RESEARCH
Test Bed 4: Compact Rescue Crawler
Keith Wait, Vanderbilt University
The Compact Rescue Crawler (TB4) is a chemofluidically actuated hexapedal robot. The intent of the platform is primarily to demonstrate advances in high power density actuation for human-scale actuated systems, and to demonstrate advances in human interfaces with fluid-powered systems. The former aspect of the robot is primarily being conducted at Vanderbilt, while the latter aspect is primarily being conducted at Georgia Tech and NCAT. Regarding the former, the near-term objective of Vanderbilt1s effort is to design and fabricate the crawler, in addition to developing the low and mid-level control required for walking. The power system for the first version of the robot is based on a hydrogen peroxide actuation system under development at Vanderbilt. The low-level control leverages an impedance control approach, while the mid-level control is based on a series of coordination influences as described by Holk Cruse, a zoologist at the University of Bielefeld in Germany. Specifically, Cruse et al. thoroughly investigated the neural control structure utilized for control of locomotion in the stick insect Carausius morosus. By sequentially and selectively isolating various components of the insect's neural circuitry and by utilizing microelectrodes to measure neural activity during various phases of locomotion, Cruse et al. in essence "reverse-engineered" the neural circuitry of the Carausius morosus. Cruse et al. further demonstrated the promise of their approach, which they call "WalkNet," via a series of simulations. Though the WalkNet structure has been shown to function well in kinematic (i.e., non-dynamic) simulations, we have found that the approach to coordinated control of hexapedal locomotion entails several significant problems when simulated in the presence of dynamic effects, including gravitational effects, inertial dynamics, and ground contact dynamics. In the case of a stick insect, one can argue that such (inertial) dynamics are not significant. At the scale of a typical hexapedal robot, however, such effects are significant, and have a significant bearing on the stability of a closed-loop system. In fact, as we've discovered, WalkNet (as presented by Cruse et al.) does not provide stable locomotion in the presence of dynamic effects. Motivated by this issue, we have developed a modified version of WalkNet that is based on its biological paradigm, but that provides stable locomotion in the presence of dynamics, while still enabling the significant benefits (i.e., self-selecting, robust, emergent behavior) of the WalkNet approach.

INDUSTRY
The Project Champion program was officially kicked off on June 6th. By the time the dust settled we had over (90) industry volunteers step forward! What an amazing response! The CCEFP looks forward to working closely with our industry partners to truly transform fluid power to new heights.

Please contact Mike Gust at mjgust@me.umn.edu or 612-624-4956 for further information regarding the CCEFP, including how to become a member.

EDUCATION AND OUTREACH
University of Minnesota Design Team Wins First Place!

The project objective was to create a fluid power interactive exhibit to be housed at the Science Museum of Minnesota. The students were to develop a hands-on, interactive, mechanical exhibit that introduces visitors to the basic ideas and elements of fluid power. The exhibit must both attract visitors to use it and engage them fully. Exhibits work best when they provide a social experience such as an opportunity for several visitors to work together and to talk with each other about what they are doing and what they observe. In addition, to develop prototype ideas for the NFPA IFPE exhibit. The students of this team successfully completed their Hydraulic Hybrid Regenerative Braking project and won First Place at the Design Show!

GETTING TO KNOW US
The Center would like to introduce its talent. In each issue get to know the Center's students, researchers and leadership team.

Student "Rachel" Meng Wang earned her Bachelor of science degree in Mechanical Engineering from shanghai Jiao Tong University in 2006 and subsequently was offered a fellowship at the University of Minnesota by Dr. Kim Stelson and Perry Li. Rachel is now pursuing her Ph.D. in Mechanical engineering and is working on the On/Off Valve research project. Her research involves the axial motion and the rotary sensing of the spool. The research is to develop a new high speed on/off valve. Rachel is also an active member of the Student Leadership Council. Outside of the lab, Rachel enjoys watching television and particularly likes comedians; she enjoys music and playing badminton. Rachel participates in the student group within mechanical engineering and enjoys the activities the group coordinates such as broomball.

Researcher Mehdat Khalil earned his Bachelor of Science in engineering from the Military Technical College in Egypt, his Masters from the University of Cairo and completed his Ph.D. at Concordia University in Montreal, Canada in 2003. Between his Masters degree and beginning his Ph.D., Mehdat spent several years at Rexroth, in Eqypt, as a Technical Officer and Training Manager. After completing his Ph.D. work at Concordia, Mehdat won a competition of the Natural Science and Engineering Research Council of Canada (NSERC). The NSERC granted him an Industrial Research Fellowship to work on developing hydraulic system software models for full-scale power plants simulators in the CAE Company in Montreal, Canada. While working full-time on CAE for two years, Mehdat has been hired by Concordia University as adjunct assistant professor to teach fluid power courses on part-time bases. In June 2005 Mehdat moved to a new position as full-time professional education instructor at Milwaukee School of Engineering to teach fluid power and motion control courses for industry professionals. Within the Center, Mehdat is responsible for instructing a set of intensive short courses from entry level to advanced levels in fluid power and motion control and to convey the outcomes of the research projects to the industry. Outside of the lab, Mehdat enjoys developing computer based educational software and spending time with his four boys!

Leadership Team Andrew Alleyne earned his Bachelor of Science degree in aerospace engineering from Princeton University and completed both his Masters and Ph.D. in mechanical engineering from the University of California at Berkeley in 1992 and 1994, respectively. Andrew immediately accepted a faculty position from the University of Illinois, Urbana-Champaign and during his first two years there, held summer research positions at Ford and at Caterpillar in 1995 and 1996, respectively. Andrew serves as the Center's Compactness Thrust 2 Leader. Besides serving in his leadership role, Andrew is directly involved in two Center research projects. The project 2F, Dynamically Scalable Fluid Power Systems, involves identifying inherent characteristics that would allow a fluid power system to be scaled up and down while incorporating trade-offs based on existing systems. Andrew contributes to Project 1A.1, Optimal Energy Efficiency Algorithms, and will investigate the best control strategies for saving energy. This research can be applied to the Excavator and small Urban Vehicle (sUV) test beds. Andrew also works on the Orthosis test bed which is headquartered at UIUC. Outside of the lab, Andrew hangs out and has fun with his two boys. When he has the time, Andrew enjoys sporting activities outside such as basketball, volleyball and cycling. A piece of trivia about Andrew is that he grew up in Jamaica and moved with his family to the U.S. just before starting high school!

FROM OTHER NEWS SOURCES

Popular Science:Sept 06: The Race to 100 MPG Gas prices are up, fuel economy is down - but the brightest minds in auto technology are out to do something about it. By Billy Baker.

Control Design Magazine

UMN News May 26, 2006

Reliable Plant

NFPA ERC Announcement

NFPA REPORTER Special Edition (pdf)