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Energy and environment continue to be major issues of human mankind. This holds true on the regional, the national, and the global level. And it is one of the problems, where engineers and scientists in conjunction with political will and people's awareness, can find new approaches and solutions to save the natural resources and to make their use more efficient.
We herein present a topology design method based on local optimality criteria which has been implemented in an open source Navier-Stokes solver for turbulent flows. Our method aims for the fast generation of geometry proposals in the early conceptual phase. To the best of our knowledge, this is the first local criteria approach utilizing a wall function turbulence model in order to consider turbulent flows. In order to allow for the growth as well as the shrinkage, or even the formation or disappearance of structural features, a topological approach is chosen. By introducing a volume fraction parameter, we distinguish between fluid and solid properties in each control volume. The fluid-solid interface is represented by an immersed boundary method using a piecewise linear surface reconstruction.
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.
The humanoid Sweaty was the finalist in this year’s robocup soccer championship(adult size). For the optimization of the gait and the stability, data concerning forces and torques in the ankle joints would be helpful. In the following paper the development of a six-axis force and torque sensor for the humanoid robot Sweaty is described. Since commercial sensors do not meet the demands for the sensors in Sweatys ankle joints, a new sensor was developed. As a measuring devices we used strain gauges and custom electronics based on an acam PS09. The geometry was analyzed with the FEM program ANSYS to get optimal dimensions for the measuring beams. In addition ANSYS was used to optimize the position for the strain gauges on the beam.