type (WT) are arranged almost symmetrically in two branches, the light-induced electron transfer occurs selectively in one branch. As origin of this functional symmetry break, a hydrogen bond between the acetyl group of PL in the primary donor and His-L168 has been discussed. In this study, we investigate the existence and rigidity of this hydrogen bond with solid-state photo-CIDNP MAS NMR methods offering information on the local electronic structure due to highly sensitive and selective NMR experiments. On the time scale of the experiment, the hydrogen bond between PL and His-L168 appears to be stable and not to be affected by illumination confirming a structural asymmetry within the Special Pair

Energetic, Economic and Environmental (3E) Assessment and Design of Solar-Powered HVAC Systems in Pakistan

Rapid urbanization, global warming and enhanced quality of life have significantly increased the demand of indoor thermal comfort and air conditioning systems are not a luxury anymore, but a necessity. In order to fulfil this need, it is imperative to develop affordable and environmentally friendly cooling solutions for buildings. In this work, the 3E performance (energetic, economic and environmental) of electrically driven water-cooled vapour compression systems and thermally (solar) driven vapour absorption cooling systems are evaluated and the parameters affecting the performance of solar-driven vapour absorption systems are investigated. The energy simulation software TRNSYS is used to simulate the performance of both systems in order to fulfil the cooling needs of an industrial manufacturing building for the typical climate conditions for Lahore, Pakistan. Primary energy saving, initial investment, operational cost, and carbon footprint indices are used to analyse the performance of both systems. In addition, a parametric code is written in Python and linked with TRNSYS to perform a parametric study to investigate the effects of various parameters such as solar field size, storage tank volume, optimum annual and monthly collector angles, and flow rate in the solar field on the solar-driven vapour absorption chiller performance. The results reveal that around 5% more energy can be absorbed per collector surface area by changing the solar tilt angle on a monthly basis compared to one fixed angle. The analysis shows that electrically driven vapour compression-based cooling systems have much higher running cost and are potentially hazardous for the environment but have lower capital costs. On the other hand, solar thermal systems have lower running costs and emissions but require further reductions in the capital costs or government subsidies to make them viable

A tool for the automation of efficient multi-robot choreography planning and execution

In the automotive industry, the design, modeling, and planning of multi-robot cells are manual error-prone, and time-expensive tasks. A recent work investigated, using reactive synthesis, approaches to automate robot task planning, and execution. In this paper, we present a tool that realizes a model-At-runtime approach. The tool is integrated with a robot simulation tool, to automate efficient multi-robot choreography planning, and execution. We illustrate the tool using a multi-robot spot welding cell, inspired from an industrial case. Given a virtual model of the production cell, and user constraints definition, the tool can derive a specification for the reactive synthesis. The tool integrates the synthesized controller with the production cell execution, and in real time, optimizes the strategies by considering the uncertainties. The system can select among several correct, and safe actions, the optimal action using AI-based planning techniques, such as the Monte Carlo Tree Search (MCTS) algorithm. We showcase our tool, illustrate its implementation architecture, including how it can support robot experts for automated planning and execution of production cells

Aero-structural coupled optimization of a rotor blade for an upscaled 25 MW reference wind turbine

One major challenge of the wind turbine industry is the reduction of the levelized cost of energy (LCoE) while following the strong demand for a higher annual energy production (AEP). To meet these goals, larger wind turbine sizes are required. The common method of upscaling existing wind turbine designs comes along with the problem of faster growing blade masses and costs compared to the AEP. Investigations in new technologies to improve the structural efficiency of larger blades can be supported by aero-structural coupled optimizations. The present work introduces a two-step aero-structural coupled design process to capture the multi-disciplinary trade-offs between costs and AEP, aiming at minimizing LCoE for a 25 MW wind turbine. In a first step, a preliminary aero-structural optimisation is carried out using simplified and fast methods. The output is then refined with respect to additional design criteria with an advanced optimization process, including an aero-servo-elastic coupled loads analysis. The process is applied to a 25 MW blade, upscaled from the IEA 15 MW reference wind turbine. Based on the results of an utilization analysis, the structural design is adapted, and a stiffness optimization is performed. The optimum airfoil positions are identified to reduce the amount of material while limiting losses in the aerodynamic performance. The obtained blade designs facilitate a consistent AEP compared to the upscaled reference design. A mass reduction of 35% could be achieved, which results in a reduced LCoE of 1.7% compared to the purely upscaled blade design

Aero-structural coupled optimization of a rotor blade for an upscaled 25 MW reference wind turbine

One major challenge of the wind turbine industry is the reduction of the levelized cost of energy (LCoE) while following the strong demand for a higher annual energy production (AEP). To meet these goals, larger wind turbine sizes are required. The common method of upscaling existing wind turbine designs comes along with the problem of faster growing blade masses and costs compared to the AEP. Investigations in new technologies to improve the structural efficiency of larger blades can be supported by aero-structural coupled optimizations. The present work introduces a two-step aero-structural coupled design process to capture the multi-disciplinary trade-offs between costs and AEP, aiming at minimizing LCoE for a 25 MW wind turbine. In a first step, a preliminary aero-structural optimisation is carried out using simplified and fast methods. The output is then refined with respect to additional design criteria with an advanced optimization process, including an aero-servo-elastic coupled loads analysis. The process is applied to a 25 MW blade, upscaled from the IEA 15 MW reference wind tubine. Based on the results of an utilization analysis, the structural design is adapted, and a stiffness optimization is performed. The optimum airfoil positions are identified to reduce the amount of material while limiting losses in the aerodynamic performance. The obtained blade designs facilitate a consistent AEP compared to the upscaled reference design. A mass reduction of 35% could be achieved, which results in a reduced LCoE of 1.7% compared to the purely upscaled blade design