Enerji, tarih boyunca toplumların sürekli değişen ve artan ihtiyaçlarını karşılayabilmek amacıyla üzerine çok fazla araştırma ve çalışma yapılan kritik konulardandır. Enerji kaynaklarının doğada ...kısıtlı olması da tüm dünya varlıkları açısından bu önemi daha da kritik hale getirmektedir. Tüm süreçlerin temeli olan enerji, üretimden tedarike bütün arzı ve talebi içeren alanlarda etkin bir role sahiptir. Bu durum enerjinin önemli bir ekonomik pusula olduğunun göstergesidir. Bu çalışmada, Türkiye’nin yenilenebilir enerji yeniliğinin üretim ve teşvik tabanlı gelişimi, kurulan çok değişkenli regresyon modeliyle incelenmiştir. Enerji alanında yapılan yenilikler ve farklı ülkelerin yaklaşımları ile ilgili gerçekleştirilen literatür incelemesinin ardından, Türkiye’de geliştirilen “Yenilenebilir Enerji Kaynakları Destekleme Mekanizması (YEKDEM)’in, yenilenebilir enerji üretimi üzerine olan etkileri araştırılmıştır. Çok değişkenli doğrusal regresyon yöntemi ile yenilenebilir kaynak üretimi ve bu alanda sağlanan destek arasındaki ilişki modellenmiştir. Modelden elde edilen sonuçlara göre, Türkiye'de sağlanan enerji dönüşümü destekleriyle; biyoenerji ve fotovoltaik enerji kaynaklarının gelişimini hızla sürdürdüğü görülmüştür.
In this work, the dynamics of ”n” legged modular miniature robots with a soft body is modeled. The dynamic formulation is obtained using Newton–Euler formulation that depends on the contact ...parameters and the feet closed-chain kinematic analysis. The dynamic model determines the locomotion parameters of each module as an individual system as well as the dynamics of the whole robot in a 3D space; i.e., the robot is modeled as one system, and modules are considered to be sets of flexible links connected within this system. Kinematic constraints among these modules are obtained by considering the type of backbone integrated into the modular robot. Various types of backbones are used that are classified into three groups: rigid, only torsional, and soft. The model is verified using SMoLBot, an origami-inspired miniature robot made of multiple modules and soft/rigid backbones. Additional to the dynamic model, the effect of different sets of design parameters on the locomotion of the legged soft-bodied modular miniature robots is studied. Analyses comparing the velocity of SMoLBot with a different number of modules and various types of backbones are presented using the proposed dynamic model. Our results show the existence of an optimum backbone torsional stiffness for legged miniature modular robots and an optimum number of legs for a given backbone stiffness that maximizes the robot’s velocity. In this research, presented results and locomotion study show that the robot’s design should be iteratively improved based on specific optimum goals for exclusively defined task to satisfy the operational needs.
•Dynamic modeling of legged modular miniature robots.•Rigid and soft body dynamics.•Locomotion characteristics of multi-legged miniature robots with different numbers of modules and body stiffnesses.•The effect of soft backbones on miniature robot’s locomotion.
The locomotion performance of the current legged miniature robots remains inferior compared to even the most simple insects. The inferiority has led researchers to utilize biological principles and ...control in their designs, often resulting in improved performance and robot capabilities. Additionally, optimizing the locomotion patterns compatible with the robot's limitations (such as the gaits achievable by the robot) improves the performance significantly and results in a robot operating with its maximum capabilities. This paper studies the locomotion characteristics of running/walking
-legged modular miniature robots with soft or rigid module connections. The locomotion study is done using the presented dynamic model, and the results are verified using a legged modular miniature robot with soft and rigid backbones (SMoLBot). The optimum foot contact sequences for an
-legged robot with different compliance values between the modules are derived using the locomotion analyses and the dynamic and kinematic formulations. Our investigations determine unique optimum foot contact sequences for multi-legged robots with different body compliances and module numbers. Locomotion analyses of a multi-legged robot with different backbones operating with optimum gaits show two main motion characteristics; the rigid robots minimize the number of leg-ground contacts to increase velocity, whereas soft-backbone robots use a lift-jump-fall motion sequence to maximize the translational speeds. These two behaviors are similar between different soft-backbone and rigid-backbone robots; however, the optimal foot contact sequences are different and unpredictable.
Combining high hydrophilicity with charge neutrality, polyzwitterions are intensely explored for their high biocompatibility and low-fouling properties. Recent reports indicated that in addition to ...charge neutrality, the zwitterion’s segmental dipole orientation is an important factor for interacting with the environment. Accordingly, a series of polysulfobetaines with a novel architecture was designed, in which the cationic and anionic groups of the zwitterionic moiety are placed at equal distances from the backbone. They were investigated by in vitro biofouling assays, covering proteins of different charges and model marine organisms. All polyzwitterion coatings reduced the fouling effectively compared to model polymer surfaces of poly(butyl methacrylate), with a nearly equally good performance as the reference polybetaine poly(3-(N-(2-(methacryloyloxy)ethyl)-N,N-dimethylammonio)propanesulfonate). The specific fouling resistance depended on the detailed chemical structure of the polyzwitterions. Still, while clearly affecting the performance, the precise dipole orientation of the sulfobetaine group in the polyzwitterions seems overall to be only of secondary importance for their antifouling behavior.
In miniature robotics applications, compliant mechanisms are widely used because of their scalability. In addition, compliant mechanism architecture is compatible with the manufacturing methods used ...to fabricate small scale robots, such as “foldable robotics”, where the size and the materials used allow much larger deflections. In this paper, the kinematics of compliant mechanisms used in miniature foldable robots are investigated with the assumption of nonlinear large deflections that occur at the flexure joints. The solution of the large beam deflection is acquired using elliptic integrals and is verified with finite element analysis and experiments on a simple small foldable leg linkage. The large deflection model takes joint strain energies into account and yields accurate estimations for load capacity of the mechanism as well as the necessary input torque for actuation of the leg. Therefore, the model presented can be used to estimate the load capacity of a miniature robot, as well as to select appropriate actuators. The work is also extended to estimate the compliant leg kinematics and rigid body dynamics of a foldable robot. The robot’s large deflection simulation results are compared with experiments and a simplified rigid-link pin-joint kinematic model. Our results demonstrate the modeling accuracy of the two approaches and can be used by foldable robotics community when deciding on the strategy to choose for modeling their robots.
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