Templates and anchors for antenna-based wall following in cockroaches and robots

The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template - the simplest model that captures a behavior - that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model. © 2008 IEEE.

Droplet Generator

A method and device for periodically perturbing the flow field within a microfluidic device to provide regular droplet formation at high speed.

Self-excited circumferential instabilities in a model annular gas turbine combustor: Global flame dynamics

In this paper the global flame dynamics of a model annular gas turbine combustor undergoing strong self-excited circumferential instabilities is presented. The combustor consisted of either 12, 15 or 18 turbulent premixed bluff-body flames arranged around an annulus of fixed circumference so that the effect of flame separation distance, S, on the global heat release dynamics could be investigated. Reducing S was found to produce both an increase in the resonant frequency and the limit-cycle amplitudes of pressure and heat release for the same equivalence ratio. The phase-averaged global heat release, obtained from high-speed OH- chemiluminescence imaging from above, showed that these changes are caused by large-scale modifications to the flame structure around the annulus. For the largest S studied (12 flame configuration) the azimuthal instability produced a helical-like global heat release structure for each flame. When S was decreased, large-scale merging or linking between adjacent flames occurred spanning approximately half of the annulus with the peak heat release concentrated at the outer annular wall. The circumferential nature of the instability was evident from both the pressure measurements and the phase-averaged OH- chemiluminescence showing the phase of the heat release on either side of the annulus to be ≈180°apart and spinning in the counter clockwise direction. Both spinning and standing modes were found but only spinning modes are considered in this paper. To the best of the authors knowledge, these are the first experiments to provide a phase-averaged picture of self-excited azimuthal instabilities in a laboratory-scale annular combustor relevant to gas turbines. © 2012 The Combustion Institute. Published by Elsevier Inc. All rights reserved.

Shock Propagation and MPT Noise From a Transonic Rotor in Nonuniform Flow

One of the major challenges in high-speed fan stages used in compact, embedded propulsion systems is inlet distortion noise. A body-force-based approach for the prediction of multiple-pure-tone (MPT) noise was previously introduced and validated. In this paper, it is employed with the objective of quantifying the effects of nonuniform flow on the generation and propagation of MPT noise. First-of-their-kind back-to-back coupled aero-acoustic computations were carried out using the new approach for conventional and serpentine inlets. Both inlets delivered flow to the same NASA/GE R4 fan rotor at equal corrected mass flow rates. Although the source strength at the fan is increased by 38 dB in sound power level due to the nonuniform inflow, far-field noise for the serpentine inlet duct is increased on average by only 3.1 dBA overall sound pressure level in the forward arc. This is due to the redistribution of acoustic energy to frequencies below 11 times the shaft frequency and the apparent cut-off of tones at higher frequencies including blade-passing tones. The circumferential extent of the inlet swirl distortion at the fan was found to be two blade pitches, or 1/11th of the circumference, suggesting a relationship between the circumferential extent of the inlet distortion and the apparent cut-off frequency perceived in the far field. A first-principles-based model of the generation of shock waves from a transonic rotor in nonuniform flow showed that the effects of nonuniform flow on acoustic wave propagation, which cannot be captured by the simplified model, are more dominant than those of inlet flow distortion on source noise. It demonstrated that nonlinear, coupled aerodynamic and aero-acoustic computations, such as those presented in this paper, are necessary to assess the propagation through nonuniform mean flow. A parametric study of serpentine inlet designs is underway to quantify these propagation effects. © 2013 American Society of Mechanical Engineers.

Nanowire and graphene architectures for room temperature THz detection

Antenna-coupled field effect transistors have been developed as plasma-wave THz detectors in both InAs nanowire and graphene channel material. Room temperature operation has been achieved up to frequencies of 1.5 THz, with noise equivalent powers as low as a few 10-11 W/Hz1/2, and high-speed response. © 2012 IEEE.

Embodied energy and gas emission of geotechnical infrastructure

Construction of geotechnical structures produces various environmental impacts. These include depletion of limited natural resources, generation of wastes and harmful substances during material productions and construction, ineffective usage of energy during processing of raw materials into construction materials, and emissions of unwanted gasses during transportation of materials and usage of equipments. With increasing interests in sustainability at the global scale, there is a need to develop a methodology that can assess environmental impacts at such scale for geotechnical construction. Using embodied energy and gas emission, quantitative measures of environmental impact are evaluated using a case study of a new high speed railway line construction in the UK. Based on the results, the keys to energy savings are (a) to optimise the usage of materials with high embodied energy intensity value (b) to optimise the transportation network and logistics for processes using primarily low embodied energy intensity materials and (c) to reuse as much materials on-site as possible to minimise the quantity of spoils or distance to disposal sites. The evaluated embodied energy and embodied carbon values are compared to those of other types of structures and of other activities and carbon tax values. Such comparisons can be used to discuss among various interested parties (clients, contractors, consultants, policy makers, etc) to make the construction industry more energy efficient. © Springer Science+Business Media B.V. 2011.

Time-resolved particle image velocimetry within the nozzle of a drop-on-demand printhead

Time-resolved particle image velocimetry (PIV) has been performed inside the nozzle of a commercially available inkjet print-head to obtain the time-dependent velocity waveform. A printhead with a single transparent nozzle 80 μm in orifice diameter was used to eject single droplets at a speed of 5 m/s. An optical microscope was used with an ultra-high-speed camera to capture the motion of particles suspended in a transparent liquid at the center of the nozzle and above the fluid meniscus at a rate of half a million frames per second. Time-resolved velocity fields were obtained from a fluid layer approximately 200 μm thick within the nozzle for a complete jetting cycle. A Lagrangian finite-element numerical model with experimental measurements as inputs was used to predict the meniscus movement. The model predictions showed good agreement with the experimental results. This work provides the first experimental verification of physical models and numerical simulations of flows within a drop-on-demand nozzle. © 2012 Society for Imaging Science and Technology.

Aerodynamic effects in ink-jet printing on a moving web

The airflow between the fast-moving substrate and stationary print heads in a web print press may cause print quality issues in high-speed, roll-to-roll printing applications. We have studied the interactions between ink drops and the airflow in the gap between the printhead and substrate, by using an experimental flow channel and high-speed imaging. The results show: 1) the gap airflow is well approximated by a standard Couette flow profile; 2) the effect of gap airflow on the flight paths of main drops and satellites is negligible; and 3) the interaction between the gap airflow and the wakes from the printed ink drops should be investigated as the primary source of aerodynamically- related print quality issues. ©2012 Society for Imaging Science and Technology.

Flow field measurements of pulverized coal combustion using optical diagnostic techniques

This paper demonstrates the application of laser Doppler velocimetry (LDV) and particle image velocimetry (PIV) techniques to a particle-laden reacting flow of pulverized coal. A laboratory-scale open-type annular burner is utilized to generate velocity profiles of coal particles and micrometric alumina particles. Pair-wise two-component LDV measurements and high-speed stereo PIV measurements provide three-dimensional velocity components of the flow field. A detailed comparison of velocities for alumina and coal particle seeding revealed differences attributed to the wide size distribution of coal particles. In addition, the non-spherical shape and high flame luminosity associated with coal particle combustion introduces noise to the Mie scatter images. The comparison of mean and RMS velocities measured by LDV and PIV techniques showed that PIV measurements are affected by the wide size distribution of coal particles, whereas LDV measurements become biased toward the velocity of small particles, as signals from large particles are rejected. This small-particle bias is also reflected in the spectral characteristics for both techniques, which are in good agreement within the range of frequencies accessible. PIV measurements showed an expected lack of response of large coal particles to the turbulence fluctuations. The overall good agreement between LDV and PIV measurements demonstrates the applicability of the high-speed PIV technique to a particle-laden, high luminosity coal flame while highlighting some of its limitations. © 2013 Springer-Verlag Berlin Heidelberg.

Study of steady state and transient EGR behaviour of a medium duty diesel engine

It is well known that accurate EGR control is paramount to controlling engine out emissions during steady state and transient operation of a diesel engine. The direct measurement of EGR is however non-trivial and especially difficult in engines with no external EGR control where the intake manifold CO2 levels can be measured more readily. This work studies the EGR behaviour in a medium duty diesel engine with a passive EGR rebreathing strategy for steady state and transient operation. High speed (response time ∼1ms) in-cylinder sampling using modified GDI valves is coupled with high frequency response analysers to measure the cyclic in-cylinder CO2, from which the EGR rate is deduced. It was found that controlling the EGR using the passive rebreathing strategy during certain combined speed and load transients is challenging, causing high smoke and NO emissions. The in-cylinder sampling method coupled with fast CO2 measurement (time constant ∼8ms) in the exhaust port gave insights about the EGR rate during these transients. The complex interaction of the manifold pressures, turbo-charger operation and trapped charge composition from the previous cycle simply can cause high dilution and therefore high smoke levels. The steady state variation of NO emissions with respect to EGR is also studied using a fast NO analyzer (time constant ∼2ms) in the exhaust port. Cyclic variation was found to be up to ±5% at some load conditions. © 2008 SAE International.

Development of a time and space resolved sampling probe diagnostic for engine exhaust hydrocarbons

In order to understand how unburned hydrocarbons emerge from SI engines and, in particular, how non-fuel hydrocarbons are formed and oxidized, a new gas sampling technique has been developed. A sampling unit, based on a combination of techniques used in the Fast Flame Ionization Detector (FFID) and wall-mounted sampling valves, was designed and built to capture a sample of exhaust gas during a specific period of the exhaust process and from a specific location within the exhaust port. The sampling unit consists of a transfer tube with one end in the exhaust port and the other connected to a three-way valve that leads, on one side, to a FFID and, on the other, to a vacuum chamber with a high-speed solenoid valve. Exhaust gas, drawn by the pressure drop into the vacuum chamber, impinges on the face of the solenoid valve and flows radially outward. Once per cycle during a specified crank angle interval, the solenoid valve opens and traps exhaust gas in a storage unit, from which gas chromatography (GC) measurements are made. The port end of the transfer tube can be moved to different locations longitudinally or radially, thus allowing spatial resolution and capturing any concentration differences between port walls and the center of the flow stream. Further, the solenoid valve's opening and closing times can be adjusted to allow sampling over a window as small as 0.6 ms during any portion of the cycle, allowing resolution of a crank angle interval as small as 15°CA. Cycle averaged total HC concentration measured by the FFID and that measured by the sampling unit are in good agreement, while the sampling unit goes one step further than the FFID by providing species concentrations. Comparison with previous measurements using wall-mounted sampling valves suggests that this sampling unit is fully capable of providing species concentration information as a function of air/fuel ratio, load, and engine speed at specific crank angles. © Copyright 1996 Society of Automotive Engineers, Inc.

The effect of shear strength on the ballistic response of laminated composite plates

The ballistic performance of clamped circular carbon fibre reinforced polymer (CFRP) and Ultra High Molecular Weight Polyethylene (UHMWPE) fibre composite plates of equal areal mass and 0/90 lay-up were measured and compared with that of monolithic 304 stainless steel plates. The effect of matrix shear strength upon the dynamic response was explored by testing: (i) CFRP plates with both a cured and uncured matrix and (ii) UHMWPE laminates with identical fibres but with two matrices of different shear strength. The response of these plates when subjected to mid-span, normal impact by a steel ball was measured via a dynamic high speed shadow moiré technique. Travelling hinges emanate from the impact location and travel towards the supports. The anisotropic nature of the composite plate results in the hinges travelling fastest along the fibre directions and this results in square-shaped moiré fringes in the 0/90 plates. Projectile penetration of the UHMWPE and the uncured CFRP plates occurs in a progressive manner, such that the number of failed plies increases with increasing velocity. The cured CFRP plate, of high matrix shear strength, fails by cone-crack formation at low velocities, and at higher velocities by a combination of cone-crack formation and communition of plies beneath the projectile. On an equal areal mass basis, the low shear strength UHMWPE plate has the highest ballistic limit followed by the high matrix shear strength UHMWPE plate, the uncured CFRP, the steel plate and finally the cured CFRP plate. We demonstrate that the high shear strength UHMWPE plate exhibits Cunniff-type ballistic limit scaling. However, the observed Cunniff velocity is significantly lower than that estimated from the laminate properties. The data presented here reveals that the Cunniff velocity is limited in its ability to characterise the ballistic performance of fibre composite plates as this velocity is independent of the shear properties of the composites: the ballistic limit of fibre composite plates increases with decreasing matrix shear strength for both CFRP and UHMWPE plates. © 2013 Elsevier Masson SAS. All rights reserved.

Antiwindup design for induction motor control in the field weakening domain

Operation of induction machines in the high-speed and/or high-torque range requires field-weakening to comply with voltage and current physical limitations. This paper presents an anti-windup approach to this problem: rather than developing an ad-hoc field weakening strategy in the high-speed region, we equip an unconstrained vector-control design with an anti-windup module that automatically adjusts the current and flux set-points so that voltage and current constraints are satisfied at every operating point. The anti-windup module includes a feedforward modification of the set point aimed at maximizing the available torque in steady-state and a feedback modification of the controller based on an internal model-based antiwindup scheme. This paper includes a complete stability analysis of the proposed solution and presents encouraging experimental results on an industrial drive. © 2012 IEEE.

Path-following steering control for articulated vehicles

Passive steering systems have been used for some years to control the steering of trailer axles on articulated vehicles. These normally use a 'command steer' control strategy, which is designed to work well in steady-state circles at low speeds, but which generates inappropriate steer angles during transient low-speed maneuvers and at high speeds. In this paper, 'active' steering control strategies are developed for articulated heavy goods vehicles. These aim to achieve accurate path following for tractor and trailer, for all paths and all normal vehicle speeds, in the presence of external disturbances. Controllers are designed to implement the path-following strategies at low and high speeds, whilst taking into account the complexities and practicalities of articulated vehicles. At low speeds, the articulation and steer angles on articulated heavy goods vehicles are large and small-angle approximations are not appropriate. Hence, nonlinear controllers based on kinematics are required. But at high-speeds, the dynamic stability of control system is compromised if the kinematics-based controllers remain active. This is because a key state of the system, the side-slip characteristics of the trailer, exhibits a sign-change with increasing speeds. The low and high speed controllers are blended together using a speed-dependent gain, in the intermediate speed range. Simulations are conducted to compare the performance of the new steering controllers with conventional vehicles (with unsteered drive and trailer axles) and with vehicles with command steer controllers on their trailer axles. The simulations show that active steering has the potential to improve significantly the directional performance of articulated vehicles for a wide range of conditions, throughout the speed range. © VC 2013 by ASME.

Extreme sensitivity of graphene photoconductivity to environmental gases.

Graphene is a single layer of covalently bonded carbon atoms, which was discovered only 8 years ago and yet has already attracted intense research and commercial interest. Initial research focused on its remarkable electronic properties, such as the observation of massless Dirac fermions and the half-integer quantum Hall effect. Now graphene is finding application in touch-screen displays, as channels in high-frequency transistors and in graphene-based integrated circuits. The potential for using the unique properties of graphene in terahertz-frequency electronics is particularly exciting; however, initial experiments probing the terahertz-frequency response of graphene are only just emerging. Here we show that the photoconductivity of graphene at terahertz frequencies is dramatically altered by the adsorption of atmospheric gases, such as nitrogen and oxygen. Furthermore, we observe the signature of terahertz stimulated emission from gas-adsorbed graphene. Our findings highlight the importance of environmental conditions on the design and fabrication of high-speed, graphene-based devices.