Inertia-Driven Controlled Passive Actuation

Author(s):  
Douwe Dresscher ◽  
Theo J. A. de Vries ◽  
Stefano Stramigioli

A serious problem with using electrical actuators in legged locomotion is the significant energy loss. For this reason, we propose and analyse an alternative means of actuation: Controlled Passive Actuation. Controlled Passive Actuation aims at reducing the energy flow through electric actuators by actuating with a combination of an energy storage element and a Continuously Variable Transmission. In this work, we present a method where we apply a Continuously Variable Transmission with a storage element in the form of a mass to change the state of another mass (“the load”). An abstraction layer is created to abstract the inertia-driven Controlled Passive Actuation to a source of effort, a force actuator. On this abstracted system, feedback control can be applied to achieve control goals such as path tracking. With simulations and experiments, we show that inertia-driven Controlled Passive Actuation can be used to control the state of an (inertial) load. The experimental results show that the performance of the system is affected by the internal dynamics and limited rate of change of the transmission ratio of the Continuously Variable Transmission.

Author(s):  
Wu Zhang ◽  
Kai Liu ◽  
Chun-Guo Zhou ◽  
Yi-Duo Wei ◽  
Ning-Qiang Wu

To reduce the metal belt’s axial deflection of the metal belt continuously variable transmission (CVT) during the working process, the value of the axial deflection has been calculated by using numerical methods. The precision of two methods to calculate the deflection has been compared. A calculating method closer to the actual situation has been attained. According to the principle of conjugate curves, and with the involute generatrix of the metal belt as example, a solution to the generatrix of the pulley conjugated with it is obtained, and the relation between the pullys generatrix curvature and the pulleys generatrix contact strength is achieved. By changing the metal belt value of the design parameters, the state subject to force between the pulley and the metal belt can be improved. So as to ensure the whole metal belt level transmit in the process of speed changes. Theoretically, the axial deflection can be eliminated completely, and the life span of the metal belt and the reliability of the transmission, as well as the performance of the metal belt CVT can be greatly improved, so as to provide the references for the CVT design.


Author(s):  
Florian Matthey-Prakash

What does it mean for education to be a fundamental right, and how may children benefit from it? Surprisingly, even when the right to education was added to the Indian Constitution as Article 21A, this question received barely any attention. This book identifies justiciability (or, more broadly, enforceability) as the most important feature of Article 21A, meaning that children and their parents must be provided with means to effectively claim their right from the state. Otherwise, it would remain a ‘right’ only on paper. The book highlights how lack of access to the Indian judiciary means that the constitutional promise of justiciability is unfulfilled, particularly so because the poor, who cannot afford quality private education for their children, must be the main beneficiaries of the right. It then deals with possible alternative means the state may provide for the poor to claim the benefits under Article 21A, and identifies the grievance redress mechanism created by the Right to Education Act as a potential system of enforcement. Even though this system is found to be deficient, the book concludes with an optimistic outlook, hoping that rights advocates may, in the future, focus on improving such mechanisms for legal empowerment.


1928 ◽  
Vol 11 (6) ◽  
pp. 715-741 ◽  
Author(s):  
Hudson Hoagland

1. The durations of successive periods of induced tonic immobility in the lizard Anolis carolinensis was examined as a function of temperature. An automatic recording method was employed and observations were made of 12,000 to 15,000 immobilizations with six animals over a temperature range of 5° to 35°C. during 5 months. 2. The durations of the immobile periods were found to vary rhythmically in most cases. The reciprocal of the duration of the rhythm, i.e., the rate of change of the process underlying the rhythms, when plotted as a function of temperature according to the Arrhenius equation show distributions of points in two straight line groups. One of these groups or bands of points extends throughout the entire temperature range with a temperature characteristic of approximately µ = 31,000 calories, and the other covers the range of 20° to 35°C. with µ equal to approximately 9,000 calories. 3. The initial stimulus in a series of inductions of immobility appears to set off a mechanism which determines the duration of the state of quiescence. Succeeding forced recoveries seem to have no effect on the normal duration of the rhythm. 4. These results are interpreted by assuming the release, through reflex stimulation, of hormonal substances, one effective between 5° and 35°C. and the other effective between 20° and 35°C. These substances are assumed to act as selective inhibitors of impulses from so called "higher centers," allowing impulses from tonic centers to pass to the muscles. 5. In some experiments a progressive lengthening in successively induced periods of immobility was observed. The logarithm of the frequency of recovery when plotted against time in most of these cases (i.e., except for a few in which irregularities occurred) gave a linear function of negative slope which was substantially unaffected by temperature. In these cases it is assumed that a diffusion process is controlling the amount of available A substance. 6. The results are similar to those obtained by Crozier with Cylisticus convexus. The duration of tonic immobility seems to be maintained in both arthropod and vertebrate by the chemical activity of "hormonal" selective inhibitors. The details of the mechanisms differ, but there is basic similarity. 7. Injections of small amounts of adrenalin above a threshold value are found to prolong the durations of tonic immobility of Anolis, by an amount which is a logarithmic function of the "dose." It is possible that internally secreted adrenalin, above a threshold amount, may be involved in the maintenance of tonic immobility. 8. The production of tonic immobility reflexly is a problem distinct from that of the duration of immobility. It is suggested that the onset may be induced by "shock" to the centers of reflex tonus causing promiscuous discharge of these centers with accompanying inhibition of the higher centers. Such a condition may result when an animal is suddenly lifted from the substratum and overturned, or when, as in the case of Anolis, it struggles with dorsum down. This reaction of the "tonic centers" may at the same time lead to discharge of the adrenal glands by way of their spinal connections thus prolonging the state.


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