Novel Design of Legged Mobile Landers With Decoupled Landing and Walking Functions Containing a Rhombus Joint

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Meng Li
Keyword(s):  
Autonomous Robots ◽  
Design Procedure ◽  
The Novel ◽  
Type Synthesis ◽  
Typical Structure ◽  
New Approach ◽  
Lie Group Theory ◽  
First Time ◽  
Novel Structures ◽  
Novel Design

During extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and rover. This mode has some limitations. In this paper, a concept of a novel legged robot with decoupled functions was introduced that has inbuilt features of a lander and rover. Currently, studies have focused mainly on performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this paper, a new approach to the type synthesis used for the robot was proposed based on the Lie group theory. The overall concept and design procedure were proposed and described. The motion requirements of the robot and its legs were extracted and described intuitively. The layouts of the subgroups or submanifolds of the limbs were determined. A family of particular joints with one rotation and one translation was proposed for the first time. The structures of the limbs were synthesized. Numerous structures of the legs were produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of the legs for legged mobile lander were evaluated and listed. Then, four qualitative criteria were introduced. Based on the proposed criteria, a particular case of legs' configuration with a rhombus joint was selected as the best one among them. A typical structure of the legged mobile lander was obtained by assembling the structures of the proposed legs with a rhombus joint. Finally, the typical robot was used as an example to verify the capabilities of the novel robot using a software simulation (adams).

Type synthesis of legged mobile landers with one passive limb using the singularity property

Robotica ◽  
2018 ◽  
Vol 36 (12) ◽  
pp. 1836-1856 ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Xianbao Chen ◽  
Meng Li
Keyword(s):  
Autonomous Robots ◽  
The Novel ◽  
Legged Robot ◽  
Type Synthesis ◽  
Typical Structure ◽  
New Approach ◽  
Lie Group Theory ◽  
Software Simulation ◽  
Design Procedures ◽  
Novel Structures

SUMMARYDuring extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and a rover. This mode has some limitations. In this paper, a concept of a novel legged robot with one passive limb and singularity property is introduced that has inbuilt features of a lander and a rover. Currently, studies have focused primarily on a performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this study, a new approach to the type synthesis used for the robot is proposed based on the Lie group theory. The overall concept and design procedures are proposed and described. The motion requirements of the robot and its legs, which are corresponding to the multi-function, are extracted and described. The layouts of the subgroups or submanifolds of the limbs are determined. The structures of the passive and actuated limbs are synthesized. Numerous structures of the legs with a passive limb are produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of legs for the legged mobile lander are presented and listed. Then, four qualitative criteria or indexes are introduced. Based on the proposed criteria, a leg's configuration is selected as the best. A typical structure of the legged mobile lander is obtained by assembling the structures of the proposed legs. Finally, the typical robot is used as an example to verify the capabilities of the novel robot using a software simulation (ADAMS).

A Novel Perspective in the Design of Cable-Driven Systems

2008 ◽  
Author(s):  
Giulio Rosati ◽  
Damiano Zanotto
Keyword(s):  
Systems Design ◽  
The Novel ◽  
End Effector ◽  
New Approach ◽  
Driven Systems ◽  
Working Space ◽  
Novel Approach ◽  
Workspace Analysis ◽  
Workspace Optimization ◽  
Novel Design

This paper deals with a novel approach to the design of cable-driven systems. This kind of robots possesses several desirable features that distinguish them from common manipulators, such as: low-inertia, cost-effectiveness, safety, easy reconfiguration and transportability. One key-issue that arises from the unilateral actuation is the design for workspace optimization. Most previous researches on cable-driven systems design focused their attention on workspace analysis for existing devices. Conversely, we introduce a new approach for improving workspace by design, introducing movable pulley-blocks rather than increasing the number of cables. By properly moving the pulley-blocks, the end-effector can be always maintained in the best part of the working space, thus enhancing robot capabilities without the need for additional cables. Furthermore, the eventuality of cable interference is strongly reduced. In this paper, the novel design concept is applied to different planar point-mass cable-driven robots, with one or more translating pulley-blocks. The maximum feasible isotropic force, along with the power dissipation and the effective mass at the end-effector are employed to compare the performances of different configurations.

scholarly journals Evolving Neural Network Controllers for a Team of Self-Organizing Robots

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
István Fehérvári ◽  
Wilfried Elmenreich
Keyword(s):  
Autonomous Robots ◽  
Competitive Behavior ◽  
System Behavior ◽  
Local Interactions ◽  
New Approach ◽  
Soccer Game ◽  
The Right ◽  
Novel Design ◽  
Neural Network Controllers ◽  
Self Organizing

Self-organizing systems obtain a global system behavior via typically simple local interactions among a number of components or agents, respectively. The emergent service often displays properties like adaptability, robustness, and scalability, which makes the self-organizing paradigm interesting for technical applications like cooperative autonomous robots. The behavior for the local interactions is usually simple, but it is often difficult to define the right set of interaction rules in order to achieve a desired global behavior. In this paper, we describe a novel design approach using an evolutionary algorithm and artificial neural networks to automatize the part of the design process that requires most of the effort. A simulated robot soccer game was implemented to test and evaluate the proposed method. A new approach in evolving competitive behavior is also introduced using Swiss System instead of the full tournament to cut down the number of necessary simulations.

Design and Fabrication of Hierarchical Multi-Stable Structures Through Multi-Material Additive Manufacturing

2016 ◽  
Author(s):  
Tian Chen ◽  
Kristina Shea
Keyword(s):  
Additive Manufacturing ◽  
Design Procedure ◽  
The Novel ◽  
Proof Of Concept ◽  
Form Finding ◽  
Out Of Plane ◽  
3D Printed ◽  
Novel Structures ◽  
Design For Am ◽  
Stable Structures

The design and fabrication of hierarchical multi-stable structures using multi-material Additive Manufacturing (AM) is presented. First a reversible bistable unit actuator is designed to serve as the basis of the design hierarchy. With this unit actuator, the authors present monolithically printed proof-of-concept structures that can transform to multiple activated states, all of which are stable without the need for continuous energy input. The equilibrium positions of these hierarchical designs are found through iterative form finding when necessary. The novel structures illustrated in this paper are only made possible through design for AM that exploits the capabilities of a multi-material, inkjet 3D printer. The design procedure is illustrated through two concepts. The first consists of a series of tetrahedra fabricated as tiled deployable triangles with the out-of-plane members consisting of the actuators in the retracted configuration. The second concept consists of multiple shape changing square unit modules tiled in a grid to achieve complex 3D activated states including a hemisphere, a hyperbolic paraboloid, a star and a cube. Their design and prototyping form the foundation for new types of active and deployable 3D printed structures.

Liquid transport in non-uniform capillary fibrous media

2018 ◽  
Vol 89 (9) ◽  
pp. 1684-1698 ◽  
Author(s):  
Jie Fan ◽  
Cai-Xia Li ◽  
Yuan-Yuan Qi ◽  
Li-Li Wang ◽  
Wan Shou ◽  
...  
Keyword(s):  
Width Ratio ◽  
The Novel ◽  
Fibrous Materials ◽  
Fibrous Media ◽  
Liquid Transport ◽  
Transport Efficiency ◽  
Design And Optimization ◽  
Transport Length ◽  
First Time ◽  
Novel Design

Liquid transport in porous materials is affected significantly by the geometry of the non-uniform capillaries. In this study, an N-section lotus-rhizome-node-like non-uniform capillary model was for the first time proposed based on the plane Poiseuille flow and capillary pressure equation to investigate the liquid transport in porous fibrous media. Normalized total flow time of the non-uniform capillary was obtained as a function of the height and width ratio between the converging and diverging nodes and their total number. The results indicated that the velocity of liquid transport greatly depended on the number of nodes in a certain liquid transport length. The non-uniform capillaries with frequent alterations between converging and diverging nodes have low liquid transport efficiency. The thick capillary exhibits fast liquid transport efficiency in those capillaries with the same self-similar geometry. The model was verified using polypropylene filament yarns and different liquids. The results agreed well with the theoretical prediction. This work not only provides a deeper understanding of liquid transport inside porous fibrous media with non-uniform capillaries, but can also guide the novel design and optimization of functional fibrous materials.

scholarly journals A PC-Based Inverse Design Method Applied to Radial Inflow Turbines

1992 ◽  
Author(s):  
Ivar Helge Skoe
Keyword(s):  
Design Method ◽  
Design Procedure ◽  
Inverse Design ◽  
Solid Model ◽  
The Novel ◽  
Gas Generator ◽  
Iterative Design ◽  
Inverse Design Method ◽  
Inverse Design Problem ◽  
Novel Design

The method described herewith is an ‘engineering’ approach to the inverse design problem where both aerodynamic and mechanical criteria are imposed. A novel exducer configuration, with slanted trailing edge, evloves during the iterative design procedure based on the introduction of: - a realistic loss distribution - a prescribed rotor exit spanwise total pressure distribution - and with the imposed geometric restrictions. For a Gas Generator Turbine, ‘back-to-back’ traverse results show reduced loss for the novel design as compared with a conventionally designed Radial Inflow Turbine. Through extensive use of ‘Bezier Curves’ for the aerodynamically defined 3-D geometry, the same ‘solid model’ is used to prepare the input files for the structural analysis (’meshing’ for the FEM) as well as the geometry definition for production.

Buried Narratives: Exhuming the Mother's Story in Oliver Twist

2018 ◽  
Vol 8 (3) ◽  
pp. 247-266
Author(s):  
Michelle L. Wilson
Keyword(s):  
Social Change ◽  
Maternal Inheritance ◽  
The Novel ◽  
Poor Law ◽  
The Family ◽  
The Law ◽  
First Time ◽  
Critical Consideration

Initially, Oliver Twist (1839) might seem representative of the archetypal male social plot, following an orphan and finding him a place by discovering the father and settling the boy within his inheritance. But Agnes Fleming haunts this narrative, undoing its neat, linear transmission. This reconsideration of maternal inheritance and plot in the novel occurs against the backdrop of legal and social change. I extend the critical consideration of the novel's relationship to the New Poor Law by thinking about its reflection on the bastardy clauses. And here, of course, is where the mother enters. Under the bastardy clauses, the responsibility for economic maintenance of bastard children was, for the first time, legally assigned to the mother, relieving the father of any and all obligation. Oliver Twist manages to critique the bastardy clauses for their release of the father, while simultaneously embracing the placement of the mother at the head of the family line. Both Oliver and the novel thus suggest that it is the mother's story that matters, her name through which we find our own. And by containing both plots – that of the father and the mother – Oliver Twist reveals the violence implicit in traditional modes of inheritance in the novel and under the law.

Application of Novel Low Current OBIRCH Amplifier and Nanoprobing to Identify Subtle Leakages in Advanced Node Technologies

2018 ◽  
Author(s):  
Satish Kodali ◽  
Liangshan Chen ◽  
Yuting Wei ◽  
Tanya Schaeffer ◽  
Chong Khiam Oh
Keyword(s):  
Signal To Noise Ratio ◽  
Semiconductor Industry ◽  
Fault Isolation ◽  
Ring Oscillator ◽  
High Signal ◽  
The Novel ◽  
Resistance Change ◽  
Three Samples ◽  
Relative Threshold ◽  
First Time

Abstract Optical beam induced resistance change (OBIRCH) is a very well-adapted technique for static fault isolation in the semiconductor industry. Novel low current OBIRCH amplifier is used to facilitate safe test condition requirements for advanced nodes. This paper shows the differences between the earlier and novel generation OBIRCH amplifiers. Ring oscillator high standby leakage samples are analyzed using the novel generation amplifier. High signal to noise ratio at applied low bias and current levels on device under test are shown on various samples. Further, a metric to demonstrate the SNR to device performance is also discussed. OBIRCH analysis is performed on all the three samples for nanoprobing of, and physical characterization on, the leakage. The resulting spots were calibrated and classified. It is noted that the calibration metric can be successfully used for the first time to estimate the relative threshold voltage of individual transistors in advanced process nodes.

Rhythmic Prose in Imperial Greek Literature

2018 ◽  
Author(s):  
G. O. Hutchinson
Keyword(s):  
The Novel ◽  
Greek Literature ◽  
System A ◽  
First Time

The chapter looks at the division between poetry and prose in ancient and other literatures, and shows the importance of rhythmic patterning in ancient prose. The development of rhythmic prose in Greek and Latin is sketched, the system explained and illustrated (from Latin). It is firmly established, for the first time, which of the main Greek non-Christian authors 31 BC–AD 300 write rhythmically. The method takes a substantial sample of random sentence-endings (usually 400) from each of a large number of Imperial authors; it compares that sample with one sample of the same size (400) drawn randomly from a range of authors earlier than the invention of this rhythmic system. A particular sort of X2-test is applied. Many Imperial authors, it emerges, write rhythmically; many do not. The genres most likely to offer rhythmic writing are, unexpectedly, narrative: historiography and the novel.

Kidnapped

2014 ◽  
Author(s):  
Robert Louis Stevenson ◽  
Ian Duncan
Keyword(s):  
West Coast ◽  
Historical Novel ◽  
The Novel ◽  
The West ◽  
Scottish Highlands ◽  
Cross Country ◽  
First Time ◽  
Adventure Stories

Your bed shall be the moorcock’s, and your life shall be like the hunted deer’s, and ye shall sleep with your hand upon your weapons.’ Tricked out of his inheritance, shanghaied, shipwrecked off the west coast of Scotland, David Balfour finds himself fleeing for his life in the dangerous company of Jacobite outlaw and suspected assassin Alan Breck Stewart. Their unlikely friendship is put to the test as they dodge government troops across the Scottish Highlands. Set in the aftermath of the 1745 rebellion, Kidnapped transforms the Romantic historical novel into the modern thriller. Its heart-stopping scenes of cross-country pursuit, distilled to a pure intensity in Stevenson’s prose, have become a staple of adventure stories from John Buchan to Alfred Hitchcock and Ian Fleming. Kidnapped remains as exhilarating today as when it was first published in 1886. This new edition is based on the 1895 text, incorporating Stevenson’s last thoughts about the novel before his death. It includes Stevenson’s ‘Note to Kidnapped’, reprinted for the first time since 1922.

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