Stable dynamic walking over rough terrain: Theory and experiment

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems. © 2011 Springer-Verlag.

Discrete multicomponent model for biodiesel spray combustion simulation

An important first step in spray combustion simulation is an accurate determination of the fuel properties which affects the modelling of spray formation and reaction. In a practical combustion simulation, the implementation of a multicomponent model is important in capturing the relative volatility of different fuel components. A Discrete Multicomponent (DM) model is deemed to be an appropriate candidate to model a composite fuel like biodiesel which consists of four components of fatty acid methyl esters (FAME). In this paper, the DM model is compared with the traditional Continuous Thermodynamics (CTM) model for both diesel and biodiesel. The CTM model is formulated based on mixing rules that incorporate the physical and thermophysical properties of pure components into a single continuous surrogate for the composite fuel. The models are implemented within the open-source CFD code OpenFOAM, and a semi-quantitative comparison is made between the predicted spray-combustion characteristics and optical measurements of a swirl-stabilised flame of diesel and biodiesel. The DM model performs better than the CTM model in predicting a higher magnitude of heat release rate in the top flame brush region of the biodiesel flame compared to that of the diesel flame. Using both the DM and CTM models, the simulation successfully reproduces the droplet size, volume flux, and droplet density profiles of diesel and biodiesel. The DM model predicts a longer spray penetration length for biodiesel compared to that of diesel, as seen in the experimental data. Also, the DM model reproduces a segregated biodiesel fuel vapour field and spray in which the most abundant FAME component has the longest vapour penetration. In the biodiesel flame, the relative abundance of each fuel component is found to dominate over the relative volatility in terms of the vapour species distribution and vice versa in the liquid species distribution. © 2014 Elsevier Ltd. All rights reserved.

In situ study on the control of toxic Microcystis blooms using phytoplanktivorous fish in the subtropical Lake Taihu of China: A large fish pen experiment

Three large fish pens (0.36 km(2) of each) stocked with silver and bighead carp were set up in Meiliang Bay for controlling toxic Microcystis blooms. The responses of plankton communities and food consumption of silver and bighead carp were studied. Crustacean zooplankton were significantly suppressed in the fish pens. Total phytoplankton biomass, Microcystis biomass and microcystin concentration were lower in the fish pens than in the surrounding lake water, but the difference was not statistically significant. The present stocking density of silver plus bighead carp (about 40 g/m(3) in July) was likely too low to achieve an adequate control of Microcystis. Silver carp fed mainly on phytoplankton but bighead carp mainly on zooplankton: mean zooplankton contribution in the gut was 31.5% for silver carp and 64.7% for bighead carp. Compared with previous studies, both carp species preyed upon more zooplankton because of the abundant food resource. Daily rations of silver and bighead carp were estimated by Egger's model in the main growing season. Filtration rate was calculated from the daily ration and the density of plankton in the lake. During May-October, filtration rates of silver and bighead carp for phytoplankton were 0.22-1.53 L g(-1) h(-1) and 0.02-0.68 L g(-1) h(-1), respectively, and filtration rates for zooplankton were 0.24-0.44 L g(-1) h(-1) and 0.08-1.41 L g(-1) h(-1), respectively. Silver carp had a stronger ability of eliminating phytoplankton than bighead carp. To achieve a successful bioniampulation with a minimum effect of ichthyoeutrophication, the stocking proportion of bighead carp should be controlled in the future practice. (c) 2007 Elsevier B.V All rights reserved.

Effects of the phytoplanktivorous silver carp (Hypophthalmichthys molitrixon) on plankton and the hepatotoxic microcystins in an enclosure experiment in a eutrophic lake, Lake Shichahal in Beijing

The responses of nutrients, water transparency, zooplankton, phytoplankton and microcystins to a gradient of silver carp biomass (0, 18, 55, 110 g/m(3)) were assessed using enclosures in Lake Shichahai (Beijing). Picophytoplankton biomass increased with increasing fish stocking density (r=0.64, p=0.09). Silver carp significantly depressed zooplankton biomass, and thus, zooplankton grazing was too low to control phytoplankton. Intracellular microcystin (MC) content in the enclosures was correlated only to Microcystis biomass in the present study. Microcystis spp. biomass and intracellular microcystins content were much higher in lake water than those of enclosures with and without stocking fish. Stocking of silver carp could be an appropriate in highly productive Lake Shichahai, which naturally lacks of large cladoceran zooplankton. A fish stocking density of 55 g/m(3) was most efficient at controlling Microcystis blooms and increasing water clarity. Mean extracellular MC concentration in the lake water was almost the same with that of the enclosures with fish. (c) 2006 Elsevier B.V. All rights reserved.

Negative effects of Microcystis blooms on the crustacean plankton in an enclosure experiment in the subtropical China

Effects of Microcystis blooms on the crustacean plankton were studied using enclosure experiments during July-September, 2000. Eight enclosures were set in the hypereutrophic Donghu Lake. Different nutrient concentrations through additional nutrient and sediment in enclosures were expected to result in different abundance of Micropystis. From July to early August, the phytoplankton community was dominated by Chlorophyta, Cryptophyta, Bacillariophyta and Cyanophyta other than Microcystis aeruginosa. M. aeruginosa showed a rapid increase during early August in all enclosures and predominated. Crustacean plankton was dominated by the herbivorous Moina micrura, Diaphanosoma brachyurum and Ceriodaphnia cornuta, and the predaceous Mesocyclops sp. and Thermocyclops taihokuensis. During the pre-bloom period, the dynamics of M. micrura population appeared to be mainly affected by the predaceous cyclopoids. With the development of Microcystis blooms, such interaction between M. micrura and cyclopoids seemed weakened, especially when the Microcystis biomass was high. But there was no apparent influence on the interaction between Leptodora kindti and its zooplanktonic prey. The density of two cyclopoids decreased with the enhancement of Microcystis. The density decline of M. micrura was caused by both predation and inhibition by Micropystis. The low food availability of other edible phytoplankton during the blooms led to low densities of both C. cornuta and D. brachyurum by late August. It appears that dense Microcystis blooms exert strong negative effects on the herbivorous cladocerans and the predaceous cyclopoids.

Selective control of toxic Microcystis water blooms using lysine and malonic acid: An enclosure experiment

Three enclosures (10 x 10 x 1.5-1.3 m in depth) were set beside Dianch Lake, Kunming, People's Republic of China, for the period from July 28 to August 26, 2002. The enclosures were filled with cyanobacterial (Microcystis aeruginosa) water bloom-containing lake water. Lake sediment that contained macrophytes and water chestnut seeds was spread over the entire bottom of each enclosure. Initially, 10 g/m(2) of lysine was sprayed in Enclosure B, and 10 g/m(2) each of lysine and malonic acid were sprayed together in Enclosure C. Enclosure A remained untreated and was used as a control. The concentrations of lysine, malonic acid, chlorophyll a, and microcystin as well as the cell numbers of phytoplankton such as cyanobacteria, diatom, and euglena were monitored. On day 1 of the treatment, formation of cyanobacterial blooms almost ceased in Enclosures B and C, although Microcystis cells in the control still formed blooms. On day 7 Microcystis cells in Enclosure B that had been treated with lysine started growing again, whereas growth was not observed in Microcystis cells in Enclosure C, which had been treated with lysine and malonic acid. On day 28 the surface of Enclosure B was covered with water chestnut (Trapa spp.) and the Microcystis blooms again increased. In contrast, growth of macrophytes (Myriophllum spicatum and Potamogeton crispus) was observed in Enclosure C; however, no cyanobacterial blooms were observed. Lysine and malonic acid had completely decomposed. The microcystin concentration on day 28 decreased to 25% of the initial value, and the pH shifted from the initial value of 9.2 to 7.8. We concluded that combined treatment with lysine and malonic acid selectively controlled toxic Microcystis water blooms and induced the growth of macrophytes. (c) 2005 Wiley Periodicals, Inc.

Linear multimodal actuation through discrete coupling

Due to technological limitations, robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of behaviors is necessary for autonomous robots in uncertain complex environments. In an effort to increase the versatility of actuators, we introduce a new concept of multimodal actuation (MMA) that employs dynamic coupling in the form of clutches and brakes to change its mode of operation. The dynamic coupling allows motors and passive elements such as springs to be engaged and disengaged within a single actuator. We apply the concept to a linear series elastic actuator which uses friction brakes controlled online for the dynamic coupling. With this prototype, we are able to demonstrate several modes of operation including stiff position control, series elastic actuation as well as the possibility to store and release energy in a controlled manner for explosive tasks such as jumping. In this paper, we model the proposed concept of actuation and show a systematic performance analysis of the physical prototype that we developed in our laboratory. © 1996-2012 IEEE.

Linear multi-modal actuation through discrete coupling

Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We present a design framework that employs dynamic couplings in the form of brakes and clutches to increase the performance and diversity of linear actuators. The couplings are used to switch between a diverse range of discrete modes of operation within a single actuator. We also provide a design solution for miniaturized couplings that use dry friction to produce rapid switching and high braking forces. The couplings are designed so that once engaged or disengaged no extra energy is consumed. We apply the design framework and coupling design to a linear series elastic actuator (SEA) and show that this relatively simple implementation increases the performance and adds new behaviours to the standard design. Through a number of performance tests we are able to show rapid switching between a high and a low impedance output mode; that the actuator's spring can be charged to produce short bursts of high output power; and that the actuator has additional passive and rigid modes that consume no power once activated. Robots using actuators from this design framework would see a vast increase in their behavioural diversity and improvements in their performance not yet possible with conventional actuator design. © 2012 IEEE.

Exploiting passive dynamics for robot throwing task

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics in reducing the mechanical work. However, engaging and disengaging the clutches are done in discrete fashions. Therefore, we propose an optimization approach which can deal with such discontinuities. It is shown that properly engaging/disengaging the clutches can reduce the mechanical work of a throwing task. The result is compared to the solution of fully actuated double pendulum, both in simulation and experiment. © 2012 IEEE.

Trajectory control based on discrete full-range dynamics

There has been an increasing interest in the use of mechanical dynamics, (e.g., assive, Elastic, And viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, The mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, Passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, We present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, The system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.

Numerical analysis of the settlement induced damage to Palazzo Loggia in Brescia

One of the main causes of failure of historic buildings is represented by the differential settlements of foundations. Finite element analysis provides a useful tool for predicting the consequences of given ground displacements in terms of structural damage and also assesses the need of strengthening techniques. The actual damage classification for buildings subject to settlement bases the assessment of the potential damage on the expected crack pattern of the structure. In this paper, the correlation between the physical description of the damage in terms of crack width and the interpretation of the finite element analysis output is analyzed. Different discrete and continuum crack models are applied to simulate an experiment carried on a scale model of a masonry historical building, the Loggia Palace in Brescia (Italy). Results are discussed and a modified version of the fixed total strain smeared crack model is evaluated, in order to solve the problem related to the calculation of the exact crack width.

Acute biochemical responses of a submersed macrophyte, Potamogeton crispus L., to high ammonium in an aquarium experiment

Acute biochemical responses of Potamogeton crispus L. to high external ammonium were investigated in an aquarium experiment. Shoots of P. crispus were incubated in aquaria for 24 h or 48 h at five treatments of ammonium-0, 1, 5, 10 and 20 mg/L NH4-N. Soluble sugar content of the shoots declined markedly with increasing ammonium levels, whereas soluble amino acid content increased dramatically. Responses of two antioxidant enzymes as well as soluble protein content fit a lognormal distribution with increasing ammonium levels. High ammonium levels (NH4-N greater than or equal to 5 mg/L) caused significant acute biochemical changes in P. crispus, which potentially could lead to significant biochemical damage.

Dynamics of microcystins-LR and -RR in the phytoplanktivorous silver carp in a sub-chronic toxicity experiment

A sub-chronic toxicity experiment was conducted to examine tissue distribution and depuration of two microcystins (microcystin-LR and microcystin -RR) in the phytoplanktivorous filter-feeding silver carp during a course of 80 days. Two large tanks (A, B) were used, and in Tank A, the fish were fed naturally with fresh Microcystis viridis cells (collected from a eutrophic pond) throughout the experiment, while in Tank B, the food of the fish were M. viridis cells for the first 40 days and then changed to artificial carp feed. High Performance Liquid Chromatography (HPLC) was used to measure MC-LR and MC-RR in the M. viridis cells, the seston, and the intestine, blood, liver and muscle tissue of silver carp at an interval of 20 days. MC-RR and MC-LR in the collected Microcystis cells varied between 268-580 and 110-292 mug g(-1) DW, respectively. In Tank A, MC-RR and MC-LR varied between 41.5-99.5 and 6.9-15.8 mug g(-1) DW in the seston, respectively. The maximum MC-RR in the blood, liver and muscle of the fish was 49.7, 17.8 and 1.77 mug g(-1) DW, respectively. No MC-LR was detectable in the muscle and blood samples of the silver carp in spite of the abundant presence of this toxin in the intestines (for the liver, there was only one case when a relatively minor quantity was detected). These findings contrast with previous experimental results on rainbow trout. Perhaps silver carp has a mechanism to degrade MC-LR actively and to inhibit MC-LR transportation across the intestines. The depuration of MC-RR concentrations occurred slowly than uptakes in blood, liver and muscle, and the depuration rate was in the order of blood > liver > muscle. The grazing ability of silver carp on toxic cyanobacteria suggests an applicability of using phytoplanktivorous fish to counteract cyanotoxin contamination in eutrophic waters. (C) 2003 Elsevier Ltd. All rights reserved.

Enhancement of dissolved phosphorus release from sediment to lake water by Microcystis blooms - an enclosure experiment in a hyper-eutrophic, subtropical Chinese lake

To clarify the possible influence of Microcystis blooms on the exchange of phosphorus (P) between sediment and lake water, an enclosure experiment was conducted in the hypereutrophic subtropical Lake Donghu during July-September 2000. Eight enclosures were used: six received sediment while two were sediment-free. In mid-August, Microcystis blooms developed in all the enclosures. There was a persistent coincidence between the occurrence of Microcystis blooms and the increase of both total P (TP) and soluble reactive P (SRP) concentrations in the water of the enclosures with sediments. In sediment-free enclosures, TP and SRP concentrations remained rather stable throughout the experiment, in spite of the appearance of Microcystis blooms. The results indicate that Microcystis blooms induced massive release of P from the sediment, perhaps mediated by high pH caused by intense algal photosynthesis, and/or depressed concentrations of nitrate nitrogen (NO3-N). (C) 2002 Elsevier Science Ltd. All rights reserved.

Enhancement of planktonic rotifers by Microcystis aeruginosa blooms: An enclosure experiment in a shallow eutrophic lake

Enclosure experiments with three treatments (sediment addition, sediment + nitrogen enrichment, sediment + phosphorus enrichment) and unfertilized controls were performed in shallow hypereutrophic Lake Donghu during the summer of 2000. Dense Microcystis aeruginosa blooms occurred in all the enclosures during the experimental period but not in the surrounding lake water. Generally, the dominant rotifers were Polyarthra vulgalis, Filinia longiseta, Proales sp. and Asplanchna sp. at the beginning of the experiment, followed by a shift to Brachionus calyciflorus, Trichocerca similis, Cephalodella catellina and Anuraeopsis fissa, and finally to F. longiseta, Proales sp. and Keratella cochleris. M. aeruginosa blooms strongly suppressed the larger Diaphanosoma brachyurum but enhanced the development of the smaller cladocerans and rotifers that probably efficiently utilized organic matter from M. aeruginosa through the detritus food chain. The smaller cladoceran and rotifers coexisted successfully throughout the experimental period.