Search results for: pneumatic quadruped

Authors: Soofiyan Atar, Adil Shaikh, Sahil Rajpurkar, Pragnesh Bhalala, Aniket Desai, Irfan Siddavatam

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Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.

Keywords: model-based reinforcement learning, gait stability, supervised learning, pneumatic quadruped

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Authors: Hossein Keshavarz, Alejandro Ramirez-Serrano

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Energy efficiency and locomotion speed are two key parameters for legged robots; thus, finding ways to improve them are important. This paper proposes a locomotion framework to analyze the energy usage and speed of quadruped robots via a Genetic Algorithm (GA) optimization process. For this, a quadruped robot platform with joint redundancy in its hind legs that we believe will help multi-legged robots improve their speed and energy consumption is used. ContinuO, the quadruped robot of interest, has 14 active degrees of freedom (DoFs), including three DoFs for each front leg, and unlike previously developed quadruped robots, four DoFs for each hind leg. ContinuO aims to realize a cost-effective quadruped robot for real-world scenarios with high speeds and the ability to overcome large obstructions. The proposed framework is used to locomote the robot and analyze its energy consumed at diverse stride lengths and locomotion speeds. The analysis is performed by comparing the obtained results in two modes, with and without the joint redundancy on the robot’s hind legs.

Keywords: genetic algorithm optimization, locomotion path planning, quadruped robots, redundant legs

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Authors: Tudor Deaconescu, Andrea Deaconescu

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The utilization of pneumatic muscles in the actuation of industrial systems is still in its early stages, hence studies on the constructive solutions which include an assessment of their functional performance with a focus on one of the most important characteristics-energy efficiency are required. A quality indicator that adequately reflects the energy efficiency of an actuator is the energy-to-mass ratio. This ratio is computed in the paper for various types and sizes of pneumatic muscles manufactured by Festo, and is subsequently compared to the similar ratios determined for two categories of pneumatic cylinders.

Keywords: pneumatic cylinders, pneumatic muscles, energy-to-mass ratio, muscle stroke

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Authors: Tudor Deaconescu, Andrea Deaconescu

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Deployment of pneumatic muscles in various industrial applications is still in its early days, considering the relative newness of these components. The field of robotics holds particular future potential for pneumatic muscles, especially in view of their specific behaviour known as compliance. The paper presents and discusses an innovative constructive solution for a gripper system mountable on an industrial robot, based on actuation by a linear pneumatic muscle and transmission of motion by gear and rack mechanism. The structural, operational and constructive models of the new gripper are presented, along with some of the experimental results obtained subsequently to the testing of a prototype. Further presented are two control variants of the gripper system, one by means of a 3/2-way fast-switching solenoid valve, the other by means of a proportional pressure regulator. Advantages and disadvantages are discussed for both variants.

Keywords: gripper system, pneumatic muscle, structural modelling, robotics

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Authors: Shivani Verma, Amit Agrawal, Pankaj Kumar Meena, Ashish B. Deoghare

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Over the decade robotics has been a major area of interest among the researchers and scientists in reducing human efforts. The need for robots to replace human work in different dangerous fields such as underground mining, nuclear power station and war against terrorist attack has gained huge attention. Most of the robot design is based on human structure popularly known as humanoid robots. However, the problems encountered in humanoid robots includes low speed of movement, misbalancing in structure, poor load carrying capacity, etc. The simplification and adaptation of the fundamental design principles seen in animals have led to the creation of bio-inspired robots. But the major challenges observed in naturally inspired robot include complexity in structure, several degrees of freedom and energy storage problem. The present work focuses on design and fabrication of a bionic quadruped walking robot which is based on different joint of quadruped mammals like a dog, cheetah, etc. The design focuses on the structure of the robot body which consists of four legs having three degrees of freedom per leg and the electronics system involved in it. The robot is built using readily available plastics and metals. The proposed robot is simple in construction and is able to move through uneven terrain, detect and locate obstacles and take images while carrying additional loads which may include hardware and sensors. The robot will find possible application in the artificial intelligence sector.

Keywords: artificial intelligence, bionic, quadruped robot, degree of freedom

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Authors: Ale M. O., Manuwa S. I., Olukunle O. J., Ewetumo T.

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Five varying speeds of 1.5, 1.8, 2.1, 2.3, and 2.6 km/h were used at a constant soil depth of 100 mm to determine the effects of forward speed on the draught requirement of a semi-automatic cassava planter under the pneumatic wheel and rigid wheel usage on a well prepared sandy clay loam soil. The soil draught was electronically measured using an on-the-go soil draught measuring instrumentation system developed for the purpose of this research. The results showed an exponential relationship between forward speed and draught, in which draught ranging between 24.91 and 744.44N increased with an increase in forward speed in the rigid wheel experiment. This is contrary to the polynomial relationship observed in the pneumatic wheel experiment in which the draught varied between 96.09 and 343.53 N. It was observed in the experiments that the optimum speed of 1.5 km/h had the least values of draught in both the pneumatic wheel and rigid wheel experiments, with higher values in the pneumatic experiment. It was generally noted that the rigid wheel planter with less value of draught requires less energy required for operation. It is therefore concluded that operating the semi-automatic cassava planter with rigid wheels will be more economical for cassava farmers than operating the planter with pneumatic wheels.

Keywords: Cassava planter, planting, forward speed, draught, wheel type

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Authors: Jeevan Balaji, Shreyas Chigurupati

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Pneumatic gripper use compressed air to operate its actuators (fingers). Unlike the conventional metallic gripper, a soft pneumatic actuator (SPA) can be used for relocating fragile objects. An added advantage for this gripper is that the pressure exerted on the object can be varied by changing the dimensions of the air chambers and also by the number of chambers. SPAs have many benefits over conventional robots in the military, medical fields because of their compliance nature and are easily produced using the 3D printing process. In the paper, SPA is proposed to perform pick and place tasks. A design was developed for the actuators, which is convenient for gripping any fragile objects. Thermoplastic polyurethane (TPU) is used for 3D printing the actuators. The actuator model behaves differently as the parameters such as its chamber height, number of chambers change. A detailed FEM model of the actuator is drafted for different pressure inputs using ABAQUS CAE software, and a safe loading pressure range is found.

Keywords: soft robotics, pneumatic actuator, design and modelling, bending analysis

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

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In recent years, Japanese society has been aging, engendering a labour shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke, and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: disturbance observer, pneumatic balloon, predictive functional control, rubber artificial muscle

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Authors: Caroline E. Mendes, Alberto C. Badino

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Pneumatic reactors have been widely employed in various sectors of the chemical industry, especially where are required high heat and mass transfer rates. This study aimed to obtain correlations that allow the prediction of gas hold-up (Ԑ) and volumetric oxygen transfer coefficient (kLa), and compare these values, for three models of pneumatic reactors on two scales utilizing Newtonian fluids. Values of kLa were obtained using the dynamic pressure-step method, while  was used for a new proposed measure. Comparing the three models of reactors studied, it was observed that the mass transfer was superior to draft-tube airlift, reaching  of 0.173 and kLa of 0.00904s-1. All correlations showed good fit to the experimental data (R2≥94%), and comparisons with correlations from the literature demonstrate the need for further similar studies due to shortage of data available, mainly for airlift reactors and high viscosity fluids.

Keywords: bubble column, internal loop airlift, gas hold-up, kLa

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Authors: Van-Thanh Ho, Jaiyoung Ryu

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In soft robotics, the optimization of fluid dynamics through pneumatic methods plays a pivotal role in enhancing operational efficiency and reducing energy loss. This is particularly crucial when replacing conventional techniques such as cable-driven electromechanical systems. The pneumatic model employed in this study represents a sophisticated framework designed to efficiently channel pressure from a high-pressure reservoir to various muscle locations on the robot's body. This intricate network involves a branching system of tubes. The study introduces a comprehensive pneumatic model, encompassing the components of a reservoir, tubes, and Pneumatically Actuated Muscles (PAM). The development of this model is rooted in the principles of shock tube theory. Notably, the study leverages experimental data to enhance the understanding of the interplay between the PAM structure and the surrounding fluid. This improved interactive approach involves the use of morphing motion, guided by a contraction function. The study's findings demonstrate a high degree of accuracy in predicting pressure distribution within the PAM. The model's predictive capabilities ensure that the error in comparison to experimental data remains below a threshold of 10%. Additionally, the research employs a machine learning model, specifically a surrogate model based on the Kriging method, to assess and quantify uncertainty factors related to the initial reservoir pressure and tube diameter. This comprehensive approach enhances our understanding of pneumatic soft robotics and its potential for improved operational efficiency.

Keywords: pneumatic artificial muscles, pressure drop, morhing motion, branched network, surrogate model

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Authors: Ahmed E. Hodaib, Mohamed A. Hashem

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Dissimilar to pneumatic tyres, airless tyres or flat-proof tyres (also known as tweel) is designed to have poly-composite compound treaded around a hub of flexible spokes. The main advantage of this design is its robustness as airless tyres are impossible to deflate or to blowout at highway speeds like conventional tyres so the driver does not have to be restless about having a spare tire. A summary of the study on manufacturing of airless tyres’ mold is given. Moreover, we have proposed some advantages and disadvantages of using tweel tyres.

Keywords: airless tyres, tweel, non-pneumatic tyres, manufacturing

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Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

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The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control

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Authors: Pawel Flaszynski, Piotr Doerffer, Jan Holnicki-Szulc, Grzegorz Mikulowski

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Results of numerical simulations for transonic flow in a piezoelectric valve are presented. The valve is the main part of an adaptive pneumatic shock absorber. Flow structure in the valve domain and the influence of the flow non-uniformity in the valve on a mass flow rate is investigated. Numerical simulation results are compared with experimental data.

Keywords: pneumatic valve, transonic flow, numerical simulations, piezoelectric valve

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Authors: Julian Jaegers, Siegmar Wirtz, Viktor Scherer

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Wood pellets belong to the most established trade formats of wood-based fuels. Especially, because of the transportability and the storage properties, but also due to low moisture content, high energy density, and the homogeneous particle size and shape, wood pellets are well suited for power generation in power plants and for the use in automated domestic firing systems. Before they are thermally converted, wood pellets pass various transport and storage procedures. There they undergo different mechanical impacts, which leads to pellet breakage and abrasion and to an increase in fines. The fines lead to operational problems during storage, charging, and discharging of pellets, they can increase the risk of dust explosions and can lead to pollutant emissions during combustion. In the current work, the dependence of the formation of fines caused by breakage during pneumatic transport is analyzed experimentally and numerically. The focus lies on the influence of conveying velocity, pellet loading, pipe diameter, and the shape of pipe components like bends or couplings. A test rig has been built, which allows the experimental evaluation of the pneumatic transport varying the above-mentioned parameters. Two high-speed cameras are installed for the quantitative optical access to the particle-particle and particle-wall contacts. The particle size distribution of the bulk before and after a transport process is measured as well as the amount of fines produced. The experiments will be compared with results of corresponding DEM/CFD simulations to provide information on contact frequencies and forces. The contribution proposed will present experimental results and report on the status of the DEM/CFD simulations. The final goal of the project is to provide a better insight into pellet breakage during pneumatic transport and to develop guidelines ensuring a more gentle transport.

Keywords: DEM/CFD-simulation of pneumatic conveying, mechanical impact on wood pellets during transportation, pellet breakage, pneumatic transport of wood pellets

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Authors: Julian Y. Raheema, Michael R. Hess, Raymond C. Provost, Mark Bilinski

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The world is rapidly moving towards advancing and utilizing artificial intelligence and autonomous robotics. The ground-breaking Boston Dynamics quadruped robot, SPOT, was designed for industrial and commercial tasks requiring limited autonomous navigation. Out of the box, SPOT has route memorization and playback – it can repeat a path that it has been manually piloted through, but it cannot autonomously navigate an area that has not been previously explored. The presented SPOT payload package is built on ROS framework to support autonomous navigation and mapping of an unexplored environment. The package is fully integrated with SPOT to take advantage of motor controls and collision avoidance that comes natively with the robot. The payload runs all computations onboard, takes advantage of visual odometry SLAM and uses an Intel RealSense depth camera and Velodyne LiDAR sensor to generate 2D and 3D maps while in autonomous navigation mode. These maps are fused into the navigation stack to generate a costmap to enable the robot to safely navigate the environment without causing damage to the surroundings or the robot. The operator defines the operational zone and start location and then sends the explore command to have SPOT explore, generate 2D and 3D maps of the environment and return to the start location to await the operator's next command. The benefit of the presented package is that it is much lighter weight and less expensive than previous approaches and, importantly, operates in GPS-denied scenarios, which is ideal for indoor mapping. There are numerous applications that are hazardous to humans for SPOT enhanced with the autonomy payload, including disaster response, nuclear inspection, mine inspection, and so on. Other less extreme uses cases include autonomous 3D and 2D scanning of facilities for inspection, engineering and construction purposes.

Keywords: autonomous, SLAM, quadruped, mapping, exploring, ROS, robotics, navigation

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Authors: Van-Thanh Ho, Hyoungsoon Lee, Jaiyoung Ryu

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Efficient pressure distribution within soft robotic systems, specifically to the pneumatic artificial muscle (PAM) regions, is essential to minimize energy consumption. This optimization involves adjusting reservoir pressure, pipe diameter, and branching network layout to reduce flow speed and pressure drop while enhancing flow efficiency. The outcome of this optimization is a lightweight power source and reduced mechanical impedance, enabling extended wear and movement. To achieve this, a branching network system was created by combining pipe components and intricate cross-sectional area variations, employing the principle of minimal work based on a complete virtual human exosuit. The results indicate that modifying the cross-sectional area of the branching network, gradually decreasing it, reduces velocity and enhances momentum compensation, preventing flow disturbances at separation regions. These optimized designs achieve uniform velocity distribution (uniformity index > 94%) prior to entering the connection pipe, with a pressure drop of less than 5%. The design must also consider the length-to-diameter ratio for fluid dynamic performance and production cost. This approach can be utilized to create a comprehensive PAM system, integrating well-designed tube networks and complex pneumatic models.

Keywords: pneumatic artificial muscles, pipe networks, pressure drop, compressible turbulent flow, uniformity flow, murray's law

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Authors: Mario Lupaca, Karol Munoz, Victor De Negri

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The present article presents a methodology for the improvement of the energy efficiency in pneumatic systems through the restoring of air. In this way, three techniques of expansion of a cylinder are identified: Expansion using the air of the compressor (conventional), restoring the air (efficient), and combining the air of the compressor and the restored air (hybrid). The methodology starts with the development of the GRAFCET of the system so that it can be decided whether to expand the cylinder in a conventional, efficient, or hybrid way. The methodology can be applied to any case. Finally, graphs of comparison between the three methods of expansion with certain cylinder strokes and workloads are presented, to facilitate the subsequent selection of one system or another.

Keywords: energetic, efficiency, GRAFCET, methodology, pneumatic

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Authors: James Q. Feng

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Pneumatic nebulizers (as variations based on the Collison nebulizer) have been widely used for producing fine aerosol droplets from a liquid material. As qualitatively described by many authors, the basic working principle of those nebulizers involves utilization of the negative pressure associated with an expanding gas jet to syphon liquid into the jet stream, then to blow and shear into liquid sheets, filaments, and eventually droplets. But detailed quantitative analysis based on fluid mechanics theory has been lacking in the literature. The purpose of present work is to investigate the nature of negative pressure distribution associated with compressible gas jet flow in the Collison nebulizer by a computational fluid dynamics (CFD) analysis, using an OpenFOAM® compressible flow solver. The value of the negative pressure associated with a gas jet flow is examined by varying geometric parameters of the jet expansion channel adjacent to the jet orifice outlet. Such an analysis can provide valuable insights into fundamental mechanisms in liquid aspiration process, helpful for effective design of the pneumatic atomizer in the Aerosol Jet® direct-write system for micro-feature, high-aspect-ratio material deposition in additive manufacturing.

Keywords: collison nebulizer, compressible gas jet flow, liquid aspiration, pneumatic atomization

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Authors: Atakan Aral Ormancı, Tuğçe Arslantaş, Murat Özcü

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This study presents the design and implementation of an experimental chassis-level system for various control applications. Specifically, the height level of the chassis is controlled using proportional integrated derivative, fuzzy logic, and deep learning control methods. Real-time data obtained from height and pressure sensors installed in a 6x2 truck chassis, in combination with pulse-width modulation signal values, are utilized during the tests. A prototype pneumatic system of a 6x2 truck is added to the setup, which enables the Smart Pneumatic Actuators to function as if they were in a real-world setting. To obtain real-time signal data from height sensors, an Arduino Nano is utilized, while a Raspberry Pi processes the data using Matlab/Simulink and provides the correct output signals to control the Smart Pneumatic Actuator in the truck chassis. The objective of this research is to optimize the time it takes for the chassis to level down and up under various loads. To achieve this, proportional integrated derivative control, fuzzy logic control, and deep learning techniques are applied to the system. The results show that the deep learning method is superior in optimizing time for a non-linear system. Fuzzy logic control with a triangular membership function as the rule base achieves better outcomes than proportional integrated derivative control. Traditional proportional integrated derivative control improves the time it takes to level the chassis down and up compared to an uncontrolled system. The findings highlight the superiority of deep learning techniques in optimizing the time for a non-linear system, and the potential of fuzzy logic control. The proposed approach and the experimental results provide a valuable contribution to the field of control, automation, and systems engineering.

Keywords: automotive, chassis level control, control systems, pneumatic system control

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Authors: Rami Faraj, Cezary Graczykowski, Błażej Popławski, Grzegorz Mikułowski, Rafał Wiszowaty

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Progress in the field of sensors, electronics and computing results in more and more often applications of adaptive techniques for dynamic response mitigation. When it comes to systems excited with mechanical impacts, the control system has to take into account the significant limitations of actuators responsible for system adaptation. The paper provides a comprehensive discussion of the problem of appropriate design and implementation of adaptation techniques and mechanisms. Two case studies are presented in order to compare completely different adaptation schemes. The first example concerns a double-chamber pneumatic shock absorber with a fast piezo-electric valve and parameters corresponding to the suspension of a small unmanned aerial vehicle, whereas the second considered system is a safety air cushion applied for evacuation of people from heights during a fire. For both systems, it is possible to ensure adaptive performance, but a realization of the system’s adaptation is completely different. The reason for this is technical limitations corresponding to specific types of shock-absorbing devices and their parameters. Impact mitigation using a pneumatic shock absorber corresponds to much higher pressures and small mass flow rates, which can be achieved with minimal change of valve opening. In turn, mass flow rates in safety air cushions relate to gas release areas counted in thousands of sq. cm. Because of these facts, both shock-absorbing systems are controlled based on completely different approaches. Pneumatic shock-absorber takes advantage of real-time control with valve opening recalculated at least every millisecond. In contrast, safety air cushion is controlled using the semi-passive technique, where adaptation is provided using prediction of the entire impact mitigation process. Similarities of both approaches, including applied models, algorithms and equipment, are discussed. The entire study is supported by numerical simulations and experimental tests, which prove the effectiveness of both adaptive impact mitigation techniques.

Keywords: adaptive control, adaptive system, impact mitigation, pneumatic system, shock-absorber

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Authors: Tukur Daiyabu Abdulkadir, Wan Ishak Wan Ismail, Muhammad Saufi Mohd Kassim

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Seed singulation and accuracy in seed spacing are the major challenges associated with the adoption of mechanical seeder for system of rice intensification. In this research the metering system of a pneumatic planter was modified and automated for increase precision to meet the demand of system of rice intensification SRI. The chain and sprocket mechanism of a conventional vacuum planter were now replaced with an electro mechanical system made up of a set of servo motors, limit switch, micro controller and a wheel divided into 10 equal angles. The circumference of the planter wheel was determined based on which seed spacing was computed and mapped to the angles of the metering wheel. A program was then written and uploaded to arduino micro controller and it automatically turns the seed plates for seeding upon covering the required distance. The servo motor was calibrated with the aid of labVIEW. The machine was then calibrated using a grease belt and varying the servo rpm through voltage variation between 37 rpm to 47 rpm until an optimum value of 40 rpm was obtained with a forward speed of 5 kilometers per hour. A pressure of 1.5 kpa was found to be optimum under which no skip or double was recorded. Precision in spacing (coefficient of variation), miss index, multiple index, doubles and skips were investigated. No skip or double was recorded both at laboratory and field levels. The operational parameters under consideration were both evaluated at laboratory and field. Even though there was little variation between the laboratory and field values of precision in spacing, multiple index and miss index, the different is not significant as both laboratory and field values fall within the acceptable range.

Keywords: automation, calibration, pneumatic seed planter, system of rice intensification

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Authors: Inba Blesso P., Senthil Kumar P.

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The main consideration of any tire manufacturing process is wear resistance. One of the factors that cause tire wear is improper removal of vent and flash from the tire surface. The contact point between tyre surface and vent is highly supposed to wear. When the vehicle running at higher speed with heavy load, the tire vent and flash is wearing initially and it makes few of the tire surface material to wear along with it. Hence, provision must be given to efficient removal vent and flash thereby tire wear. Human efforts in trimming of tire vent results in time consuming and inaccurate output. Hence, this lead to the reduction in production rate and profit. Thus, the development of automated system can helps to attain minimum time consumption and provide a possible way to get the profitable production. Semi-automated system that employs Pneumatic actuators and sequencing circuits are focused in this study. By implementing this, one can achieve the accurate results with reduction in time and profitable output.

Keywords: tire manufacturing, pneumatic system, vent and flash removal, engineering and technology

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Authors: Najib K. Dankadai, Ahmad 'Athif Mohd Faudzi, Khairuddin Osman, Muhammad Rusydi Muhammad Razif, IIi Najaa Aimi Mohd Nordin

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Researches in soft actuators are now growing rapidly because of their adequacy to be applied in sectors like medical, agriculture, biological and welfare. This paper presents system identification (SI) and control of the force generated by a two chambers pneumatic soft actuator (PSA). A force mathematical model for the actuator was identified experimentally using data acquisition card and MATLAB SI toolbox. Two control techniques; a predictive functional control (PFC) and conventional proportional integral and derivative (PID) schemes are proposed and compared based on the identified model for the soft actuator flexible mechanism. Results of this study showed that both of the proposed controllers ensure accurate tracking when the closed loop system was tested with the step, sinusoidal and multi step reference input through MATLAB simulation although the PFC provides a better response than the PID.

Keywords: predictive functional control (PFC), proportional integral and derivative (PID), soft actuator, system identification

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Authors: Xiaobo Xi, Ruihong Zhang

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At present, the orchard ditching and fertilizing technology has a series of problems, such as easy tree roots damage, high energy consumption and uneven fertilizing. In this paper, a gas explosion subsoiling and fertilizer injection machine was designed, which used high pressure gas to shock soil body and then injected fertilizer. The drill pipe mechanism with pneumatic chipping hammer excitation and hydraulic assistance was designed to drill the soil. The operation of gas and liquid fertilizer supply was controlled by PLC system. The 3D model of the whole machine was established by using SolidWorks software. The machine prototype was produced, and field experiments were carried out. The results showed that soil fractures were created and diffused by gas explosion, and the subsoiling effect radius reached 40 cm under the condition of 0.8 MPa gas pressure and 30 cm drilling depth. What’s more, the work efficiency is 0.048 hm²/h at least. This machine could meet the agronomic requirements of orchard, garden and city greening fertilization, and the tree roots were not easily damaged and the fertilizer evenly distributed, which was conducive to nutrient absorption of root growth.

Keywords: gas explosion subsoiling, fertigation, pneumatic chipping hammer exciting, soil compaction

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Authors: N. Naz, A. D. Domenico, M. N. Huda

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Soft Robotics is a rapidly growing multidisciplinary field where robots are fabricated using highly deformable materials motivated by bioinspired designs. The high dexterity and adaptability to the external environments during contact make soft robots ideal for applications such as gripping delicate objects, locomotion, and biomedical devices. The actuation system of soft robots mainly includes fluidic, tendon-driven, and smart material actuation. Among them, Soft Pneumatic Actuator, also known as SPA, remains the most popular choice due to its flexibility, safety, easy implementation, and cost-effectiveness. However, at present, most of the fabrication of SPA is still based on traditional molding and casting techniques where the mold is 3d printed into which silicone rubber is cast and consolidated. This conventional method is time-consuming and involves intensive manual labour with the limitation of repeatability and accuracy in design. Recent advancements in direct 3d printing of different soft materials can significantly reduce the repetitive manual task with an ability to fabricate complex geometries and multicomponent designs in a single manufacturing step. The aim of this research work is to design and analyse the Soft Pneumatic Actuator (SPA) utilizing both conventional casting and modern direct 3d printing technologies. The mold of the SPA for traditional casting is 3d printed using fused deposition modeling (FDM) with the polylactic acid (PLA) thermoplastic wire. Hyperelastic soft materials such as Ecoflex-0030/0050 are cast into the mold and consolidated using a lab oven. The bending behaviour is observed experimentally with different pressures of air compressor to ensure uniform bending without any failure. For direct 3D-printing of SPA fused deposition modeling (FDM) with thermoplastic polyurethane (TPU) and stereolithography (SLA) with an elastic resin are used. The actuator is modeled using the finite element method (FEM) to analyse the nonlinear bending behaviour, stress concentration and strain distribution of different hyperelastic materials after pressurization. FEM analysis is carried out using Ansys Workbench software with a Yeon-2nd order hyperelastic material model. FEM includes long-shape deformation, contact between surfaces, and gravity influences. For mesh generation, quadratic tetrahedron, hybrid, and constant pressure mesh are used. SPA is connected to a baseplate that is in connection with the air compressor. A fixed boundary is applied on the baseplate, and static pressure is applied orthogonally to all surfaces of the internal chambers and channels with a closed continuum model. The simulated results from FEM are compared with the experimental results. The experiments are performed in a laboratory set-up where the developed SPA is connected to a compressed air source with a pressure gauge. A comparison study based on performance analysis is done between FDM and SLA printed SPA with the molded counterparts. Furthermore, the molded and 3d printed SPA has been used to develop a three-finger soft pneumatic gripper and has been tested for handling delicate objects.

Keywords: finite element method, fused deposition modeling, hyperelastic, soft pneumatic actuator

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Authors: Sadia Rafiq, Md. Ashab Siddique Zaki, Ananya Roy

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Mountain cycling is a type of off-road bicycle racing that typically takes place on rocky, arid, or other challenging terrains on specially-made mountain cycles. Professional cyclists race while attempting to stay on their bikes in a variety of locales across the world. For safety measures in mountain cycling, as there we have a high chance of injury in case of tire puncture, it’s a preferable way to use an airless tire instead of a pneumatic tire. As airless tire does not tend to go flat, it needs to be replaced less frequently. The airless tire replaces the pneumatic tire, wheel, and tire system with a single unit. It consists of a stiff hub connected to a shear band by flexible, pliable spokes, which is made of poly-composite and a tread band, all of which work together as a single unit to replace all of the components of a normal radial tire. In this paper, an analysis of airless tires in the mountain cycle is shown along with structure and material study. We will be taking the Honeycomb and Diamond Structure of spokes to compare the deformation in both cases and choose our preferable structure. As we know, the tread and spokes deform with the surface roughness and impact. So, the tire tread thickness and the design of spokes can control how much the tire can distort. Through the simulation, we can come to the conclusion that the diamond structure deforms less than the honeycomb structure. So, the diamond structure is more preferable.

Keywords: airless tire, diamond structure, honeycomb structure, deformation

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Authors: Gurlal Singh, Rupinder Singh

Abstract:

The possible role of the engine brake is to convert a power-producing engine into a power-absorbing retarding mechanism. In this braking system, exhaust gas (EG) from the internal combustion (IC) engines is used to operate air brake in the automobiles. Airbrake is most used braking system in vehicles. In the proposed model, instead of air brake, EG is used to operate the brake lever and stored in a specially designed tank. This pressure of EG is used to operate the pneumatic cylinder and brake lever. Filters used to remove the impurities from the EG, then it is allowed to store in the tank. Pressure relief valve is used to achieve a specific pressure in the tank and helps to avoid further damage to the tank as well as in an engine. The petrol engine is used in the proposed EG braking system. The petrol engine is chosen initially because it produces less impurity in the exhaust than diesel engines. Moreover, exhaust brake system (EBS) for the Diesel engines is composed of gate valve, pneumatic cylinder and exhaust brake valve with the on-off solenoid. Exhaust brake valve which is core component of EBS should have characteristics such as high reliability and long life. In a diesel engine, there is butterfly valve in exhaust manifold connected with solenoid switch which is used to on and off the butterfly valve. When butterfly valve closed partially, then the pressure starts built up inside the exhaust manifold and cylinder that actually resist the movement of piston leads to crankshaft getting stops resulting stopping of the flywheel. It creates breaking effect in a diesel engine. The exhaust brake is a supplementary breaking system to the service brake. It is noted that exhaust brake increased 2-3 fold the life of service brake may be due to the creation of negative torque which retards the speed of the engine. More study may also be warranted for the best suitable design of exhaust brake in a diesel engine.

Keywords: exhaust gas, automobiles, solenoid, airbrake

Procedia PDF Downloads 223

Authors: Madikeri Rohit

Abstract:

As energy efficiency is the key concern in many aircraft manufacturing companies regenerative braking is a technique using which energy lost due to friction while braking can be regained. In the operation of an aircraft, significant energy is lost during deceleration or braking which occurs during its landing phase. This problem can be overcome using Regenerative Breaking System (RBS) in landing gear. The major problem faced is regarding the batteries and the overall efficiency gained in competence with the added weight. As the amount of energy required to store is huge we need batteries with high capacity for storage. Another obstacle by using high capacity batteries is the added weight which undermines the efficiency obtained using RBS. An approach to this problem is to either use the obtained energy immediately without storage or to store in other forms such as mechanical, pneumatic and hydraulic. Problem faced with mechanical systems is the weight of the flywheel needed to obtain required efficiency. Pneumatic and hydraulic systems are a better option at present. Using hydraulic systems for storing energy is efficient as it integrates into the overall hydraulic system present in the aircraft. Another obstacle is faced with the redundancy of this system. Conventional braking must be used along with RBS in order to provide redundancy. Major benefits obtained using RBS is with the help of the energy obtained during landing which can be used of engine less taxing. This reduces fuel consumption as well as noise and air pollution. Another added benefit of using RBS is to provide electrical supply to lighting systems, cabin pressurization system and can be used for emergency power supply in case of electric failure. This paper discusses about using RBS in landing gear, problems, prospects and new techniques being pursued to improve RBS.

Keywords: regenerative braking, types of energy conversion, landing gear, energy storage

Procedia PDF Downloads 221

Authors: Erica Cochran Hameen, Bobuchi Ken-Opurum, Shalini Priyadarshini, Berangere Lartigue, Sadhana Anath-Pisipati

Abstract:

School districts throughout the United States are constantly seeking measures to improve test scores, reduce school absenteeism and improve indoor environmental quality. It is imperative to identify key building investments which will provide the largest benefits to schools in terms of improving the aforementioned factors. This study uses Analysis of Variance (ANOVA) tests to statistically evaluate the impact of a school building’s mechanical and plumbing characteristics on a child’s educational performance. The educational performance is measured via three indicators, i.e. test scores, suspensions, and absenteeism. The study investigated 125 New York City school facilities to determine the potential correlations between 50 mechanical and plumbing variables and the performance indicators. Key findings from the tests revealed that elementary schools with pneumatic systems in “good” condition have 48.8% lower percentages of students scoring at the minimum English Language Arts (ELA) competency level compared with those with no pneumatic system. Additionally, elementary schools with “unit heaters/cabinet heaters” in “good to fair” conditions have 1.1% higher attendance rates compared to schools with no “unit heaters/cabinet heaters” or those in inferior condition. Furthermore, elementary schools with air conditioning have 0.6% higher attendance rates compared to schools with no air conditioning, and those with interior floor drains in “good” condition have 1.8% higher attendance rates compared to schools with interior drains in inferior condition.

Keywords: academic attendance and performance, mechanical and plumbing systems, schools, student health

Procedia PDF Downloads 90

Authors: Mohamed Abdalla, Ruixue Cheng, Jianyong Zhang

Abstract:

In pneumatic conveying, the solids are mixed with air or gas. In industries such as coal fired power stations, blast furnaces for iron making, cement and flour processing, the mass flow rate of solids needs to be monitored or controlled. However the current gas-solids two-phase flow measurement techniques are not as accurate as the flow meters available for the single phase flow. One of the problems that the multi-phase flow meters to face is that the flow profiles vary with measurement locations and conditions of pipe routing, bends, elbows and other restriction devices in conveying system as well as conveying velocity and concentration. To measure solids flow rate or concentration with non-even distribution of solids in gas, a uniform spatial sensitivity is required for a multi-phase flow meter. However, there are not many meters inherently have such property. The circular electrostatic meter is a popular choice for gas-solids flow measurement with its high sensitivity to flow, robust construction, low cost for installation and non-intrusive nature. However such meters have the inherent non-uniform spatial sensitivity. This paper first analyses the spatial sensitivity of circular electrostatic meter in general and then by combining the effect of the sensitivity to a single particle and the sensing volume for a given electrode geometry, the paper reveals first time how a circular electrostatic meter responds to a roping flow stream, which is much more complex than what is believed at present. The paper will provide the recent research findings on spatial sensitivity investigation at the University of Tees side based on Finite element analysis using Ansys Fluent software, including time and frequency domain characteristics and the effect of electrode geometry. The simulation results will be compared tothe experimental results obtained on a large scale (14” diameter) rig. The purpose of this research is paving a way to achieve a uniform spatial sensitivity for the circular electrostatic sensor by mean of compensation so as to improve overall accuracy of gas-solids flow measurement.

Keywords: spatial sensitivity, electrostatic sensor, pneumatic conveying, Ansys Fluent software

Procedia PDF Downloads 319