Learning-based Adaptive Robust Control of Manipulated Pneumatic Artificial Muscle Driven by H<sub>2</sub>-based Metal Hydride

Li, Kelin; Nuchkrua, Thanana; Zhao, Huan; Yuan, Ye; Boonto, Sudchai

doi:10.1109/coase.2018.8560584

Cited by 8 publications

(5 citation statements)

References 16 publications

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“…For the chosen mission profile, the EH VBS leads to energetic savings from 88% to 93%. Future studies will focus on (1) more complex mission profiles, using a combination of both propulsion methods to optimize energetic consumptions, (2) the design of VBS solutions for deep water applications and (3) control tasks, namely, using advanced control techniques like fuzzy [9] or adaptive control [10,11]. Funding: This work was financially supported through contract LAETA -UID/SEM/50022/2013 by "Fundação para a Ciência e Tecnologia", which the authors gratefully acknowledge.…”

Section: Discussionmentioning

confidence: 99%

Development of an Electrohydraulic Variable Buoyancy System

2019

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The growing needs in exploring ocean resources have been pushing the length and complexity of autonomous underwater vehicle (AUV) missions, leading to more stringent energy requirements. A promising approach to reduce the energy consumption of AUVs is to use variable buoyancy systems (VBSs) as a replacement or complement to thruster action, since VBSs only require energy consumption during limited periods of time to control the vehicle’s floatation. This paper presents the development of an electrohydraulic VBS to be included in an existing AUV for shallow depths of up to 100 m. The device’s preliminary mechanical design is presented, and a mathematical model of the device’s power consumption is developed, based on data provided by the manufacturer. Taking a standard mission profile as an example, a comparison between the energy consumed using thrusters and the designed VBS is presented and compared.

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Section: Discussionmentioning

confidence: 99%

Development of an Electrohydraulic Variable Buoyancy System

2019

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“…Factors, such as low friction, unevenness, and slope change, are the main research directions for slope walking. Pneumatic artificial muscle [52] is a new development of soft brakes. Due to its excellent adjustable stiffness, it can be used in quadruped robots to increase torque control accuracy.…”

Section: Walking Mothed On High Slopementioning

confidence: 99%

Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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“…Binary metal hydrides of AB5 stoichiometry, mainly derivatives of LaNi 5 crystallizing in the hexagonal CaCu 5 structure, are important chains in the hydrogen economy, being used in hydrogen storage and compression systems, fuel cells, purification devices, sensors, catalyst agents, and soft actuators, as well as in gas separators, which has recently attracted scientific interest [1][2][3][4][5][6][7][8][9]. Among the above-mentioned purposes, it seems that stationary storage, purification, compression and further uses for soft actuators, which will generate growing demand for new materials with a very different range of operating pressures [8,10,11].…”

Section: Introductionmentioning

confidence: 99%

Tuning Hydrogen Storage Properties in La1−xYxNi4.5Cu0.5 (x = 0.1; 0.2; 0.3; 0.4, 0.5) Alloys

Mańka,

Kinoshita,

Nowak

et al. 2023

Energies

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Metal hydrides of AB5 compositions have been investigated over the years as they offer extraordinary volumetric hydrogen densities with high cycling stability and purity of released hydrogen. Moreover, by doping with different elements, the sorption properties of alloys can be significantly changed according to their foreseen applications. In this contribution, we report the synthesis routes and hydrogenation characteristics of La1−xYxNi4.5Cu0.5. The synthesized alloys exhibit excellent structural purity with all reflections indexed by the hexagonal P6/mmm structure. It was found that the Y content can easily tune (raise) the equilibrium pressures of the pressure–composition isotherms, while overall gravimetric density remains at a level exceeding 1.5 wt.% up to x = 0.3 then strongly decreases. The pressure range for desorption can be tuned from 1.5 to 5 bars at room temperature. Some alloys (x = 0; 0.2) exhibit very good stability during 1000 cycles of hydrogen loading and unloading. Furthermore, activation of the alloys is prompt, making them good candidates for stationary hydrogen storage, non-mechanical hydrogen compressors, or soft actuators.

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Learning-based Adaptive Robust Control of Manipulated Pneumatic Artificial Muscle Driven by H₂-based Metal Hydride

Cited by 8 publications

References 16 publications

Development of an Electrohydraulic Variable Buoyancy System

Development of an Electrohydraulic Variable Buoyancy System

Survey of Quadruped Robots Coping Strategies in Complex Situations

Tuning Hydrogen Storage Properties in La1−xYxNi4.5Cu0.5 (x = 0.1; 0.2; 0.3; 0.4, 0.5) Alloys

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Learning-based Adaptive Robust Control of Manipulated Pneumatic Artificial Muscle Driven by H2-based Metal Hydride

Cited by 8 publications

References 16 publications

Development of an Electrohydraulic Variable Buoyancy System

Development of an Electrohydraulic Variable Buoyancy System

Survey of Quadruped Robots Coping Strategies in Complex Situations

Tuning Hydrogen Storage Properties in La1−xYxNi4.5Cu0.5 (x = 0.1; 0.2; 0.3; 0.4, 0.5) Alloys

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Learning-based Adaptive Robust Control of Manipulated Pneumatic Artificial Muscle Driven by H₂-based Metal Hydride