The Pneumatic Biped “Lucy” Actuated with Pleated Pneumatic Artificial Muscles

This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to change the natural frequency of the system while controlling angular joint positions. The main control concept intended for Lucy is joint trajectory control while selecting appropriate actuator compliance characteristics in order to reduce control efforts and energy consumption which is of great importance towards the autonomy of legged robots. Presently Lucy has made her first steps with the implementation of basic control strategies.The pleated pneumatic artificial muscle and its characteristics will be discussed briefly and the design of Lucy which is made modular on mechanical as well as electronic hardware level will be described in detail. To pressurize the muscles, a lightweight valve system has been developed which will be presented together with the fundamental control aspects of a joint actuated with two antagonistically setup artificial muscles. Additionally the first experimental results will be shown and briefly discussed.Björn Verrelst (1972) Study of Mechanical Engineering at the Vrije Universiteit Brussel, graduated in 1996. Since 1998 researcher and teaching assistant at the Vrije Universiteit Brussel. The focus of his research is the use of pneumatic artificial muscles in the walking biped Lucy for dynamically balanced walking.Ronald Van Ham (1976) Study of Electro-Mechanical Engineering at the Vrije Universiteit Brussel, graduated in 1999. Since 1999 researcher and teaching assistant at the Vrije Universiteit Brussel. The focus of his research is the use of adaptable compliance of pneumatic artificial muscles in the walking biped Lucy.Bram Vanderborght (1980) Study of Mechanical Engineeringat the Vrije Universiteit Brussel, graduated in 2003. Since 2003 researcher at the Vrije Universiteit Brussel, supported by the Fund for Scientific Research Flanders (Belgium). The focus of his research is the use of adaptable compliance of pneumatic artificial muscles in the dynamically balanced biped Lucy.Frank Daerden (1966) Study of Mechanical Engineering at the Vrije Universiteit Brussel. Ph.D. in Applied Sciences, Vrije Universiteit Brussel, 1999. Research and teaching assistant at the Vrije Universiteit Brussel, 1991–1999. Doctor-Assistant at the dept. of Mechanical Engineering, Vrije Universiteit Brussel since 1999, visiting Professor since 2003.Dirk Lefeber (1956) Study of Civil Engineering at the Vrije Universiteit Brussel. Ph.D. in Applied Sciences, Vrije Universiteit Brussel, 1986. Professor at the dept. of Mechanical Engineering, head of the Multibody Mechanics Research Group, Vrije Universiteit Brussel.Jimmy Vermeulen (1973) Study of Mechanical Engineering at the Vrije Universiteit Brussel. Ph.D. in Applied Sciences, Vrije Universiteit Brussel, 2004. Research and teaching assistant at the Vrije Universiteit Brussel, 1996–2004. Post-Doctoral researcher at the dept. of Mechanical Engineering, Vrije Universiteit Brussel since 2004. The focus of his research is trajectory generation and control of dynamically balanced legged robots.     

Palladium sintering: Shrinkage kinetics for a sponge powder

Pellets pressed from sponge palladium powder were sintered both isothermally and with constant heating rates using a precision low force dilatometer. Computer analysis of the data is used to determine shrinkage and shrinkage rate behavior during the sintering operation. The data are used in conjunction with metallographic examination to correlate the shrinkage phenomena to the change in grain size and pore morphology. The results show a characteristic shrinkage rate behavior associated with grain growth during sintering which can effectively halt densification.     

Jig-free laser welding of Eagle XG glasses by using a picosecond pulsed laser

We have performed the jig-free laser welding on the alkaline earth boro-aluminosilicate glass (Eagle XG, Corning), which is commonly used in the display devices, by using a picosecond pulsed laser. Two sheets of Eagle XG glasses with 0.5 mm thickness each were placed one on top of the other. Due to the jig-free laser welding, there was a very thin air gap between the two glasses, and the experiment proceeded by line scanning. The welding performance was evaluated by observing the optical images from the top view and the bottom view and comparing the line images. We could bond the two glass surfaces on the laser spot, and achieve the successful welding of such glasses in the scanning speeds from 10 mm/s to 50 mm/s with the laser irradiance from 50 TW/cm²(500 J/cm²) to 83 TW/cm² (830 J/cm²). We demonstrated the feasibility of jig-free laser welding on the Eagle XG glass with the welding strength up to 50 MPa.

     

A semi-active milling procedure in view of preparing implantation beds in robot-assisted orthopaedic surgery

Bone cutting in total joint reconstructions requires a high accuracy to obtain a well-functioning and long-lasting prosthesis. Hence robot assistance can be useful to increase the precision of the surgical actions. A drawback of current robot systems is that they autonomously machine the bone, in that way ignoring the surgeon's experience and introducing a safety risk. This paper presents a semi-active milling procedure to overcome that drawback. In this procedure the surgeon controls robot motion by exerting forces on a force-controlled lever that is attached to the robot end effector. Meanwhile the robot constrains tool motion to the planned motion and generates a tool feed determined by the feed force that the surgeon executes. As a case study the presented milling procedure has been implemented on a laboratory set-up for robot-assisted preparation of the acetabulum in total hip arthroplasty. Two machining methods have been considered. In the first method the surgeon determines both milling trajectory and feed by the forces that he/she executes on the force-controlled lever. In the second method the cavity is machined contour by contour, and the surgeon only provides the feed. Machining experiments have shown that the first method results in large surface irregularities and is not useful. The second method, however, results in accurate cavity preparation and has therefore potential to be implemented in future robot systems.     

AB9: A neural processor for inference acceleration

We present AB9, a neural processor for inference acceleration. AB9 consists of a systolic tensor core (STC) neural network accelerator designed to accelerate artificial intelligence applications by exploiting the data reuse and parallelism characteristics inherent in neural networks while providing fast access to large on‐chip memory. Complementing the hardware is an intuitive and user‐friendly development environment that includes a simulator and an implementation flow that provides a high degree of programmability with a short development time. Along with a 40‐TFLOP STC that includes 32k arithmetic units and over 36 MB of on‐chip SRAM, our baseline implementation of AB9 consists of a 1‐GHz quad‐core setup with other various industry‐standard peripheral intellectual properties. The acceleration performance and power efficiency were evaluated using YOLOv2, and the results show that AB9 has superior performance and power efficiency to that of a general‐purpose graphics processing unit implementation. AB9 has been taped out in the TSMC 28‐nm process with a chip size of 17 × 23 mm². Delivery is expected later this year.     

Atomic Layer Deposition‐Assisted Fabrication of Co‐Nanoparticle/N‐Doped Carbon Nanotube Hybrids as Efficient Electrocatalysts for the Oxygen Evolution Reaction

Transition metal (TM)‐based carbon hybrids have numerous applications in the field of regenerative electrochemical energy. The synergetic effects of high conductivity of carbon supports and abundant catalytic active sites in TMs make these hybrids promising oxygen evolution reaction (OER) electrocatalysts. However, strategies for modulating the catalytic active species in the above hybrids are limited despite being highly sought after. Furthermore, the exact roles of chemical species in the hybrids (e.g., N, C, or TM) mainly responsible for this high OER performance remain unknown. Herein, an innovative approach based on atomic layer deposition is developed to tune the true active species in Co nanoparticle/N‐doped carbon nanotube (Co/N‐CNT) hybrids. Specifically, the configuration predominantly promoting water oxidation in an alkaline medium is identified as pyridinic N–Co–C. Furthermore, a physicochemical intact interface between metallic Co nanoparticles and conductive N‐CNTs is demonstrated to induce synergetic effects for accelerating charge transfer and enhancing electrocatalytic activity as well as stability in the hybrid catalysts. The optimized hybrid catalyst is revealed to exhibit outstanding alkaline OER activity and stability, outperforming RuO₂, a benchmark novel OER electrocatalyst.     

Information Theoretic Weighted Fuzzy Clustering Ensemble

In order to improve performance and robustness of clustering, it is proposed to generate and aggregate a number of primary clusters via clustering ensemble technique. Fuzzy clustering ensemble approaches attempt to improve the performance of fuzzy clustering tasks. However, in these approaches, cluster (or clustering) reliability has not paid much attention to. Ignoring cluster (or clustering) reliability makes these approaches weak in dealing with low-quality base clustering methods. In this paper, we have utilized cluster unreliability estimation and local weighting strategy to propose a new fuzzy clustering ensemble method which has introduced Reliability Based weighted co-association matrix Fuzzy C-Means (RBFCM), Reliability Based Graph Partitioning (RBGP) and Reliability Based Hyper Clustering (RBHC) as three new fuzzy clustering consensus functions. Our fuzzy clustering ensemble approach works based on fuzzy cluster unreliability estimation. Cluster unreliability is estimated according to an entropic criterion using the cluster labels in the entire ensemble. To do so, the new metric is defined to estimate the fuzzy cluster unreliability; then, the reliability value of any cluster is determined using a Reliability Driven Cluster Indicator (RDCI). The time complexities of RBHC and RBGP are linearly proportional with the number of data objects. Performance and robustness of the proposed method are experimentally evaluated for some benchmark datasets. The experimental results demonstrate efficiency and suitability of the proposed method.     

Proxy-Based Hierarchical Distributed Mobility Management for Tactical Networks

An important requirement in a military domain is a highly reliable mobility management method, especially when components of the networks are moving in tactical network environments. To increase reliability, the mobility management technology of the tactical network should be able to reflect the characteristics of the tactical network, such as a limited environment, failure, and hierarchical unit structure. In this paper, we propose a proxy-based hierarchical distributed mobility management scheme, which is highly focused on tactical networks. Considering the characteristics of tactical networks, the proposed scheme is composed of the following: 1) a proxy-based method, 2) a distributed mobility management method that synchronizes a mobility database between entities, and 3) a method of managing mobility by dividing the tactical network into upper and lower layers. Mathematical analysis and modeling and simulation results demonstrate that the method outperforms the existing state-of-the-art method in overcoming entity failure, handover cost, and delay in tactical environments.     

Design,fabrication and experimental investigation of a planar pump using electro-conjugate fluid

This paper presents the design, fabrication, and experimental investigation of a novel planar pump using electro-conjugate fluid. The electro-conjugate fluid (ECF) is a kind of dielectric functional fluid which generates a powerful jet flow (ECF-jet) when a static electric field is applied via a pair of rod-like electrodes. This phenomenon that ECF can generate jet flows from the positive electrode to the ground electrode in an applied electric field is called the ECF effect, and converts electric energy directly into kinetic energy of the fluid. The ECF-jet acts directly on the working fluids; therefore, the proposed planar ECF pump requires no moving parts and produces no vibration or noise. The fabricated planar ECF pump consists of three parts: a pump base, a top cover, and an electrode substrate with dimensions of 280 mm × 190 mm × 1 mm. In this paper, five different electrode patterns and three different flow channel heights were investigated for the realization of a high-performance planar ECF pump. Each array of electrodes was patterned on the glass epoxy substrates using a wet-etching process, and the flow channel heights were either 200 μm, 300 μm, or 500 μm. The pumping experiments used FF-1_EHA2 as the working fluid. Experimentation showed that a no-load flow rate of 5.5 cm³/s, maximum output pressure of 7.2 kPa, and maximum output power of 11.6 mW were achieved at an applied voltage of 2.0 kV.     

The uptake of plutonium-238, 239, 240, americium-241, strontium-90 and caesium-137 into potatoes

Transfer factors have been measured for ²³⁹Pu + ²⁴⁰Pu, ²⁴¹Am, ⁹⁰Sr and ¹³⁷Cs into potatoes grown in a blend of soil which included silt polluted with radioactive waste discharged into the Irish Sea. The experiment has been carried out over four seasons and attempts to assess the radiological consequences to the consumer which would arise if potatoes were to be grown in land heavily contaminated with the silt. During the course of the experiment plutonium and americium became less available for uptake, ⁹⁰Sr became slightly more available and ¹³⁷Cs remained nearly constant in its availability. The values of the transfer factors are among the lowest reported for these radionuclides into potatoes.