Tomorrow Experiencing Technology with Schaeffler ⋅ Experiencing Technology with Schaeffler Agility ⋅ Issue 1/2021 1/2021 Issue
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Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
The Piedmont Service: Hydrogen Fuel Cell Locomotive Feasibility
The Piedmont Service: Hydrogen Fuel Cell Locomotive Feasibility Andreas Hoffrichter, PhD Nick Little Shanelle Foster, PhD Raphael Isaac, PhD Orwell Madovi Darren Tascillo Center for Railway Research and Education Michigan State University Henry Center for Executive Development 3535 Forest Road, Lansing, MI 48910 NCDOT Project 2019-43 FHWA/NC/2019-43 October 2020 -i- FEASIBILITY REPORT The Piedmont Service: Hydrogen Fuel Cell Locomotive Feasibility October 2020 Prepared by Center for Railway Research and Education Eli Broad College of Business Michigan State University 3535 Forest Road Lansing, MI 48910 USA Prepared for North Carolina Department of Transportation – Rail Division 860 Capital Boulevard Raleigh, NC 27603 -ii- Technical Report Documentation Page 1. Report No. 2. Government Accession No. 3. Recipient’s Catalog No. FHWA/NC/2019-43 4. Title and Subtitle 5. Report Date The Piedmont Service: Hydrogen Fuel Cell Locomotive Feasibility October 2020 6. Performing Organization Code 7. Author(s) 8. Performing Organization Report No. Andreas Hoffrichter, PhD, https://orcid.org/0000-0002-2384-4463 Nick Little Shanelle N. Foster, PhD, https://orcid.org/0000-0001-9630-5500 Raphael Isaac, PhD Orwell Madovi Darren M. Tascillo 9. Performing Organization Name and Address 10. Work Unit No. (TRAIS) Center for Railway Research and Education 11. Contract or Grant No. Michigan State University Henry Center for Executive Development 3535 Forest Road Lansing, MI 48910 12. Sponsoring Agency Name and Address 13. Type of Report and Period Covered Final Report Research and Development Unit 104 Fayetteville Street December 2018 – October 2020 Raleigh, North Carolina 27601 14. Sponsoring Agency Code RP2019-43 Supplementary Notes: 16. -
Hydrogen Storage for Mobility: a Review
materials Review Hydrogen Storage for Mobility: A Review Etienne Rivard * , Michel Trudeau and Karim Zaghib * Centre of Excellence in Transportation Electrification and Energy Storage, Hydro-Quebec, 1806, boul. Lionel-Boulet, Varennes J3X 1S1, Canada; [email protected] * Correspondence: [email protected] (E.R.); [email protected] (K.Z.) Received: 18 April 2019; Accepted: 11 June 2019; Published: 19 June 2019 Abstract: Numerous reviews on hydrogen storage have previously been published. However, most of these reviews deal either exclusively with storage materials or the global hydrogen economy. This paper presents a review of hydrogen storage systems that are relevant for mobility applications. The ideal storage medium should allow high volumetric and gravimetric energy densities, quick uptake and release of fuel, operation at room temperatures and atmospheric pressure, safe use, and balanced cost-effectiveness. All current hydrogen storage technologies have significant drawbacks, including complex thermal management systems, boil-off, poor efficiency, expensive catalysts, stability issues, slow response rates, high operating pressures, low energy densities, and risks of violent and uncontrolled spontaneous reactions. While not perfect, the current leading industry standard of compressed hydrogen offers a functional solution and demonstrates a storage option for mobility compared to other technologies. Keywords: hydrogen mobility; hydrogen storage; storage systems assessment; Kubas-type hydrogen storage; hydrogen economy 1. Introduction According to the Intergovernmental Panel on Climate Change (IPCC), it is almost certain that the unusually fast global warming is a direct result of human activity [1]. The resulting climate change is linked to significant environmental impacts that are connected to the disappearance of animal species [2,3], decreased agricultural yield [4–6], increasingly frequent extreme weather events [7,8], human migration [9–11], and conflicts [12–14]. -
Schaeffler Annual Report 2018
Annual Report 2018 Mobility for tomorrow Staying in motion Company profile The SCHAEFFLER Group is a global automotive and industrial supplier. Top quality, outstanding technology, and exceptionally innovative spirit form the basis for the continued success of the company. By delivering high-precision components and systems in engine, transmission, and chassis applications, as well as rolling and plain bearing solutions for a large number of industrial applications, the Schaeffler Group is already shaping “Mobility for tomorrow” to a significant degree. Schaeffler Group at a glance Key figures Income statement (in € millions) 2018 2017 Change Revenue 14,241 14,021 1.6 % • at constant currency 3.9 % EBIT 1,354 1,528 -11.4 % • in % of revenue 9.5 10.9 -1.4 %-pts. EBIT before special items 1) 1,381 1,584 -12.8 % • in % of revenue 9.7 11.3 -1.6 %-pts. Net income 2) 881 980 -10.1 % Earnings per common non-voting share (basic/diluted, in €) 1.33 1.48 -10.1 % Statement of financial position (in € millions) 12/31/2018 12/31/2017 Change Total assets 12,362 11,537 7.2 % Shareholders’ equity 3) 4) 3,060 2,581 479 € millions • in % of total assets 24.8 22.4 2.4 %-pts. Net financial debt 2,547 2,370 7.5 % • Net financial debt to EBITDA ratio before special items 1) 1.2 1.0 • Gearing Ratio (Net financial debt to shareholders’ equity 3), in %) 83.2 91.8 -8.6 %-pts. Statement of cash flows (in € millions) 2018 2017 Change EBITDA 2,175 2,295 -5.2 % Cash flows from operating activities 1,606 1,778 -172 € millions Capital expenditures (capex) 5) 1,232 1,273 -41 € millions • in % of revenue (capex ratio) 8.7 9.1 -0.4 %-pts. -
Annual Report 2014 OUR VISION
AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2014 Annual Report OUR VISION To establish a world-leading research centre for autonomous marine operations and systems: To nourish a lively scientific heart in which fundamental knowledge is created through multidisciplinary theoretical, numerical, and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation, and control. Cutting-edge inter-disciplinary research will provide the necessary bridge to realise high levels of autonomy for ships and ocean structures, unmanned vehicles, and marine operations and to address the challenges associated with greener and safer maritime transport, monitoring and surveillance of the coast and oceans, offshore renewable energy, and oil and gas exploration and production in deep waters and Arctic waters. Editors: Annika Bremvåg and Thor I. Fossen Copyright AMOS, NTNU, 2014 www.ntnu.edu/amos AMOS • Annual Report 2014 Table of Contents Our Vision ........................................................................................................................................................................ 2 Director’s Report: Licence to Create............................................................................................................................. 4 Organization, Collaborators, and Facts and Figures 2014 ......................................................................................... 6 Presentation of New Affiliated Scientists................................................................................................................... -
Towards Pronking with a Hexapod Robot
Towards pronking with a hexapod robot Dave McMordie Department of Electrical Engineering McGill University, Montreal, Canada July, 2002 A thesis submitted to the Faculty of Graduate 5tudies and Research in partial fulfillment of the requirements of the degree Master of Engineering © Dave McMordie, 2002 National Library Bibliothèque nationale 1+1 of Canada du Canada Acquisitions and Acquisisitons et Bibliographie Services services bibliographiques 395 Wellington Street 395, rue Wellington Ottawa ON K1A DN4 Ottawa ON K1A DN4 Canada Canada Your file Votre référence ISBN: 0-612-85890-1 Our file Notre référence ISBN: 0-612-85890-1 The author has granted a non L'auteur a accordé une licence non exclusive licence allowing the exclusive permettant à la National Library of Canada to Bibliothèque nationale du Canada de reproduce, loan, distribute or sell reproduire, prêter, distribuer ou copies of this thesis in microform, vendre des copies de cette thèse sous paper or electronic formats. la forme de microfiche/film, de reproduction sur papier ou sur format électronique. The author retains ownership of the L'auteur conserve la propriété du copyright in this thesis. Neither the droit d'auteur qui protège cette thèse. thesis nor substantial extracts from it Ni la thèse ni des extraits substantiels may be printed or otherwise de celle-ci ne doivent être imprimés reproduced without the author's ou aturement reproduits sans son permission. autorisation. Canada Abstract RHex is a robotic hexapod with springy legs and just six actuated degrees of freedom. This work presents the development of a pronking gait for RHex, extending its efficiency and speed by exploiting its springy legs for hopping. -
Development of the Crew Dragon ECLSS
ICES-2020-333 Development of the Crew Dragon ECLSS Jason Silverman1, Andrew Irby2, and Theodore Agerton3 Space Exploration Technologies, Hawthorne, California, 90250 SpaceX designed the Crew Dragon spacecraft to be the safest ever flown and to restore the ability of the United States to launch astronauts. One of the key systems required for human flight is the Environmental Control and Life Support System (ECLSS), which was designed to work in concert with the spacesuit and spacecraft. The tight coupling of many subsystems combined with an emphasis on simplicity and fault tolerance created unique challenges and opportunities for the design team. During the development of the crew ECLSS, the Dragon 1 cargo spacecraft flew with a simple ECLSS for animals, providing an opportunity for technology development and the early characterization of system-level behavior. As the ECLSS design matured a series of tests were conducted, including with humans in a prototype capsule in November 2016, the Demo-1 test flight to the ISS in March 2019, and human-in-the-loop ground testing in the Demo-2 capsule in January 2020 before the same vehicle performs a crewed test flight. This paper describes the design and operations of the ECLSS, the development process, and the lessons learned. Nomenclature AC = air conditioning AQM = air quality monitor AVV = active vent valve CCiCap = Commercial Crew Integrated Capability CCtCap = Commercial Crew Transportation Capability CFD = computational fluid dynamics conops = concept of operations COPV = composite overwrapped -
H2@Railsm Workshop
SANDIA REPORT SAND2019-10191 R Printed August 2019 H2@RailSM Workshop Workshop and report sponsored by the US Department of Energy Office of Energy Efficiency and Renewable Energy Fuel Cell Technologies Office, and the US Department of Transportation Federal Railroad Administration. Prepared by Mattie Hensley, Jonathan Zimmerman Prepared by Sandia National Laboratories Albuquerque, New MexiCo 87185 and Livermore, California 94550 Issued by Sandia National Laboratories, operated for the United States Department of Energy by National Technology & Engineering Solutions of Sandia, LLC. NOTICE: This report was prepared as an account of work sponsored by an agency of the United States Government. Neither the United States Government, nor any agency thereof, nor any of their employees, nor any of their contractors, subcontractors, or their employees, make any warranty, express or implied, or assume any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, or represent that its use would not infringe privately owned rights. References herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise, does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States Government, any agency thereof, or any of their contractors or subcontractors. The views and opinions expressed herein do not necessarily state or reflect those of the United States Government, any agency thereof, or any of their contractors. Printed in the United States of America. This report has been reproduced directly from the best available copy. Available to DOE and DOE contractors from U.S. Department of Energy Office of Scientific and Technical Information P.O. -
Comparison of Hydrogen Powertrains with the Battery Powered Electric Vehicle and Investigation of Small-Scale Local Hydrogen Production Using Renewable Energy
Review Comparison of Hydrogen Powertrains with the Battery Powered Electric Vehicle and Investigation of Small-Scale Local Hydrogen Production Using Renewable Energy Michael Handwerker 1,2,*, Jörg Wellnitz 1,2 and Hormoz Marzbani 2 1 Faculty of Mechanical Engineering, University of Applied Sciences Ingolstadt, Esplanade 10, 85049 Ingolstadt, Germany; [email protected] 2 Royal Melbourne Institute of Technology, School of Engineering, Plenty Road, Bundoora, VIC 3083, Australia; [email protected] * Correspondence: [email protected] Abstract: Climate change is one of the major problems that people face in this century, with fossil fuel combustion engines being huge contributors. Currently, the battery powered electric vehicle is considered the predecessor, while hydrogen vehicles only have an insignificant market share. To evaluate if this is justified, different hydrogen power train technologies are analyzed and compared to the battery powered electric vehicle. Even though most research focuses on the hydrogen fuel cells, it is shown that, despite the lower efficiency, the often-neglected hydrogen combustion engine could be the right solution for transitioning away from fossil fuels. This is mainly due to the lower costs and possibility of the use of existing manufacturing infrastructure. To achieve a similar level of refueling comfort as with the battery powered electric vehicle, the economic and technological aspects of the local small-scale hydrogen production are being investigated. Due to the low efficiency Citation: Handwerker, M.; Wellnitz, and high prices for the required components, this domestically produced hydrogen cannot compete J.; Marzbani, H. Comparison of with hydrogen produced from fossil fuels on a larger scale. -
Commercial Orbital Transportation Services
National Aeronautics and Space Administration Commercial Orbital Transportation Services A New Era in Spaceflight NASA/SP-2014-617 Commercial Orbital Transportation Services A New Era in Spaceflight On the cover: Background photo: The terminator—the line separating the sunlit side of Earth from the side in darkness—marks the changeover between day and night on the ground. By establishing government-industry partnerships, the Commercial Orbital Transportation Services (COTS) program marked a change from the traditional way NASA had worked. Inset photos, right: The COTS program supported two U.S. companies in their efforts to design and build transportation systems to carry cargo to low-Earth orbit. (Top photo—Credit: SpaceX) SpaceX launched its Falcon 9 rocket on May 22, 2012, from Cape Canaveral, Florida. (Second photo) Three days later, the company successfully completed the mission that sent its Dragon spacecraft to the Station. (Third photo—Credit: NASA/Bill Ingalls) Orbital Sciences Corp. sent its Antares rocket on its test flight on April 21, 2013, from a new launchpad on Virginia’s eastern shore. Later that year, the second Antares lifted off with Orbital’s cargo capsule, (Fourth photo) the Cygnus, that berthed with the ISS on September 29, 2013. Both companies successfully proved the capability to deliver cargo to the International Space Station by U.S. commercial companies and began a new era of spaceflight. ISS photo, center left: Benefiting from the success of the partnerships is the International Space Station, pictured as seen by the last Space Shuttle crew that visited the orbiting laboratory (July 19, 2011). More photos of the ISS are featured on the first pages of each chapter. -
Design and Control of a Large Modular Robot Hexapod
Design and Control of a Large Modular Robot Hexapod Matt Martone CMU-RI-TR-19-79 November 22, 2019 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Howie Choset, chair Matt Travers Aaron Johnson Julian Whitman Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright © 2019 Matt Martone. All rights reserved. To all my mentors: past and future iv Abstract Legged robotic systems have made great strides in recent years, but unlike wheeled robots, limbed locomotion does not scale well. Long legs demand huge torques, driving up actuator size and onboard battery mass. This relationship results in massive structures that lack the safety, portabil- ity, and controllability of their smaller limbed counterparts. Innovative transmission design paired with unconventional controller paradigms are the keys to breaking this trend. The Titan 6 project endeavors to build a set of self-sufficient modular joints unified by a novel control architecture to create a spiderlike robot with two-meter legs that is robust, field- repairable, and an order of magnitude lighter than similarly sized systems. This thesis explores how we transformed desired behaviors into a set of workable design constraints, discusses our prototypes in the context of the project and the field, describes how our controller leverages compliance to improve stability, and delves into the electromechanical designs for these modular actuators that enable Titan 6 to be both light and strong. v vi Acknowledgments This work was made possible by a huge group of people who taught and supported me throughout my graduate studies and my time at Carnegie Mellon as a whole. -
Japan Cargo Spacecraft Docks at ISS 18 September 2009
Japan cargo spacecraft docks at ISS 18 September 2009 It was the first time that astronauts operate a Canadian robotic arm at the ISS to dock a spacecraft at the station. The HTV carried 4.5 tonnes of supplies, including food and daily necessities for the six ISS crew, as well as materials for experiments, such as seeds for growing plants in space. The 10-metre (33-foot) long cylindrical vehicle, which cost 20 billion yen (217 million dollars), will soon unload the supplies. It will later take waste materials and return to Earth, burning up as it re-enters the atmosphere. Japan has spent 68 billion yen developing the vehicle, which could be modified in future to carry Japan's first cargo spacecraft arrived at the International humans. Space Station on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace (c) 2009 AFP Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket (in picture). Japan's first cargo spacecraft arrived at the International Space Station (ISS) on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket. The HTV is Japan's first freighter spacecraft aiming for a share of space transport after the retirement of the US space shuttle fleet next year. "I'm so relieved because I was feeling the pressure and responsibility," Koji Yamanaka, the flight director in charge of the cargo mission, told reporters at Japan's Tsukuba space centre.