This article describes the theory, analysis, and initial bench-top testing of a minimally invasive, rotational resonator designed to produce small amounts of electrical energy for use in oceanic observation buoys. This work details the systems of equations that govern such a resonator, its potential power production, and its predicted effects on the modified motion of the buoy. Finally, a bench-top test apparatus is designed and experimented upon to identify the system and verify the system of equations empirically.
The development of multi-axis force sensing ca-pabilities in elastomeric materials has enabled new types of human motion measurement with many potential applications. In this work, we present a new soft insole that enables mobile measurement of ground reaction forces (GRFs) outside of a lab-oratory setting. This insole is based on hybrid shear and normal force detecting (SAND) tactile elements (taxels) consisting of optical sensors optimized for shear sensing and piezoresistive pressure sensors dedicated to normal force measurement. We develop polynomial regression and deep neural network (DNN) GRF prediction models and compare their performance to ground-truth force plate data during two walking experiments. Utilizing a 4-layer DNN, we demonstrate accurate prediction of the anterior-posterior (AP), medial-lateral (ML) and vertical components of the GRF with normalized mean absolute errors (NMAE) of <5.1 %, 4.1 %, and 4.5%, respectively. We also demonstrate the durability of the hybrid SAND insole construction through more than 20,000 cycles of use.
Coe, Ryan G.; Lee, Jantzen; Bacelli, Giorgio; Spencer, Steven J.; Dullea, Kevin; Plueddemann, Albert J.; Buffitt, Derek; Reine, John; Peters, Donald; Spinneken, Johannes; Hamilton, Andrew; Sabet, Sahand; Husain, Salman; Jenne, Dale (Scott); Korde, Umesh; Muglia, Mike; Taylor, Trip; Wade, Eric
The “Pioneer WEC” project is targeted at developing a wave energy generator for the Coastal Surface Mooring (CSM) system within the Ocean Observatories Initiative (OOI) Pioneer Array. The CSM utilizes solar photovoltaic and wind generation systems, along with rechargeable batteries, to power multiple sensors on the buoy and along the mooring line. This approach provides continuous power for essential controller functions and a subset of instruments, and meets the full power demand roughly 70% of the time. Sandia has been tasked with designing a wave energy system to provide additional electrical power and bring the CSM up-time for satisfying the full-power demand to 100%. This project is a collaboration between Sandia and Woods Hole Oceanographic Institution (WHOI), along with Evergreen Innovations, Monterey Bay Aquarium Research Institute (MBARI), Eastern Carolina University (ECU), Johns Hopkins University (JHU), and the National Renewable Energy Laboratory (NREL). This report captures Phase I of an expected two phase project and presents project scoping and concept design results. phase project and presents project scoping and concept design results.
This report describes testing conducted related to the development of a “hydrostatic power takeoff” (HPTO) system for a wave energy converter. Tests were conducted with an experimental electric motor rig to provide preliminary results and de-risk future testing. Efficiency mapping tests were conducted as well as hardware-in-the-loop (HIL) testing. The results of the efficiency mapping tests provide good insight into how to systematically perform efficiency mapping tests. The HIL testing indicates good overall performance of the system and provides a stepping stone towards more complete system tests in the future.
The broad dissemination of unmanned aerial vehicles (UAV s), specifically quadrotor aircraft, has accelerated their successful use in a wide range of industrial, military, and agricultural applications. Research in the growing field of aerial manipulation (AM) faces many challenges but may enable the next generation of UAV applications. The physical contact required to perform AM tasks results in dynamic coupling with the environment, which may lead to instability with devastating consequences for a UAV in flight. Considering these concerns, this work seeks to determine whether off-the-shelf flight controllers for quadrotor UAV s are suitable for AM applications by investigating the passivity and coupled-stability of quad rotors using generic cascaded position-attitude (CPA) and PX4 flight controllers. Using a planar 3-degree of freedom (DOF) linearized state-space model and two high fidelity 6-DOF models with the CPA and PX4 closed-loop flight controllers, passivity is analyzed during free flight, and stability is analyzed when the UAV is coupled to environments with varying degrees of stiffness. This analysis indicates that quadrotors using the CPA and PX4 flight controllers are non-passive (except for the PX4 controller in the vertical direction with certain vehicle parameters) and may become unstable when the UAV is coupled with environments of certain stiffnesses. Similarities between the results from the linearized 3-DOF model and nonlinear 6-DOF models in the passivity analysis suggest that using an analytical, linear approach is sufficient and potentially useful for vehicle geometry and controller design to improve stability for AM applications.
We study the problem of decentralized classification conducted over a network of mobile sensors. We model the multiagent classification task as a hypothesis testing problem where each sensor has to almost surely find the true hypothesis from a finite set of candidate hypotheses. Each sensor makes noisy local observations and can also share information on their observations with other mobile sensors in communication range. In order to address the state-space explosion in the multiagent system, we propose a decentralized synthesis procedure that guarantees that each sensor will almost surely converge to the true hypothesis even in the presence of faulty or malicious agents. Additionally, we employ a contract-based synthesis approach that produces trajectories designed to empirically increase information-sharing between mobile sensors in order to converge faster to the true hypothesis. We implement and test the approach on experiments with both physical and simulated hardware to showcase the approach's scalability and viability in real-world systems. Finally, we run a Gazebo/ROS simulated experiment with 12 agents to demonstrate the scalability of our approach in large environments with many agents.
This report describes the testing of a model scale wave energy converter. This device, which uses two aps that pivot about a central platform when excited by waves, has a natural frequency within the range of the waves by which it is excited. The primary goal of this test was to assess the degree to which previously developed modeling, experimentation, and control design methods could be applied to a broad range of wave energy converter designs. Testing was conducted to identify a dynamic model for the impedance and excitation behavior of the device. Using these models, a series of closed loop tests were conducted using a causal impedance matching controller. This report provides a brief description of the results, as well as a summary of the device and ex- perimental design. The results show that the methods applied to this experimental device perform well and should be broadly applicable.
Legged humanoid robots promise revolutionary mobility and effectiveness in environments built for humans. However, inefficient use of energy significantly limits their practical adoption. The humanoid biped walking anthropomorphic novelly-driven efficient robot for emergency response (WANDERER) achieves versatile, efficient mobility, and high endurance via novel drive-trains and passive joint mechanisms. Results of a test in which WANDERER walked for more than 4 h and covered 2.8 km on a treadmill, are presented. Results of laboratory experiments showing even more efficient walking are also presented and analyzed in this article. WANDERER's energetic performance and endurance are believed to exceed the prior literature in human-scale humanoid robots. This article describes WANDERER, the analytical methods and innovations that enable its design, and system-level energy efficiency results.
A self-tuning proportional-integral control law prescribing motor torques was tested in experiment on a three degree-of-freedom wave energy converter. The control objective was to maximize electrical power. The control law relied upon an identified model of device intrinsic impedance to generate a frequency-domain estimate of the wave-induced excitation force and measurements of device velocities. The control law was tested in irregular sea-states that evolved over hours (a rapid, but realistic time-scale) and that changed instantly (an unrealistic scenario to evaluate controller response). For both cases, the controller converges to gains that closely approximate the post-calculated optimal gains for all degrees of freedom. Convergence to near-optimal gains occurred reliably over a sufficiently short time for realistic sea states. In addition, electrical power was found to be relatively insensitive to gain tuning over a broad range of gains, implying that an imperfectly tuned controller does not result in a large penalty to electrical power capture. An extension of this control law that allows for adaptation to a changing device impedance model over time is proposed for long-term deployments, as well as an approach to explicitly handle constraints within this architecture.
Sandia National Laboratories and the Department of Energy (DOE) have completed on a multi-year program to examine the effects of control theory on increasing power produced by resonant wave energy conversion (WEC) devices. The tank tests have been conducted at the Naval Surface Warfare Center Carderock Division (NSWCCD) Maneuvering and Sea Keeping Basin (MASK) in West Bethesda, MD. This report outlines the "MASK3" wave tank test within the Advanced WEC Dynamics and Controls (AWDC) project. This test represents the final test in the AWDC project. The focus of the MASK3 test was to consider coordinated 3-degree-of-freedom (3DOF) control of a WEC in a realistic ocean environment. A key aspect of this test was the inclusion of a "self-tunine mechanism which uses an optimization algorithm to update controller gains based on a changing sea state. The successful implementation of the self-tuning mechanism is the last crucial step required for such a controller to be implemented in real ocean environments.
Legged robots promise radical mobility for challenging environments, but must be made more energy efficient to be practical. Historically, legged robot design has required efficiency to be traded against versatility. Much energy is lost in actuators and transmissions because few actuation systems are capable of operating efficiently across the wide range of operating conditions (e.g. different joint speeds and torques) required for legged locomotion. We describe a drivetrain topology that overcomes many of these limitations. Our approach combines high-torque electromagnetic motors and low-loss transmissions with a tailored and adjustable set of joint-specific passive mechanisms called support elements, which modulate the energy flow between motors and joints to minimize the electrical energy consumed. We present an optimization-based design method that draws on available bipedal gait data to select optimal support element configurations and parameters. Simple adjustments may be made to support elements at certain joints to enable a wide variety of locomotion with high efficiency. We present results, specific to the 3D humanoid bipedal STEPPR robot, in which support elements are co-optimized across a library of several gaits, converging on a set of designs that predict an average reduction of electrical energy of more than 50% across a set of 15 gaits, with energy savings reaching as much as 85% for some gaits. Concepts were prototyped and tested on a bench testbed, validating the predicted energy savings. Support elements were implemented on STEPPR, and energy savings of more than 35% were demonstrated.
The ability to rapidly drill through diverse, layered materials can greatly enhance future mine-rescue operations, energy exploration, and underground operations. Pneumatic-percussive drilling holds great promise in this area due to its ability to penetrate very hard materials and potential for portability. Currently such systems require expert operators who require extensive training. We envision future applications where first responders who lack such training can still respond rapidly and safely perform operations. Automated techniques can reduce the dependence on expert operators while increasing efficiency and safety. However, current progress in this area is restricted by the difficulty controlling such systems and the complexity of modeling percussive rock-bit interactions. In this work we develop and experimentally validate a novel intelligent percussive drilling architecture that is tailored to autonomously operate in diverse, layered materials. Our approach combines low-level feedback control, machine learning-based material classification, and on-line optimization. Our experimental results demonstrate the effectiveness of this approach and illustrate the performance benefits over conventional methods.
An increasing number of experiments are being conducted to study the design and performance of wave energy converters. Often in these tests, a real-time realization of prospective control algorithms is applied in order to assess and optimize energy absorption as well as other factors. This paper details the design and execution of an experiment for evaluating the capability of a model-scale WEC to execute basic control algorithms. Model-scale hardware, system, and experimental design are considered, with a focus on providing an experimental setup capable of meeting the dynamic requirements of a control system. To more efficiently execute such tests, a dry bench testing method is proposed and utilized to allow for controller tuning and to give an initial assessment of controller performance; this is followed by wave tank testing. The trends from the dry bench test and wave tank test results show good agreement with theory and confirm the ability of a relatively simple feedback controller to substantially improve energy absorption. Additionally, the dry bench testing approach is shown to be an effective and efficient means of designing and testing both controllers and actuator systems for wave energy converters.
This report describes the set up, execution, and some initial results from a series of wave tank tests of a model-scale wave energy converter (WEC) completed in May 2018 at the Navy's Maneuvering and Sea Keeping (MASK) basin. The purpose of these tests was to investigate the implementation and performance of a series of closed-loop WEC power take-off (PTO) controllers, intended to increase energy absorption/generation.
Torque feedback control and series elastic actuators are widely used to enable compact, highly-geared electric motors to provide low and controllable mechanical impedance. While these approaches provide certain benefits for control, their impact on system energy consumption is not widely understood. This paper presents a model for examining the energy consumption of drivetrains implementing various target dynamic behaviors in the presence of gear reductions and torque feedback. Analysis of this model reveals that under cyclical motions for many conditions, increasing the gear ratio results in greater energy loss. A similar model is presented for series elastic actuators and used to determine the energy consequences of various spring stiffness values. Both models enable the computation and optimization of power based on specific hardware manifestations, and illustrate how energy consumption sometimes defies conventional best-practices. Results of evaluating these two topologies as part of a drivetrain design optimization for two energy-efficient electrically driven humanoids are summarized. The model presented enables robot designers to predict the energy consequences of gearing and series elasticity for future robot designs, helping to avoid substantial energy sinks that may be inadvertently introduced if these issues are not properly analyzed.
Torque feedback control and series elastic actuators are widely used to enable compact, highly-geared electric motors to provide low and controllable mechanical impedance. While these approaches provide certain benefits for control, their impact on system energy consumption is not widely understood. This paper presents a model for examining the energy consumption of drivetrains implementing various target dynamic behaviors in the presence of gear reductions and torque feedback. Analysis of this model reveals that under cyclical motions for many conditions, increasing the gear ratio results in greater energy loss. A similar model is presented for series elastic actuators and used to determine the energy consequences of various spring stiffness values. Both models enable the computation and optimization of power based on specific hardware manifestations, and illustrate how energy consumption sometimes defies conventional best-practices. Results of evaluating these two topologies as part of a drivetrain design optimization for two energy-efficient electrically driven humanoids are summarized. The model presented enables robot designers to predict the energy consequences of gearing and series elasticity for future robot designs, helping to avoid substantial energy sinks that may be inadvertently introduced if these issues are not properly analyzed.
Drilling is a repetitive, dangerous and costly process and a strong candidate for automation. We describe a method for autonomously controlling a rotary drilling process as it transitions through multiple materials with very different dynamics. This approach classifies the drilling medium based on real-time measurements and comparison to prior drilling data, and can identify the material type, drilling region, and approximately optimal set-point based on data from as few as one operating condition. The controller uses these set-points as initial conditions, and then conducts an optimal search to maximize performance, e.g. by minimizing mechanical specific energy. The control architecture is described, and the material estimation process is detailed. The results of experiments that implement autonomous drilling through a layered concrete and granite sample are discussed.
This paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuated bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.
This paper describes how parallel elastic elements can be used to reduce energy consumption in the electric-motor-driven, fully actuated, Sandia Transmission-Efficient Prototype Promoting Research (STEPPR) bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how selectively engaging springs for hip adduction and ankle flexion predict benefits for three different flat-ground walking gaits: human walking, human-like robot walking, and crouched robot walking. Based on locomotion data, springs are designed and substantial reductions in power consumption are demonstrated using a bench dynamometer. These lessons are then applied to STEPPR, a fully actuated bipedal robot designed to explore the impact of tailored joint mechanisms on walking efficiency. Featuring high-Torque brushless DC motors, efficient low-ratio transmissions, and high-fidelity torque control, STEPPR provides the ability to incorporate novel joint-level mechanisms without dramatically altering high-level control. Unique parallel elastic designs are incorporated into STEPPR, and walking data show that hip adduction and ankle flexion springs significantly reduce the required actuator energy at those joints for several gaits. These results suggest that parallel joint springs offer a promising means of supporting quasi-static joint torques due to body mass during walking, relieving motors of the need to support these torques and substantially improving locomotive energy efficiency.
As unmanned systems (UMS) proliferate for security and defense applications, autonomous control system capabilities that enable them to perform tactical operations are of increasing interest. These operations, in which UMS must match or exceed the performance and speed of people or manned assets, even in the presence of dynamic mission objectives and unpredictable adversary behavior, are well beyond the capability of even the most advanced control systems demonstrated to date. In this paper we deconstruct the tactical autonomy problem, identify the key technical challenges, and place them into context with the autonomy taxonomy produced by the US Department of Defense's Autonomy Community of Interest. We argue that two key capabilities beyond the state of the art are required to enable an initial fieldable capability: rapid abstract perception in appropriate environments, and tactical reasoning. We summarize our work to date in tactical reasoning, and present initial results from a new research program focused on abstract perception in tactical environments. This approach seeks to apply semantic labels to a broad set of objects via three core thrusts. First, we use physics-based multi-sensor fusion to enable generalization from imperfect and limited training data. Second, we pursue methods to optimize sensor perspective to improve object segmentation, mapping and, ultimately, classification. Finally, we assess the potential impact of using sensors that have not traditionally been used by UMS to perceive their environment, for example hyperspectral imagers, on the ability to identify objects. Our technical approach and initial results are presented.
Electric motors are a popular choice for mobile robots because they can provide high peak efficiencies, high speeds, and quiet operation. However, the continuous torque performance of these actuators is thermally limited due to joule heating, which can ultimately cause insulation breakdown. In this work we illustrate how motor housing design and active cooling can be used to significantly improve the ability of the motor to transfer heat to the environment. This can increase continuous torque density and reduce energy consumption. We present a novel housing design for brushless DC motors that provides improved heat transfer. This design achieves a 50% increase in heat transfer over a nominal design. Additionally, forced air or water cooling can be easily added to this configuration. Forced convection increases heat transfer over the nominal design by 79%with forced air and 107% with pumped water. Finally, we show how increased heat transfer reduces power consumption and we demonstrate that strategically spending energy on cooling can provide net energy savings of 4%-6%.