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Full-Text Articles in Engineering
Editorial: Advances In Pollutant Transport In Critical Zone Environments, Huilian Ma, Yusong Li, Chongyang Shen, Constantinos V. Chrysikopoulos, Hyunjung Kim
Editorial: Advances In Pollutant Transport In Critical Zone Environments, Huilian Ma, Yusong Li, Chongyang Shen, Constantinos V. Chrysikopoulos, Hyunjung Kim
Department of Civil and Environmental Engineering: Faculty Publications
One major environmental challenge facing humankind is the constantly increasing pollution of water and soil resources on a global scale. The substances that cause such pollution arise primarily from human-made wastes, including agricultural and industrial wastes, household garbage, oil spills, and other toxic materials. The spatiotemporal distribution of these polluting substances in soil and water systems is determined by an interplay of many factors such as physicochemical properties of pollutants, soil grain properties and structure, fluid flow chemistry and velocity, biological activity, and other environmental factors (temperature, precipitation). In this issue, we have collected a series of articles that advance …
Walking And Running On Yielding And Fluidizing Ground, Feifei Quan, Tingnan Zhang, Chen Li, Pierangelo Masarati, Aaron M. Hoover, Paul Birkmeyer, Andrew Pullin, Ronald S. Fearing, Daniel I. Goldman
Walking And Running On Yielding And Fluidizing Ground, Feifei Quan, Tingnan Zhang, Chen Li, Pierangelo Masarati, Aaron M. Hoover, Paul Birkmeyer, Andrew Pullin, Ronald S. Fearing, Daniel I. Goldman
Aaron M. Hoover
We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, highperforming, desert-dwelling lizards. To reveal how the robot achieves this high performance, we used high speed imaging to capture kinematics, and developed a numerical multi-body simulation of the robot coupled to an experimentally validated discrete element method (DEM) simulation of the granular media. Average forward speeds measured in both experiment and simulation agreed well, and …
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Aaron M. Hoover
The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which can yield and flow in response to loading. To advance our understanding of the relevant modeling and design issues, we conduct a comparative study of the performance of DASH and RoACH, two small, biologically inspired, six legged, lightweight (~10 cm, ~20 g) robots fabricated using the smart composite microstructure (SCM) process. We systematically examine performance of both robots on rigid and flowing substrates. Varying both ground properties …