Download or read book Energy Recycling and Management for Lower Limb Exoskeleton written by Hao Lee and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower Limb Exoskeleton, a wearable robot that is designed to provide lower limb assistance to users, has been rapidly developed in the previous decade. The goal of these robots is to replace human labor with robots while still having humans involved. However, while these robot suits provide sufficient assistance to the users, the efficiency of the robot is often overseen. Thus, restrict the exoskeleton's operating time or required it to connect to an external power supply. However, there is plenty of energy wasted in human motions. In this study, we target "loaded bipedal walking" as the primary motion to assist. In chapter 2, we applied trajectory optimization on different mechanical designs for lower-limb exoskeletons. It is commonly known that humans tend to use more energy to walk compared to other limb-based locomotion animals. This higher energy usage is due to "heel strikes" and "negative work" during human gait. Passive walkers elevate this phenomenon by utilizing elastic joints that absorb/reuse some of the negative work. The objective of this study is to absorb energy at one phase of the gait cycle, store it, and then release it at a later phase through the use of a lower limb exoskeleton. Knee geometry is one important factor in energy efficiency during gait. Animals with reversed knees compared to humans (backward knee), such as ostriches, exhibit improved energy efficiency. As part of this study, new energy optimization strategies were developed utilizing collision-based ground reaction forces and a discrete lagrangian. The minimal cost of transport (CoT) gait patterns were calculated with both forward-knee and backward-knee human-exoskeleton models. Simulation results show that wearing a backward-knee exoskeleton can reduce the CoT by 15% of while carrying external loads ranging from 20 to 60 kg. In addition, when the exoskeleton utilized energy recycling, the CoT was shown to be further reduced to 35%. These simulation results suggested that the optimal design for an exoskeleton aimed at utilizing energy recycling principles should incorporate backward-knee configurations much like those found in energy-efficient biped/quadruped animals. In fact, since the potential energy sources (heel strikes, negative work) and the main energy consumer (ankle push-off) occurs in the opposite legs, the ideal actuators for the exoskeleton need to be able to recycle, store, and transfer energy between different legs. To satisfy the actuator's requirements from chapter 2, in chapter 3 we choose pneumatic actuators as the actuator for our exoskeleton. Pneumatic actuators are a popular choice for wearable robotics due to their high force-to-weight ratio and natural compliance, which allows them to absorb and reuse wasted energy during movement. However, traditional pneumatic control is energy inefficient and difficult to precisely control due to nonlinear dynamics, latency, and the challenge of quantifying mechanical properties. To address these issues, In chapter 3, we developed a wearable pneumatic actuator with energy recycling capabilities and applied the sparse identification of nonlinear dynamics (SINDy) algorithm to generate a nonlinear delayed differential model from simple pressure measurements. Using only basic knowledge of thermal dynamics, SINDy was able to train models of solenoid valve-based pneumatic systems with a training accuracy of 90.58% and a test accuracy of 86.44%. The generated model, when integrated with model predictive control (MPC), resulted in a 5% error in pressure control. By using MPC for human assistive impedance control, the actuator was able to output the desired force profile and recycle around 88% of the energy used in negative work. These results demonstrate an energy-efficient and easily calibrated actuation scheme for designing assistive devices such as exoskeletons and orthoses. In chapter 4, we presented Pneumatic Exoskeleton with Reversible Knee (PERK). It utilizes the pneumatic actuators we developed in chapter 3 and the control strategies we concluded in chapter 2. Three clinical trials were done on three different test subjects. The results showed despite different walking patterns across different test subjects, there is less potential energy change during the swing phase of walking, potentially reducing the energy loss during the heel strike. In addition, during the double support phase, there is less energy consumption in the pneumatic system while configuring it as backward-knee, indicating it is easier or more intuitive for the user to have the exoskeleton recycling the dissipated energy with the backward-knee mechanism.
Download or read book Energy Shaping Control of Powered Lower limb Exoskeletons for Assistance of Human Locomotion written by Ge Lv and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The majority of powered lower-limb exoskeletons nowadays are designed to rigidly track time-based kinematic patterns, which forces users to follow specific joint positions. This kinematic control approach is limited to replicating the normative joint kinematics associated with one specific task and user at a time. These pre-defined trajectories cannot adjust to continuously varying activities or changes in user behavior associated with learning during gait rehabilitation. Time-based kinematic control approach must also recognize the user’s intent to transition from one task-specific controller to another, which is susceptible to errors in intent recognition and does not allow for a continuous range of activities. Moreover, fixed joint patterns also do not facilitate active learning during gait rehabilitation. People with partial or full volitional control of their lower extremities should be allowed to adjust their joint kinematics during the learning process based on corrections from the therapist. To address this issue, we propose that instead of tracking reference kinematic patterns, kinetic goals (for example, energy or force) can be enforced to provide a flexible learning environment and allow the user to choose their own kinematic patterns for different locomotor tasks. In this dissertation, we focus on an energetic control approach that shapes the Lagrangian of the human body and exoskeleton in closed loop. This energetic control approach, known as energy shaping, controls the system energy to a specific analytical function of the system state in order to induce different dynamics via the Euler-Lagrange equations. By explicitly modeling holonomic contact constraints in the dynamics, we transform the conventional Lagrangian dynamics into the equivalent constrained dynamics that have fewer (or possibly zero) unactuated coordinates. Based on these constrained dynamics, the matching conditions, which determine what energetic properties of the human body can be shaped, become easier to satisfy. By satisfying matching conditions for human-robot systems with arbitrary system dimension and degrees of actuation, we are therefore able to present a complete theoretical framework for underactuated energy shaping that incorporates both environmental and human interaction. Simulation results on a human-like biped model and experimental results with able-bodied subjects across a variety of locomotor tasks have demonstrated the potential clinical benefits of the proposed control approach.
Download or read book Plastic Waste and Recycling written by Trevor M. Letcher and published by Academic Press. This book was released on 2020-03-10 with total page 686 pages. Available in PDF, EPUB and Kindle. Book excerpt: Plastic Waste and Recycling: Environmental Impact, Societal Issues, Prevention, and Solutions begins with an introduction to the different types of plastic materials, their uses, and the concepts of reduce, reuse and recycle before examining plastic types, chemistry and degradation patterns that are organized by non-degradable plastic, degradable and biodegradable plastics, biopolymers and bioplastics. Other sections cover current challenges relating to plastic waste, explain the sources of waste and their routes into the environment, and provide systematic coverage of plastic waste treatment methods, including mechanical processing, monomerization, blast furnace feedstocks, gasification, thermal recycling, and conversion to fuel. This is an essential guide for anyone involved in plastic waste or recycling, including researchers and advanced students across plastics engineering, polymer science, polymer chemistry, environmental science, and sustainable materials. Presents actionable solutions for reducing plastic waste, with a focus on the concepts of collection, re-use, recycling and replacement Considers major societal and environmental issues, providing the reader with a broader understanding and supporting effective implementation Includes detailed case studies from across the globe, offering unique insights into different solutions and approaches
Download or read book 2021 27th International Conference on Mechatronics and Machine Vision in Practice M2VIP written by IEEE Staff and published by . This book was released on 2021-11-26 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: With the advent of new functional materials, smart actuators, smart sensors, embedded computers and 3D printing technologies, as well as the latest advance in machine vision, intelligence, machine learning and computational modeling, a lot of more intelligent, powerful, miniaturized or user friendly devices, systems and robots are emerging that meet the needs of modern day living The M2VIP 2020 aims to provide an international and interdisciplinary forum for the mechatronics and machine vision research community to explore the frontier of science and technology in smart actuators, smart sensors, intelligent machines, advanced robots, machine learning and artificial intelligence systems
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Download or read book Advances in Robot Design and Intelligent Control written by Aleksandar Rodić and published by Springer. This book was released on 2016-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master’s and Ph.D. students working on robotics projects.
Download or read book Eco Towers written by K. Al-Kodmany and published by WIT Press. This book was released on 2015-05-05 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: Eco-Towers introduces readers to groundbreaking designs, most progressive projects, and innovative ways of thinking about a new generation of green skyscrapers that could provide solutions to crises the world faces today including climate change, depleting resources, deteriorating ecology, population increase, decreasing food supply, urban heat island effect, pollution, deforestation, and more. The book suggests that the eco-tower culminates the cultural and technological evolutions of the 21st century by building and improving on the experiences of earlier designs of skyscrapers and philosophies particularly green, sustainable, and ecological. It argues that the true green skyscraper is the one that engages successfully with its larger urban context by establishing symbiotic relationships with the social, economic, and environmental aspects. Since tall buildings are becoming larger and taller, serving greater number of people, and exerting higher demand on the environment and existing infrastructure, any improvements in their design and construction will significantly enhance urban conditions. The book elucidates how green skyscrapers better serve tenants, mitigate environmental impacts, and improve integration with the city infrastructure. It explains how skyscrapers’ long life cycle offers the greatest justifications for recycling precious resources, and makes it a worthwhile to employ green features in constructing new skyscrapers and retrofitting existing ones. Subsequently, the book explores new designs that are employing cutting-edge green technologies at a grand scale including water-saving technologies, solar panels, helical wind turbines, sunlight-sensing LED lights, rainwater catchment systems, graywater and blackwater recycling systems, seawater-powered air conditioning, and the like. In the future, new building materials and smart technologies will continue to offer innovative design approaches to sustainable tall buildings with new aesthetics, referred to as “eco-iconic” skyscrapers.
Download or read book Energy Harvesting Technologies written by Shashank Priya and published by Springer Science & Business Media. This book was released on 2008-11-28 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Energy Harvesting Technologies provides a cohesive overview of the fundamentals and current developments in the field of energy harvesting. In a well-organized structure, this volume discusses basic principles for the design and fabrication of bulk and MEMS based vibration energy systems, theory and design rules required for fabrication of efficient electronics, in addition to recent findings in thermoelectric energy harvesting systems. Combining leading research from both academia and industry onto a single platform, Energy Harvesting Technologies serves as an important reference for researchers and engineers involved with power sources, sensor networks and smart materials.
Download or read book Materials Design and Manufacturing for Sustainable Environment written by Santhakumar Mohan and published by Springer Nature. This book was released on 2021-02-06 with total page 909 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the select proceedings of the International Conference on Materials, Design and Manufacturing for Sustainable Environment (ICMDMSE 2020). The primary focus is on emerging materials and cutting-edge manufacturing technologies for sustainable environment. The book covers a wide range of topics such as advanced materials, vibration, tribology, finite element method (FEM), heat transfer, fluid mechanics, energy engineering, additive manufacturing, robotics and automation, automobile engineering, industry 4.0, MEMS and nanotechnology, optimization techniques, condition monitoring, and new paradigms in technology management. Contents of this book will be useful to students, researchers, and practitioners alike.
Download or read book EcoDesign and Sustainability I written by Yusuke Kishita and published by Springer Nature. This book was released on 2020-11-02 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights cutting-edge ecodesign research, covering product and service design, smart manufacturing, and social perspectives in ecodesign. Featuring selected papers presented at EcoDesign 2019: 11th International Symposium on Environmentally Conscious Design and Inverse Manufacturing, it also includes diverse, interdisciplinary approaches to foster ecodesign research and activities. In the context of Sustainable Development Goals (SDGs), it addresses the need for the manufacturing industry to design innovations for sustainable value creation, taking into account technological developments, legislation, and consumer lifestyles. Further, the book discusses the concept of circular economy, which originated in Europe and aims to increase resource efficiency by shifting away from the linear economy. Focusing on product life cycle design and management, smart manufacturing, circular economy, and business strategies, and providing useful approaches and solutions to these emerging concepts, this book is intended for both researchers and practitioners working in the broad field of ecodesign and sustainability.
Download or read book Wearable Robotics Challenges and Trends written by José González-Vargas and published by Springer. This book was released on 2016-10-04 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 2nd International Symposium on Wearable Robotics, WeRob2016, held October 18-21, 2016, in Segovia, Spain, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2016 with the International Conference on Neurorehabilitation, INCR2016. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Download or read book Blindsight written by Peter Watts and published by Macmillan. This book was released on 2006-10-03 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hugo and Shirley Jackson award-winning Peter Watts stands on the cutting edge of hard SF with his acclaimed novel, Blindsight Two months since the stars fell... Two months of silence, while a world held its breath. Now some half-derelict space probe, sparking fitfully past Neptune's orbit, hears a whisper from the edge of the solar system: a faint signal sweeping the cosmos like a lighthouse beam. Whatever's out there isn't talking to us. It's talking to some distant star, perhaps. Or perhaps to something closer, something en route. So who do you send to force introductions with unknown and unknowable alien intellect that doesn't wish to be met? You send a linguist with multiple personalities, her brain surgically partitioned into separate, sentient processing cores. You send a biologist so radically interfaced with machinery that he sees x-rays and tastes ultrasound. You send a pacifist warrior in the faint hope she won't be needed. You send a monster to command them all, an extinct hominid predator once called vampire, recalled from the grave with the voodoo of recombinant genetics and the blood of sociopaths. And you send a synthesist—an informational topologist with half his mind gone—as an interface between here and there. Pray they can be trusted with the fate of a world. They may be more alien than the thing they've been sent to find. At the Publisher's request, this title is being sold without Digital Rights Management Software (DRM) applied.
Download or read book The Prospective Review written by and published by . This book was released on 1847 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Real Gardens Grow Natives written by Eileen M Stark and published by Mountaineers Books. This book was released on 2014-09-24 with total page 645 pages. Available in PDF, EPUB and Kindle. Book excerpt: CLICK HERE to download sample native plants from Real Gardens Grow Natives For many people, the most tangible and beneficial impact they can have on the environment is right in their own yard. Aimed at beginning and veteran gardeners alike, Real Gardens Grow Natives is a stunningly photographed guide that helps readers plan, implement, and sustain a retreat at home that reflects the natural world. Gardening with native plants that naturally belong and thrive in the Pacific Northwest’s climate and soil not only nurtures biodiversity, but provides a quintessential Northwest character and beauty to yard and neighborhood! For gardeners and conservationists who lack the time to read through lengthy design books and plant lists or can’t afford a landscape designer, Real Gardens Grow Natives is accessible yet comprehensive and provides the inspiration and clear instruction needed to create and sustain beautiful, functional, and undemanding gardens. With expert knowledge from professional landscape designer Eileen M. Stark, Real Gardens Grow Natives includes: * Detailed profiles of 100 select native plants for the Pacific Northwest west of the Cascades, plus related species, helping make plant choice and placement. * Straightfoward methods to enhance or restore habitat and increase biodiversity * Landscape design guidance for various-sized yards, including sample plans * Ways to integrate natives, edibles, and nonnative ornamentals within your garden * Specific planting procedures and secrets to healthy soil * Techniques for propagating your own native plants * Advice for easy, maintenance using organic methods
Download or read book 2020 5th International Conference on Advanced Robotics and Mechatronics ICARM written by IEEE Staff and published by . This book was released on 2020-12-18 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The conference will provide an international forum for researchers, educators, engineers in general areas of mechatronics, robotics, automation and sensors to disseminate their latest research results and exchange views on the future research directions of these fields
Download or read book Inventing Iron Man written by E. Paul Zehr and published by JHU Press. This book was released on 2011-10 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: "E. Paul Zehr physically deconstructs Iron Man to find out how we could use modern-day technology to create a suit of armor similar to the one Stark made"--Jacket.
Download or read book Edible Insects written by Arnold van Huis and published by Bright Sparks. This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Edible insects have always been a part of human diets, but in some societies there remains a degree of disdain and disgust for their consumption. Although the majority of consumed insects are gathered in forest habitats, mass-rearing systems are being developed in many countries. Insects offer a significant opportunity to merge traditional knowledge and modern science to improve human food security worldwide. This publication describes the contribution of insects to food security and examines future prospects for raising insects at a commercial scale to improve food and feed production, diversify diets, and support livelihoods in both developing and developed countries. It shows the many traditional and potential new uses of insects for direct human consumption and the opportunities for and constraints to farming them for food and feed. It examines the body of research on issues such as insect nutrition and food safety, the use of insects as animal feed, and the processing and preservation of insects and their products. It highlights the need to develop a regulatory framework to govern the use of insects for food security. And it presents case studies and examples from around the world. Edible insects are a promising alternative to the conventional production of meat, either for direct human consumption or for indirect use as feedstock. To fully realise this potential, much work needs to be done by a wide range of stakeholders. This publication will boost awareness of the many valuable roles that insects play in sustaining nature and human life, and it will stimulate debate on the expansion of the use of insects as food and feed.
