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Wearable robotics is a growing sector in the robotics industry, they can increase the productivity of workers and soldiers and can restore some of the lost function to people with disabilities. Wearable robots should be comfortable, easy to use, and intuitive. Robust control methods are needed for wearable robots that

Wearable robotics is a growing sector in the robotics industry, they can increase the productivity of workers and soldiers and can restore some of the lost function to people with disabilities. Wearable robots should be comfortable, easy to use, and intuitive. Robust control methods are needed for wearable robots that assist periodic motion.

This dissertation studies a phase based oscillator constructed with a second order dynamic system and a forcing function based on the phase angle of the system. This produces a bounded control signal that can alter the damping and stiffens properties of the dynamic system. It is shown analytically and experimentally that it is stable and robust. It can handle perturbations remarkably well. The forcing function uses the states of the system to produces stable oscillations. Also, this work shows the use of the phase based oscillator in wearable robots to assist periodic human motion focusing on assisting the hip motion. One of the main problems to assist periodic motion properly is to determine the frequency of the signal. The phase oscillator eliminates this problem because the signal always has the correct frequency. The input requires the position and velocity of the system. Additionally, the simplicity of the controller allows for simple implementation.
ContributorsDe la Fuente Valadez, Juan Oziel (Author) / Sugar, Thomas G. (Committee member) / Redkar, Sangram (Committee member) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Schroeder, Kyle A (Committee member) / Arizona State University (Publisher)
Created2016
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Summer daytime cooling efficiency of various land cover is investigated for the urban core of Phoenix, Arizona, using the Local-Scale Urban Meteorological Parameterization Scheme (LUMPS). We examined the urban energy balance for 2 summer days in 2005 to analyze the daytime cooling-water use tradeoff and the timing of sensible heat

Summer daytime cooling efficiency of various land cover is investigated for the urban core of Phoenix, Arizona, using the Local-Scale Urban Meteorological Parameterization Scheme (LUMPS). We examined the urban energy balance for 2 summer days in 2005 to analyze the daytime cooling-water use tradeoff and the timing of sensible heat reversal at night. The plausibility of the LUMPS model results was tested using remotely sensed surface temperatures from Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) imagery and reference evapotranspiration values from a meteorological station. Cooling efficiency was derived from sensible and latent heat flux differences. The time when the sensible heat flux turns negative (sensible heat flux transition) was calculated from LUMPS simulated hourly fluxes. Results indicate that the time when the sensible heat flux changes direction at night is strongly influenced by the heat storage capacity of different land cover types and by the amount of vegetation. Higher heat storage delayed the transition up to 3 h in the study area, while vegetation expedited the sensible heat reversal by 2 h. Cooling efficiency index results suggest that overall, the Phoenix urban core is slightly more efficient at cooling than the desert, but efficiencies do not increase much with wet fractions higher than 20%. Industrial sites with high impervious surface cover and low wet fraction have negative cooling efficiencies. Findings indicate that drier neighborhoods with heterogeneous land uses are the most efficient landscapes in balancing cooling and water use in Phoenix. However, further factors such as energy use and human vulnerability to extreme heat have to be considered in the cooling-water use tradeoff, especially under the uncertainties of future climate change.

ContributorsMiddel, Ariane (Author) / Brazel, Anthony J. (Author) / Kaplan, Shai (Author) / Myint, Soe W. (Author)
Created2012-08-12