A McKibben Type Sleeve Pneumatic Muscle and Integrated Mechanism for Improved Stroke Length

2017 ◽  
Vol 9 (1) ◽  
Author(s):  
Michael F. Cullinan ◽  
Eamonn Bourke ◽  
Kevin Kelly ◽  
Conor McGinn

Sleeve pneumatic muscles have shown significant performance improvements over conventional air muscle design, offering increased energy efficiency, force output, and stroke length, while allowing the actuator to become a structural component. However, there remain comparatively few studies involving sleeve muscles, and current applications have not focused on their potential advantages for joints actuated antagonistically with two muscles or their application to a more general class of pneumatic artificial muscle. This research presents a modular sleeve muscle design using the McKibben type construction, with a separate membrane and braid. To further increase stroke length, an internal pulley mechanism is implemented. The performance of the sleeve muscle is compared to an equivalent unaltered muscle and shows substantial improvements in force output, stroke length, and energy efficiency. Further testing shows that the internal pulley mechanism increased the effective stroke length by 82%, albeit at the cost of reduced maximum force output.

Author(s):  
Changho Shin ◽  
Sunghwan Joo ◽  
Jaeryun Yim ◽  
Hyoseop Lee ◽  
Taesup Moon ◽  
...  

Non-intrusive load monitoring (NILM), also known as energy disaggregation, is a blind source separation problem where a household’s aggregate electricity consumption is broken down into electricity usages of individual appliances. In this way, the cost and trouble of installing many measurement devices over numerous household appliances can be avoided, and only one device needs to be installed. The problem has been well-known since Hart’s seminal paper in 1992, and recently significant performance improvements have been achieved by adopting deep networks. In this work, we focus on the idea that appliances have on/off states, and develop a deep network for further performance improvements. Specifically, we propose a subtask gated network that combines the main regression network with an on/off classification subtask network. Unlike typical multitask learning algorithms where multiple tasks simply share the network parameters to take advantage of the relevance among tasks, the subtask gated network multiply the main network’s regression output with the subtask’s classification probability. When standby-power is additionally learned, the proposed solution surpasses the state-of-the-art performance for most of the benchmark cases. The subtask gated network can be very effective for any problem that inherently has on/off states.


2015 ◽  
Vol 9 (2) ◽  
pp. 15-19
Author(s):  
József Sárosi ◽  
László György

Many researchers have investigated different properties and behaviour of pneumatic muscles actuators (PMAs). Most of them have dealt with the force-contraction (force-relative displacement) characteristics or control of PMAs. In this paper two different type PMAs are compared: Fluidic Muscle made by Festo Company and Shadow Air Muscle made by Shadow Robot Company. The most relevant difference between them can be noticed in their structure. The Fluidic Muscle is an embedded muscle which means the load carrying element is embedded in its membrane, while Shadow Air Muscle is a netted muscle, but in its non-loaded condition there is a gap between the membrane and the load carrying element. Among other things, force developed by pneumatic muscle actuators depends on applied pressure, contraction, geometry and the used materials. As it is described in this paper, they show significantly different force-contraction characteristics despite having similar dimensional properties. These characteristics are determined by experimental measurement.


Author(s):  
Yuriy Spirin ◽  
Vladimir Puntusov

In the Kaliningrad region there are about 70 % of all polder lands in Russia. On these lands with high potential fertility, it is advisable to intensive agriculture. The area for the average moisture year is an area with excessive moisture, which indicates the need to maintain the rate of drainage on agricultural land. Many different factors play a role in ensuring the drainage rate, one of which is pumping stations and pumping equipment installed on them. An important parameter in the use of pump-power equipment is energy consumption, since in this industry it is a considerable expense item. Improving the energy efficiency of pumping stations on polders is a pressing issue today. At the majority of polder pumping stations, domestic power pumping equipment is installed with excess power and head of 4–8 meters, and a new one is selected based on the maximum possible head in a given place. In the Kaliningrad region, the energy efficiency of polder pumping equipment has never been analyzed. In this paper, a statistical processing of the geodesic pressure of water at the polder pumping stations of the Slavsk region for 2000–2002 was carried out. On the basis of these data and data on the hydraulic characteristics of pressure pipelines, the calculated water pressures were determined for the rational selection of pumping equipment. The calculation of the economic efficiency of pumps with optimal power compared with pumps of excess capacity. The results of the study can serve as a justification for the transition to the pumping equipment with less power and pressure, which will lead to a decrease in the cost of money for electricity.


Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1639
Author(s):  
Seungmin Jung ◽  
Jihoon Moon ◽  
Sungwoo Park ◽  
Eenjun Hwang

Recently, multistep-ahead prediction has attracted much attention in electric load forecasting because it can deal with sudden changes in power consumption caused by various events such as fire and heat wave for a day from the present time. On the other hand, recurrent neural networks (RNNs), including long short-term memory and gated recurrent unit (GRU) networks, can reflect the previous point well to predict the current point. Due to this property, they have been widely used for multistep-ahead prediction. The GRU model is simple and easy to implement; however, its prediction performance is limited because it considers all input variables equally. In this paper, we propose a short-term load forecasting model using an attention based GRU to focus more on the crucial variables and demonstrate that this can achieve significant performance improvements, especially when the input sequence of RNN is long. Through extensive experiments, we show that the proposed model outperforms other recent multistep-ahead prediction models in the building-level power consumption forecasting.


Sensors ◽  
2020 ◽  
Vol 20 (20) ◽  
pp. 5748
Author(s):  
Zhibo Zhang ◽  
Qing Chang ◽  
Na Zhao ◽  
Chen Li ◽  
Tianrun Li

The future development of communication systems will create a great demand for the internet of things (IOT), where the overall control of all IOT nodes will become an important problem. Considering the essential issues of miniaturization and energy conservation, in this study, a new data downlink system is designed in which all IOT nodes harvest energy first and then receive data. To avoid the unsolvable problem of pre-locating all positions of vast IOT nodes, a device called the power and data beacon (PDB) is proposed. This acts as a relay station for energy and data. In addition, we model future scenes in which a communication system is assisted by unmanned aerial vehicles (UAVs), large intelligent surfaces (LISs), and PDBs. In this paper, we propose and solve the problem of determining the optimal flight trajectory to reach the minimum energy consumption or minimum time consumption. Four future feasible scenes are analyzed and then the optimization problems are solved based on numerical algorithms. Simulation results show that there are significant performance improvements in energy/time with the deployment of LISs and reasonable UAV trajectory planning.


2012 ◽  
Vol 268-270 ◽  
pp. 1457-1463
Author(s):  
Li Chao Wang ◽  
Xiao Dong Wang

Artificial muscle is a new style of actuator with novel working principle, which owns the advantages of compact structure, high power-to-weight ratio, compliance and easy application. Pneumatic artificial muscle (PAM) is usually used in robotics, medical auxiliaries and other small force output occasions nowadays. However, it suffers problems of small power, hysteresis and poor repeatability. A kind of artificial muscle working at high pressure was researched. Different muscle styles are compared and MicKibben structure is selected while fluid media is determined. Furthermore, factors of geometry and material properties, which limit the ultimate pressure, are analyzed. Formulas and simulations verify the influence of limitation and help to calculate key parameters of 18MPa artificial muscle. Data show that it is possible in theory to design high pressure artificial muscle by overall consideration of initial diameter, initial contraction angle and material properties, initial length only influent the stroke.


2011 ◽  
Vol 44 (6) ◽  
pp. 1272-1276 ◽  
Author(s):  
Koichi Momma ◽  
Fujio Izumi

VESTAis a three-dimensional visualization system for crystallographic studies and electronic state calculations. It has been upgraded to the latest version,VESTA 3, implementing new features including drawing the external morphology of crystals; superimposing multiple structural models, volumetric data and crystal faces; calculation of electron and nuclear densities from structure parameters; calculation of Patterson functions from structure parameters or volumetric data; integration of electron and nuclear densities by Voronoi tessellation; visualization of isosurfaces with multiple levels; determination of the best plane for selected atoms; an extended bond-search algorithm to enable more sophisticated searches in complex molecules and cage-like structures; undo and redo in graphical user interface operations; and significant performance improvements in rendering isosurfaces and calculating slices.


2020 ◽  
Author(s):  
J. Fajardo ◽  
D. Yabrudy ◽  
D. Barreto ◽  
C. Negrete ◽  
B. Sarria ◽  
...  

Abstract Nowadays, maintenance is based on the synergistic integration of operational reliability and timely maintenance, which guarantees the required availability and optimal cost. Operational reliability implies producing more, better performance, longer life, and availability. Timely maintenance involves the least time out of service, fewer maintenance costs, fewer operating costs, and less money. In this work, we study the preheating train of a crude distillation unit of a refinery, which processes 994 m3/h, which presents a formation of a fouling layer inside it. Among the impacts of fouling is the reduction in the effectiveness of heat transfer, the increase in fuel consumption, the increase in CO2 emissions, the increase in maintenance costs, and the decrease in the profit margin of process. An appropriate cleaning program of the surface of the heat exchanger network is necessary to preserve its key performance parameters, preferably close to design values. This paper presents the maintenance method centered on energy efficiency, to plan the intervention of the preheating train equipment maintenance, which considers the economic energy improvement and the cost of the type of maintenance. The method requires the calculation of the fouling evolution from which the global heat transfer coefficient is obtained, and the heat flux is determined as a function of time. It was observed that, as time passes, the resistance provided by fouling increases and that the overall heat transfer coefficient decreases. The energy efficiency centered maintenance has an indicator of economic justification (factor J) that relates the economic-energy improvement achieved when performing maintenance, taking into account the economic effort invested. Depending on the cost of the type of maintenance to be performed, a threshold should be chosen, from which the maintenance activity is justified. The effectiveness values of the heat exchanger (ε) and the J indicator are used to form a criticality matrix, which allows prioritizing maintenance activities in each equipment. The planning of the implementation dates of the maintenance of each heat exchanger, from the maintenance method centered on energy efficiency applied to the crude distillation unit’s, preheat train, constitutes a contribution in this specific field. The conceptual design of the maintenance method centered on energy efficiency presented in this work is feasible for other heat transfer equipment used in oil refineries and industry in general. The procedure developed uses real operation values, and with its implementation, a saving of 150000 US dollars was achieved.


2017 ◽  
Vol 107 (04) ◽  
pp. 301-305
Author(s):  
E. Prof. Uhlmann ◽  
F. Kaulfersch

Partikelverstärkte Titanmatrix-Verbundwerkstoffe erlauben erhebliche Leistungssteigerungen im Bereich hochtemperaturbeanspruchter Struktur- und Funktionsbauteile. Die durch die Partikelverstärkung gesteigerte Verschleißbeständigkeit, Festigkeit und Härte bedeuten eine große Herausforderung an die spanende Bearbeitung derartiger Hochleistungswerkstoffe. Mittels Zerspanuntersuchungen beim Fräsen konnten unter Variation der Werkzeuggeometrie, der Schneidstoffe und der Prozessstrategie Parameterbeiche identifiziert werden, mit denen die prozesssichere Zerspanung partikelverstärkter Titanmatrix-Verbundwerkstoffe möglich ist.   Particle-reinforced titanium matrix composites ensure significant performance improvements of structural and functional high-temperature components. However, the high wear resistance, toughness and hardness due to particle reinforcement is a major challenge in machining these high performance materials. By conducting milling experiments with a variation of tool geometry, cutting material and process strategy, process parameters could be identified that enable efficient machining of particle-reinforced titanium matrix composites.


2018 ◽  
Vol 211 ◽  
pp. 02008 ◽  
Author(s):  
Bhaben Kalita ◽  
S. K. Dwivedy

In this work a novel pneumatic artificial muscle is fabricated using golden muga silk and silicon rubber. It is assumed that the muscle force is a quadratic function of pressure. Here a single degree of freedom system is considered where a mass is supported by a spring-damper-and pneumatically actuated muscle. While the spring-mass damper is a passive system, the addition of pneumatic muscle makes the system active. The dynamic analysis of this system is carried out by developing the equation of motion which contains multi-frequency excitations with both forced and parametric excitations. Using method of multiple scales the reduced equations are developed for simple and principal parametric resonance conditions. The time response obtained using method of multiple scales have been compared with those obtained by solving the original equation of motion numerically. Using both time response and phase portraits, variation of few systems parameters have been carried out. This work may find application in developing wearable device and robotic device for rehabilitation purpose.


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