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This paper presents the energy consumption of a biped robot with a new modelled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. The optimal energy consumption can also be calculated. The first part of the paper is to validate the new kinematic knee on a biped robot by comparing the energy consumption during a walking step of the identical biped but with revolute joint knees. The cyclic gait is given by a succession of Single Support Phase (SSP) followed by an impact. The gait trajectories are parameterized by cubic spline functions. The energetic criterion is minimized through optimization while using the simplex algorithm and Lagrange penalty functions to meet the constraints of stability and deflection of the mobile foot. An analysis of the friction coefficients is done by simulation to compare the human characteristics to the robot with RK. The simulation results show an energy consumption reduction through the biped with rolling knee configuration. The influence of friction coefficients shows the energy consumption of biped robot is close to that of the human. ANR-09-SEGI-011-R2A2; French National Research Agency

This work analyzes the synergy between two complementary unit operations - adsorbent dehumidification and drying - and presents a mixed integer nonlinear programming approach to optimize energy performance in a two-stage system. Combined with active constraint analysis, the adsorbent properties that promote energy performance are derived. Microporous adsorbents with higher sorption capacities at low vapor pressures and requiring higher regeneration temperatures are preferred for ambient air dehumidification in the first stage. For exhaust air dehumidification, mesoporous adsorbents with lower regeneration temperatures are preferred such that the exhaust air from the first regeneration stage can sufficiently regenerate them. For drying below 50 C, energy consumption reductions of about 70% are achieved compared to conventional dryers without adsorbent dehumidification depending on adsorbent properties. The results demonstrate the usefulness of superstructure optimization in matching the drying process with the capabilities of the adsorbents to enhance process synergy for improved energy efficiency. © 2013 American Chemical Society.