Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion

All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotioncontrol of a leg prototype, designed and developed to make a quadruped walk dynamically while exhibiting compliant interaction with the environment. The actuation system of the leg is based on the hybrid use of series elasticity and magneto-rheological dampers, which provide variable compliance for natural-looking motion and improved interaction with the ground. The locomotioncontrol architecture has been proposed to exploit natural leg dynamics in order to improve energy efficiency. Results show that the controller achieves a significant reduction in energy consumption during the leg swing phase thanks to the exploitation of inherent leg dynamics. Added to this, experiments with the real leg prototype show that the combined use of series elasticity and magneto-rheologicaldamping at the knee provide a 20 % reduction in the energy wasted in braking the knee during its extension in the leg stance phase.

Influence of the rheological behaviour of the lubricant on the appearance of pitting in elastohydrodynamic eegime

This paper analyses the influence of lubricant behaviour on the appearance of pitting. It attempts to study the effect of viscosity?pressure relation, compressibility, film thickness?roughness relation and friction coefficient on pitting failure of the contacting elements.To explain these effects, we first deal with the influence of the oil on the lubrication of the contact using elastohydrodynamic theory and secondly two multiaxial fatigue criteria are used, Crossland criterion and Dang Van criterion, to evaluate the influence of the rheology on the appearance of pitting. Finally, different applications are presented together with a discussion on the results obtained.

Rheological and tribological properties of poly(phenylene sulphide) and poly(ether ether ketone) composites incorporating carbon nanotubes and inorganic nanoparticles: a comparative study

The rheological and tribological properties of single-walled carbon nanotube (SWCNT)-reinforced poly(phenylene sulphide) (PPS) and poly(ether ether ketone) (PEEK) nanocomposites prepared via melt-extrusion were investigated. The effectiveness of employing a dual-nanofiller strategy combining polyetherimide (PEI)-wrapped SWCNTs with inorganic fullerene-like tungsten disulfide (IF-WS2) nanoparticles for property enhancement of the resulting hybrid composites was evaluated. Viscoelastic measurements revealed that the complex viscosity ?, storage modulus G?, and loss modulus G? increased with SWCNT content. In the low-frequency region, G? and G? became almost independent of frequency at higher SWCNT loadings, suggesting a transition from liquid-like to solid-like behavior. The incorporation of increasing IF-WS2 contents led to a progressive drop in ? and G? due to a lubricant effect. PEEK nanocomposites showed lower percolation threshold than those based on PPS, ascribed to an improved SWCNT dispersion due to the higher affinity between PEI and PEEK. The SWCNTs significantly lowered the wear rate but only slightly reduced the coefficient of friction. Composites with both nanofillers exhibited improved wear behavior, attributed to the outstanding tribological properties of these nanoparticles and a synergistic reinforcement effect. The combination of SWCNTs with IF-WS2 is a promising route for improving the tribological and rheological performance of thermoplastic nanocomposites.

Rheological behaviour and functionality of inulin-extra virgin olive oil-based mashed potatoes

Developing products having a high nutritional value and good storage stability during freezing is a challenge. Inulin (I) and extra virgin olive oil (EVOO) have interesting functional properties. The e?ect of the addition of I and EVOO blends at di?erent I:EVOO ratios (0:0, 0:60, 15:45, 30:30, 45:15, 60:0, 30:45 and 45:30) on the rheological, physical, sensory and structural properties of fresh and frozen ? thawed mashed potatoes formulated without and with added cryoprotectants was analysed and compared. Addition of I and EVOO (either alone or blended) reduced apparent viscosity and pseudoplasticity producing softer systems, indicating that both ingredients behave as soft ?llers. Samples with added I at the higher concentrations )1 (?45 g kg ) showed lower ?ow index and consistency, which is related to formation of smaller I particles; microphotographs indicated that gelling properties of I depended mostly upon processing. Frozen ? thawed samples were judged more acceptable and creamier than their fresh counterparts.

A rheological characterization of mashed potatoes enriched with soy protein isolate

The effect of the addition of soy protein isolate (SPI) (0, 15, 30, 45 and 60 g kg ) on viscoelastic properties, large deformation measurements and microstructure of fresh (FM) and frozen/thawed (F/TM) mashed potatoes was investigated. Rheological data showed weak gel behaviour for both FM and F/TM potatoes without and with added SPI together with a signi?cant decrease of system viscoelasticity (G and G ) with increasing SPI volume fraction, primarily attributed to the no interaction between the amylose/amylopectine matrix and the dispersed SPI particles or aggregates as revealed by scanning electron microscopy (SEM). Micrographs also showed that SPI formed white coarse aggregates. A freeze/thaw cycle produced a more signi?cant decrease in viscoelastic functions, due to superior aggregation of denatured SPI and reduced water activity. In F/TM samples, high correlations between small and large deformation measurements were found. Results may be useful for technological applications in SPI-enriched.

Protein isolate and inulin: chemical, rheological and structural basis

Soy protein isolate is typical vegetable protein with health-enhancing activities. Inulin, a prebiotic no digestible carbohydrate, has functional properties. A mashed potato serving of 200 g with added soy protein isolate and inulin concentrations of 15?60 g kg provides from 3 to 12 g of soy protein isolate and/or inulin, respectively. Currently, no information is available about the possible texture-modifying effect of this non-ionizable polar carbohydrate in different soy-based food systems. In this study, the effect of the addition of soy protein isolate and inulin blends at different soy protein isolate: inulin ratios on the degree of inulin polymerization and the rheological and structural properties of fresh mashed and frozen/thawed mashed potatoes were evaluated. The inulin chemical structure remained intact throughout the various treatments, and soy protein isolate did not affect inulin composition being a protein compatible with this fructan. Small-strain rheology showed that both ingredients behaved like soft fillers. In the frozen/thawed mashed potatoes samples,0 addition of 30 : 30 and 15 : 60 blend ratios significantly increased elasticity (G value) compared with 0 : 0 control, consequently reducing the freeze/thaw stability conferred by the cryoprotectants. Inulin crystallites caused a significant strengthening effect on soy protein isolate gel. Micrographs revealed that soy protein isolate supports the inulin structure by building up a second fine-stranded network. Thereby, possibility of using soy protein isolate and inulin in combination with mashed potatoes to provide a highly nutritious and healthy product is promising.

Effects of high hydrostatic pressure on rheological and termal properties of chickpea Cicer arietinum L. flour slurry and heat-induced paste.

Thermorheological changes in high hydrostatic pressure (HHP)-treated chickpea flour (CF) slurries were studied as a function of pressure level (0.1, 150, 300, 400, and 600 MPa) and slurry concentration (1:5, 1:4, 1:3, and 1:2 flour-to-water ratios). HHP-treated slurries were subsequently analyzed for changes in properties produced by heating, under both isothermal and non-isothermal processes. Elasticity (G′) of pressurized slurry increased with pressure applied and concentration. Conversely, heat-induced CF paste gradually transformed from solid-like behavior to liquid-like behavior as a function of moisture content and pressure level. The G′ and enthalpy of the CF paste decreased with increasing pressure level in proportion with the extent of HHP-induced starch gelatinization. At 25 °C and 15 min, HHP treatment at 450 and 600 MPa was sufficient to complete gelatinization of CF slurry at the lowest concentration (1:5), while more concentrated slurries would require higher pressures and temperature during treatment or longer holding times. Industrial relevance Demand for chickpea gel has increased considerably in the health and food industries because of its many beneficial effects. However, its use is affected by its very difficult handling. Judicious application of high hydrostatic pressure (HHP) at appropriate levels, adopted as a pre-processing instrument in combination with heating processes, is presented as an innovative technology to produce a remarkable decrease in thermo-hardening of heat-induced chickpea flour paste, permitting the development of new chickpea-based products with desirable handling properties and sensory attributes.

Real-Time Dynamic PGD Calculation of Non-Linear Soil Behavior

El estudio sísmico en los últimos 50 años y el análisis del comportamiento dinámico del suelo revelan que el comportamiento del suelo es altamente no lineal e histéretico incluso para pequeñas deformaciones. El comportamiento no lineal del suelo durante un evento sísmico tiene un papel predominante en el análisis de la respuesta de sitio. Los análisis unidimensionales de la respuesta sísmica del suelo son a menudo realizados utilizando procedimientos lineales equivalentes, que requieren generalmente pocos parámetros conocidos. Los análisis de respuesta de sitio no lineal tienen el potencial para simular con mayor precisión el comportamiento del suelo, pero su aplicación en la práctica se ha visto limitada debido a la selección de parámetros poco documentadas y poco claras, así como una inadecuada documentación de los beneficios del modelado no lineal en relación al modelado lineal equivalente. En el análisis del suelo, el comportamiento del suelo es aproximado como un sólido Kelvin-Voigt con un módulo de corte elástico y amortiguamiento viscoso. En el análisis lineal y no lineal del suelo se están considerando geometrías y modelos reológicos más complejos. El primero está siendo dirigido por considerar parametrizaciones más ricas del comportamiento linealizado y el segundo mediante el uso de multi-modo de los elementos de resorte-amortiguador con un eventual amortiguador fraccional. El uso del cálculo fraccional está motivado en gran parte por el hecho de que se requieren menos parámetros para lograr la aproximación exacta a los datos experimentales. Basándose en el modelo de Kelvin-Voigt, la viscoelasticidad es revisada desde su formulación más estándar a algunas descripciones más avanzada que implica la amortiguación dependiente de la frecuencia (o viscosidad), analizando los efectos de considerar derivados fraccionarios para representar esas contribuciones viscosas. Vamos a demostrar que tal elección se traduce en modelos más ricos que pueden adaptarse a diferentes limitaciones relacionadas con la potencia disipada, amplitud de la respuesta y el ángulo de fase. Por otra parte, el uso de derivados fraccionarios permite acomodar en paralelo, dentro de un análogo de Kelvin-Voigt generalizado, muchos amortiguadores que contribuyen a aumentar la flexibilidad del modelado para la descripción de los resultados experimentales. Obviamente estos modelos ricos implican muchos parámetros, los asociados con el comportamiento y los relacionados con los derivados fraccionarios. El análisis paramétrico de estos modelos requiere técnicas numéricas eficientemente capaces de simular comportamientos complejos. El método de la Descomposición Propia Generalizada (PGD) es el candidato perfecto para la construcción de este tipo de soluciones paramétricas. Podemos calcular off-line la solución paramétrica para el depósito de suelo, para todos los parámetros del modelo, tan pronto como tales soluciones paramétricas están disponibles, el problema puede ser resuelto en tiempo real, porque no se necesita ningún nuevo cálculo, el solucionador sólo necesita particularizar on-line la solución paramétrica calculada off-line, que aliviará significativamente el procedimiento de solución. En el marco de la PGD, parámetros de los materiales y los diferentes poderes de derivación podrían introducirse como extra-coordenadas en el procedimiento de solución. El cálculo fraccional y el nuevo método de reducción modelo llamado Descomposición Propia Generalizada han sido aplicado en esta tesis tanto al análisis lineal como al análisis no lineal de la respuesta del suelo utilizando un método lineal equivalente. ABSTRACT Studies of earthquakes over the last 50 years and the examination of dynamic soil behavior reveal that soil behavior is highly nonlinear and hysteretic even at small strains. Nonlinear behavior of soils during a seismic event has a predominant role in current site response analysis. One-dimensional seismic ground response analysis are often performed using equivalent-linear procedures, which require few, generally well-known parameters. Nonlinear analyses have the potential to more accurately simulate soil behavior, but their implementation in practice has been limited because of poorly documented and unclear parameter selection, as well as inadequate documentation of the benefits of nonlinear modeling relative to equivalent linear modeling. In soil analysis, soil behaviour is approximated as a Kelvin-Voigt solid with a elastic shear modulus and viscous damping. In linear and nonlinear analysis more complex geometries and more complex rheological models are being considered. The first is being addressed by considering richer parametrizations of the linearized behavior and the second by using multi-mode spring-dashpot elements with eventual fractional damping. The use of fractional calculus is motivated in large part by the fact that fewer parameters are required to achieve accurate approximation of experimental data. Based in Kelvin-Voigt model the viscoelastodynamics is revisited from its most standard formulation to some more advanced description involving frequency-dependent damping (or viscosity), analyzing the effects of considering fractional derivatives for representing such viscous contributions. We will prove that such a choice results in richer models that can accommodate different constraints related to the dissipated power, response amplitude and phase angle. Moreover, the use of fractional derivatives allows to accommodate in parallel, within a generalized Kelvin-Voigt analog, many dashpots that contribute to increase the modeling flexibility for describing experimental findings. Obviously these rich models involve many parameters, the ones associated with the behavior and the ones related to the fractional derivatives. The parametric analysis of all these models require efficient numerical techniques able to simulate complex behaviors. The Proper Generalized Decomposition (PGD) is the perfect candidate for producing such kind of parametric solutions. We can compute off-line the parametric solution for the soil deposit, for all parameter of the model, as soon as such parametric solutions are available, the problem can be solved in real time because no new calculation is needed, the solver only needs particularize on-line the parametric solution calculated off-line, which will alleviate significantly the solution procedure. Within the PGD framework material parameters and the different derivation powers could be introduced as extra-coordinates in the solution procedure. Fractional calculus and the new model reduction method called Proper Generalized Decomposition has been applied in this thesis to the linear analysis and nonlinear soil response analysis using a equivalent linear method.

Depth Averaged Models for Fast Landslide Propagation: Mathematical, Rheological and Numerical Aspects

This paper presents an overview of depth averaged modelling of fast catastrophic landslides where coupling of solid skeleton and pore fluid (air and water) is important. The first goal is to show how Biot-Zienkiewicz models can be applied to develop depth integrated, coupled models. The second objective of the paper is to consider a link which can be established between rheological and constitutive models. Perzyna´s viscoplasticity can be considered a general framework within which rheological models such as Bingham and cohesive frictional fluids can be derived. Among the several alternative numerical models, we will focus here on SPH which has not been widely applied by engineers to model landslide propagation. We propose an improvement, based on combining Finite Difference meshes associated to SPH nodes to describe pore pressure evolution inside the landslide mass. We devote a Section to analyze the performance of the models, considering three sets of tests and examples which allows to assess the model performance and limitations: (i) Problems having an analytical solution, (ii) Small scale laboratory tests, and (iii) Real cases for which we have had access to reliable information