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Die Erfindung betrifft eine Vorrichtung zur biologischen Methanisierung von CO und/oder CO2 mittels methanogener Mikroorganismen durch Umsetzung von H2 und CO und/oder CO2, die eine Begasungskolonne und eine Entgasungskolonne, jeweils mit einer Bodenseite und einer der Bodenseite gegenüberliegenden oberen Seite, ein in der Begasungskolonne und der Entgasungskolonne bereitgestelltes Medium mit methanogenen Mikroorganismen, eine Zuführeinrichtung zum Zuführen eines H2 enthaltenden Gases in das Medium der Begasungskolonne, eine Abführeinrichtung zum Abführen eines CH4 enthaltenden Gases aus der Entgasungskolonne, eine Verbindungsleitung zwischen Begasungskolonne und Entgasungskolonne im Bereich der Bodenseiten, eine Pumpe zum Überführen von Medium über die Verbindungsleitung von der Begasungskolonne in die Entgasungskolonne, und eine Rückführleitung zwischen der Begasungskolonne und der Entgasungskolonne im Bereich der oberen Seiten zum Rückführen von Medium aus der Entgasungskolonne in die Begasungskolonne aufweist. Die Erfindung betrifft auch ein Verfahren zur biologischen Methanisierung von CO und/oder CO2 in einer Vorrichtung mittels methanogener Mikroorganismen als Teil eines in der Vorrichtung bereitgestellten Mediums, wobei das Medium in einem Kreislauf über eine Begasungskolonne und eine Entgasungskolonne geführt wird, wobei die Kolonnen jeweils über eine Verbindungsleitung im Bereich ihrer Bodenseiten und über eine Rückführleitung im Bereich der den Bodenseiten gegenüberliegenden oberen Seiten miteinander verbunden sind, worin das Medium sich in der Begasungskolonne absteigend und in der Entgasungskolonne aufsteigend bewegt, worin dem Medium in der Begasungskolonne ein H2 enthaltendes Gas zugeführt wird.
In this paper, we propose an approach for gait phase detection for flat and inclined surfaces that can be used for an ankle-foot orthosis and the humanoid robot Sweaty. To cover different use cases, we use a rule-based algorithm. This offers the required flexibility and real-time capability. The inputs of the algorithm are inertial measurement unit and ankle joint angle signals. We show that the gait phases with the orthosis worn by a human participant and with Sweaty are reliably recognized by the algorithm under the condition of adapted transition conditions. E.g., the specificity for human gait on flat surfaces is 92 %. For the robot Sweaty, 95 % results in fully recognized gait cycles. Furthermore, the algorithm also allows the determination of the inclination angle of the ramp. The sensors of the orthosis provide 6.9 and that of the robot Sweaty 7.7 when walking onto the reference ramp with slope angle 7.9.
Autonomous humanoid robots require light weight, high torque and high speed actuators to be able to walk and run. For conventional gears with a fixed gear ratio the product of torque and velocity is constant. On the other hand desired motions require maximum torque and speed. In this paper it is shown that with a variable gear ratio it is possible to vary the relation between torque and velocity. This is achieved by introducing systems of rods and levers to move the joints of our humanoid robot ”Sweaty II”. On the basis of a variable gear ratio low speed and high torque can be achieved for those joint angles, which require this motion mode, whereas high speed and low torque can be realized for those joint angles, where it is favorable for the desired motion.
Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused on stabilizing the gait. Moreover, we would like to overcome the constraints of a ZMP-algorithm that has a horizontal footplate as precondition for the simplification of the equations. In addition we would like to switch between impedance and position control with a fuzzy-like algorithm that might help to minimize jerks when Sweaty’s feet touch the ground.
Sweaty has already participated four times in RoboCup soccer competitions (Adult Size) and came second three times. While 2016 Sweaty needed a lot of luck to be finalist, 2017 Sweaty was a serious adversary in the preliminary rounds. In 2018 Sweaty showed up in the final with some lack of experience and room for improvements, but not without any chance. This paper describes the intended improvements of the humanoid adult size robot Sweaty in order to qualify for the RoboCup 2019 adult size competition.
This paper describes the Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2018 adult size humanoid competition. Sweaty came 2nd in RoboCup 2017 adult size league. The main characteristics of Sweaty are described in the Team Description Paper 2017. The improvements that have been made or are planned to be implemented for RoboCup 2018 are described in this paper.
This paper describes the Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2017 adult size humanoid competition. Sweaty came 2nd in RoboCup 2016 adult size league. The paper describes the main characteristics of Sweaty that made this success possible, and improvements that have been made or are planned to be implemented for RoboCup 2017.
This paper describes the new Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2016 adult size humanoid competition. Based on experiences during RoboCup 2014, the Sweaty robot has been completely redesigned to a new robot Sweaty II. A major change is the use of linear actuators for the legs. Another characteristic is its indirect actuation by means of rods. This allows a variable transmission ratio depending on the angle of a joint.
This paper describes the new Sweaty humanoid adult size robot trying to qualify for the RoboCup 2014 adult size humanoid competition. The robot is built from scratch to eventually allow it to run. One characteristic is that to prevent the motors from overheating, water evaporation is used for cooling. The robot is literally sweating which has given it its name. Another characteristic is, that the motors are not directly connected to the frame but by means of beams. This allows a variable transmission ratio depending on the angle.