Exoskeletons and humanoid robots require high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to increase its maximum continuous torque. The actuator is capable of outputting a maximum continuous force of 4800N and a maximum speed of 0.267 m/s with a maximum continuous motor current of 18A. The Titanium leaf spring was used in the actuator to provide compliance. The spring has a median stiffness of 587 N/mm with standard deviation of 38 N/mm, validated by experiments. Dynamic model was created to analyze the normal modes and can be used for developing model-based controllers. / Master of Science / Compliant Linear actuators with ball screw have become popular for humanoids robots and exoskeleton. The use of ball screw lead to high efficiency, high gear ratio and high back-drivability. The compliance or the ''softness'' of the actuator comes from Titanium leaf spring, which can storage energy during gait cycle and protect motor and the ball screw from impacts of walking. The custom liquid cooling system improves the force density for the actuator. Beam theory analysis, heat transfer analysis, and dynamics analysis were performed to provides insights for the actuator system.

No atual período de incertezas na geração e transmissão de energia elétrica no Brasil, a utilização dos sistemas de cogeração com uso de gás natural, tornou-se uma grande oportunidade econômica, estratégica e tecnológica, para as pequenas e médias empresas, considerando a extensão e perspectivas de expansão da rede de distribuição de gás natural. Uma empresa farmacêutica para se manter competitiva e reduzir o impacto dos custos indiretos em seus produtos, necessitava aumentar sua linha de injetáveis, produzindo no Brasil alguns medicamentos que até então eram importados de filiais em outros países e para que isto fosse possível, teria de investir na construção de novos laboratórios, compra de equipamentos, aumento de utilidades para sua fabricação como vapor de água para injetáveis, sistema de HVAC para salas limpas, o que levaria a um aumento de consumo de energia, vapor, água de refrigeração. Este investimento inviabilizaria a produção desta nova linha de produtos, pois tanto o custo do investimento em novas centrais de utilidades, quanto mais o custo desta geração e sua manutenção, decretariam um fim para a esta empreita. Neste trabalho, apresentou-se uma alternativa como solução para viabilizar esta instalação, trocando-se os chillers convencionais por um chiller de absorção, que alem de consumir pouca energia elétrica utilizando a troca térmica entre brometo de lítio e vapor para gerar água de resfriamento para o sistema de ar condicionado, o sistema proposto proporcionou um aumento de fornecimento de vapor não só para alimentar o sistema de HVAC como para a produção da fabrica, anexo a esta caldeira de recuperação é proposto a instalação de uma turbina á gás com condições suficientes de gerar energia elétrica para todo o site e ainda ter condições de negociar o excedente de energia para ser vendido para a concessionária. O resultado deste sistema proposto demonstrou uma excelente eficiência, frente ao sistema convencional, o que tecnicamente se apresentou como muito viável. / In the current period of uncertainty in the generation and transmission of electric energy in Brazil, the use of cogeneration systems using natural gas, has become a great economic opportunity, strategic and technology for small and medium enterprises, considering the extent and prospects for expansion of the distribution of natural gas. A pharmaceutical company to remain competitive and reduce the impact of indirect costs in their products, needed to increase its line of injectables, producing here in Brazil some drugs that were previously imported from subsidiaries in other countries and to make this possible, would invest in building new laboratories, purchase equipment, increase of utilities for its manufacture steam as water for injection, the HVAC system for clean rooms, leading to an increased consumption of energy, steam, cooling water. This investment would make impracticable the production of this new line of products, therefore not only the cost of the investment in new central offices of utilities, the more the cost of this generation of utilities and its maintenance, would decree an end for the this take over on a contract basis. In this work, presented as an alternative solution to enable this facility, exchanging conventional chillers for an absorption chiller, which besides consume little electricity using the heat exchange between lithium bromide to generate steam and cooling water for the air conditioning system, the proposed system provided an increased supply of steam to feed not only the HVAC system for the production of manufactures, attached to this recovery boiler is proposed to install a gas turbine with sufficient conditions generate electricity for the entire site and still be able to trade the surplus energy to be sold to the utility. The result of this proposed system showed an excellent efficiency, compared to the conventional system, which technically is presented as very viable.

This work deals with design of thermal source of panel shape for scientific biological application. Panel has adjustable surface temperature and thermal gradient. The first part of this work concern with design and numerical modeling of the thermal system, application of materials and arrangement of thermal and cooling devices – Peltier elements. Second part of this work is about construction of the panel and experimental measurement.