Related papers: Controllable Mechanical-domain Energy Accumulators
The robotic fish with high propulsion efficiency and good maneuverability achieves underwater fishlike propulsion by commonly adopting the motor to drive the fishtail, causing the significant fluctuations of the motor power due to the…
In the quest for electrically-driven soft actuators, the focus has shifted away from liquid-gas phase transition, commonly associated with reduced strain rates and actuation delays, in favour of electrostatic and other electrothermal…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…
Designs for magnetic springs of two types have been proposed, and the methods of calculation of their retracting forces have been developed. Formulas are obtained for the retracting force in the main section of spring force characteristics.…
We formulate an energy-storage concept based on the free energy associated with metastable magnetic configurations. Despite the active, magnetic region of the battery being electrically insulating, it can sustain effective hydrodynamics of…
Bifurcation analysis of dynamic pull-in for a lumped mass model is presented. The restoring force of the spring is derived based on the nonlinear constitutive stress-strain law and the driving force of the mass attached to the spring is…
We describe in this paper a crossbridge model in which an attached crossbridge behaves like a linear spring with a variable rest length. We assume in particular that the rest length has a linear force-velocity relation, and that the force…
Energy absorbing materials, like foams used in protective equipment, are able to undergo large deformations under low stresses, reducing the incoming stress wave below an injury or damage threshold. They are typically effective in absorbing…
We introduce a scheme that exploits laser cooling and phonon-mediated spin-spin interactions in crystals of trapped atomic ions to explore the transport of energy through a quantum magnet. We show how to implement an effective transport…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
We propose a novel use of the conventional energy storage component, i.e., capacitor, in kinetic-powered wearable IoTs as a sensor to detect human activities. Since different activities accumulate energies in the capacitor at different…
Electric rail transit systems are large consumers of energy. In trains with regenerative braking capability, a fraction of the energy used to power a train is regenerated during braking. This regenerated energy, if not properly captured, is…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control…
Electrified powertrains rely heavily on magnetics for power conversion, where cost, volume, and weight concerns make integrated multi-use designs an attractive solution. With EV powertrain architectures requiring a boost stage being a major…
This paper presents a new active power control algorithm designed to maximize the power reserve of the individual turbines in a farm, in order to improve the tracking accuracy of a power reference signal. The control architecture is based…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
We present dynamical effects on conformation in a simple bead-spring model consisting of three beads connected by two stiff springs. The conformation defined by the bending angle between the two springs is determined not only by a given…