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Natural dynamics, nonlinear optimization, and, more recently, convex optimization are available methods for stiffness design of energy-efficient series elastic actuators. Natural dynamics and general nonlinear optimization only work for a limited set of load kinetics and kinematics, cannot guarantee convergence to a global optimum, or depend on initial conditions to the numerical solver. Convex programs alleviate these limitations and allow a global solution in polynomial time, which is useful when the space of optimization variables grows (e.g., when designing optimal nonlinear springs or co-designing spring, controller, and reference trajectories). Our previous work introduced the stiffness design of series elastic actuators via convex optimization when the transmission dynamics are negligible, which is an assumption that applies mostly in theory or when the actuator uses a direct or quasi-direct drive. In this work, we extend our analysis to include friction at the transmission. Coulomb friction at the transmission results in a non-convex expression for the energy dissipated as heat, but we illustrate a convex approximation for stiffness design. We experimentally validated our framework using a series elastic actuator with specifications similar to the knee joint of the Open Source Leg, an open-source robotic knee-ankle prosthesis. 

In this work, we introduce a novel approach to assistive exoskeleton (or powered orthosis) control which avoids needing task and gait phase information. Our approach is based on directly designing the Hamiltonian dynamics of the target closed-loop behavior, shaping the energy of the human and the robot. Relative to previous energy shaping controllers for assistive exoskeletons, we introduce ground reaction force and torque information into the target behavior definition, reformulate the kinematics so as to avoid explicit matching conditions due to under-actuation, and avoid the need to switch between swing and stance energy shapes. Our controller introduces new states into the target Hamiltonian energy that represent a virtual second leg that is connected to the physical leg using virtual springs. The impulse the human imparts to the physical leg is amplified and applied to the virtual leg, but the ground reaction force acts only on the physical leg. A state transformation allows the proposed control to be available using only encoders, an IMU, and ground reaction force sensors. We prove that this controller is stable and passive when acted on by the ground reaction force and demonstrate the controller's strength amplifying behavior in a simulation. A linear analysis based on small signal assumptions allows us to explain the relationship between our tuning parameters and the frequency domain amplification bandwidth. 

We present Fermi Gamma-ray Burst Monitor (Fermi-GBM) and Swift Burst Alert Telescope (Swift-BAT) searches for gamma-ray/X-ray counterparts to gravitational-wave (GW) candidate events identified during the third observing run of the Advanced LIGO and Advanced Virgo detectors. Using Fermi-GBM onboard triggers and subthreshold gamma-ray burst (GRB) candidates found in the Fermi-GBM ground analyses, the Targeted Search and the Untargeted Search, we investigate whether there are any coincident GRBs associated with the GWs. We also search the Swift-BAT rate data around the GW times to determine whether a GRB counterpart is present. No counterparts are found. Using both the Fermi-GBM Targeted Search and the Swift-BAT search, we calculate flux upper limits and present joint upper limits on the gamma-ray luminosity of each GW. Given these limits, we constrain theoretical models for the emission of gamma rays from binary black hole mergers.

 

We search for gravitational-wave (GW) transients associated with fast radio bursts (FRBs) detected by the Canadian Hydrogen Intensity Mapping Experiment Fast Radio Burst Project, during the first part of the third observing run of Advanced LIGO and Advanced Virgo (2019 April 1 15:00 UTC–2019 October 1 15:00 UTC). Triggers from 22 FRBs were analyzed with a search that targets both binary neutron star (BNS) and neutron star–black hole (NSBH) mergers. A targeted search for generic GW transients was conducted on 40 FRBs. We find no significant evidence for a GW association in either search. Given the large uncertainties in the distances of our FRB sample, we are unable to exclude the possibility of a GW association. Assessing the volumetric event rates of both FRB and binary mergers, an association is limited to 15% of the FRB population for BNS mergers or 1% for NSBH mergers. We report 90% confidence lower bounds on the distance to each FRB for a range of GW progenitor models and set upper limits on the energy emitted through GWs for a range of emission scenarios. We find values of order 10⁵¹–10⁵⁷erg for models with central GW frequencies in the range 70–3560 Hz. At the sensitivity of this search, we find these limits to be above the predicted GW emissions for the models considered. We also find no significant coincident detection of GWs with the repeater, FRB 20200120E, which is the closest known extragalactic FRB.