SEARCH · Engineering Papers

Results for “Spring”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 649 records · Page 36

All sources NASA NTRS DOE OSTI

DOE OSTI2021

Magnetically coupled pressure sensor

Measurement of pressure of a fluid in a vessel using a cantilever spring in the vessel; a magnet connected to the cantilever spring in the vessel; an electromagnet outside of the vessel operatively connected to the magnet and the cantilever spring in the vessel, wherein the electromagnet induces movement of the magnet and the cantilever spring in the vessel, and wherein the movement is related to the pressure of the fluid in the vessel; a receiving coil operatively positioned relative to the magnet, wherein movement of the cantilever spring and the magnet in the vessel creates an electromotive response in the coil; and a controller analyzer connected to the receiving coil, wherein the controller analyzer uses the electromotive response in the coil for measuring the pressure of the fluid in the vessel.

Kotovsky, Jack↗

DOE OSTI2023

Magnetically coupled pressure sensor

Kotovsky, Jack↗

DOE OSTI2018

Western USA Assessment of High Value Materials in Geothermal Fluids and Produced Fluids

This submission includes the following: - Field Characteristics: Describes the geological and production field characteristics of sampling sites - Geochemistry of Produced Fluids Idaho-Nevada-New Mexico-Oregon-Utah: Summarizes the all the analytical results for aqueous samples collected from geothermal production wells, hydrocarbon production wells, and hot springs. - Geochemistry of Reservoir Rocks & Calcite Scales Nevada-Utah: Analytical results of trace element analyses of reservoir drill cuttings from Beowawe, Dixie Valley, Roosevelt Hot Springs, Uinta Basin, and Paradox Basin (Aneth field); also includes analyses of Dixie Valley calcite scales and rocks in the Sevier Thermal Belt, Utah. - Lithology and mineralogy of drill cuttings from Beowawe, Dixie Valley and Roosevelt Hot Springs: Lithological and mineralogical characterization of drill cuttings from Beowawe, Dixie Valley and Roosevelt Hot Springs - Geological Settings of Critical Element Mineral Deposits: Brief summary and references regarding the geological settings of critical element mineral deposits

15 GEOTHERMAL ENERGY↗

DOE OSTI2016

Climatic effects of irrigation over the Huang-Huai-Hai Plain in China simulated by the weather research and forecasting model: Simulated Irrigation Effects in China

In this study, we apply the Weather Research and Forecasting model coupled with an operational-like irrigation scheme to investigate the climatic effects of irrigation over the Huang-Huai-Hai plain (3HP) in China. Multiple numerical experiments with irrigation off/on during spring, summer and both spring and summer are conducted, respectively. Our results show that the warm bias in surface temperature and dry bias in soil moisture are reduced over the 3HP region during growing seasons when irrigation is turned on in the model. Air temperature during non-growing seasons is also affected by irrigation due to the persistent effects of soil moisture on land-air energy exchanges and ground heat storage. Irrigation can induce a cooler planetary boundary layer (PBL) during growing seasons, causing a wetter PBL with more low-level clouds during spring but relatively dryer PBL in summer. Further analyses indicate that the dryer summer is highly related to the changes in the East Asian summer monsoon (EASM) circulation that is modified by irrigation effect. Spring irrigation may induce a decreased land-ocean thermal contrast, leading to a possible weaker EASM. Summer irrigation, however, evidently cools the atmosphere column and forces a southward shift of the upper-level jet, which results in more precipitation in Yangtze River basin but less over southern and northern China during summer.

3HP↗

DOE OSTI2018

Grazing disturbance increases transient but decreases persistent soil seed bank

Abstract Very few studies have examined whether the impacts of grazing disturbance on soil seed banks occur directly or indirectly through aboveground vegetation and soil properties. The potential role of the seed bank in alpine wetland restoration is also unknown. We used SEM (structural equation modeling) to explore the direct effect of grazing disturbance on the seed bank and the indirect effect through aboveground vegetation and soil properties. We also studied the role of the seed bank on the restoration potential in wetlands with various grazing intensities: low (fenced, winter grazed only), medium (seasonally grazed), and high (whole‐year grazed). For the seed bank, species richness and density per plot showed no difference among grazing intensities for each depth (0–5, 5–10, 10–15 cm) and for the whole depth (0–15 cm) in spring and summer. There was no direct effect of grazing disturbance on seed bank richness and density both in spring and summer, and also no indirect effect on the seed bank through its direct effect on vegetation richness and abundance. Grazing disturbance indirectly increased spring seed bank density but decreased summer seed bank density through its direct effect (negative correlation) on soil moisture and total nitrogen and its indirect effect on vegetation abundance. Species composition of the vegetation changed with grazing regime, but that of the seed bank did not. An increased trend of similarity between the seed bank and aboveground vegetation with increased grazing disturbance was found in the shallow depth and in the whole depth only in spring. Although there was almost no change in seed bank size with grazing intensities, grazing disturbance increased the quantity of transient seeds but decreased persistent seeds. Persistent seeds stored in the soil could play a crucial role in vegetation regeneration and in restoration of degraded wetland ecosystems. The seed bank should be an integral part of alpine wetland restoration programs.

Ma, Miaojun↗

DOE OSTI2023

Reciprocal transplants reveal asymmetric local adaptation of Himalayan Rhododendron approaching elevational range limit

Abstract As plant species expand their upper limits of distribution under current warming, some retain both traditional climate space and biotic environment while others encounter novel conditions. The latter is the case for Rhododendron campanulatum , a woody shrub that grows both above and below treeline at our study site in the Eastern Himalayas where a very conspicuous, stable treeline was defined by a nearly contiguous canopy of tall Abies spectabilis trees, many of which are over a century old. Prior work showed that treeline had remained static in this region while R. campanulatum expanded its elevational range limit. We tested local adaptation of R. campanulatum by performing reciprocal transplants between the species' current elevational range limit (4023 m above sea level [asl]) and just above treeline (3876 m asl). Contrary to expectation, the coldest temperatures of late winter and early mid‐spring were experienced by plants at the lower elevation: R. campanulatum at species' limit (upper site) were covered by snow for a longer period (40 more days) and escaped the coldest temperatures suffered by conspecifics at treeline (lower site). The harsher spring conditions at treeline likely explain why leaves were smaller at treeline (15.3 cm 2 ) than at species limit (21.3 cm 2 ). Contrary to results from equivalent studies in other regions, survival was reduced more by downslope than by upslope movement, again potentially due to extreme cold temperatures observed at treeline in spring. Upslope transplantation had no effect on mortality, but mortality of species limit saplings transplanted downslope was three times higher than that of residents at both sites. A general expectation is that locals should survive better than foreign transplants, but survival of locals and immigrants at our species limit site was identical. However, those species limit saplings that survived the transplant to treeline grew faster than both locals at treeline and the transplants at species limit. Overall, we found asymmetric adaptation: Compared with treeline saplings, those at species limit (147 m above treeline) were more tolerant of extremes in the growing season but less tolerant of extremes in winter and early mid‐spring, displaying local adaptation in a more complex manner than simply home advantage, and complicating predictions about impacts of future regional climate change.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2023

Spatial and temporal overlap between hatchery- and natural-origin steelhead and Chinook Salmon during spawning in the Klickitat River, Washington, USA

Abstract Objective A goal of many segregated salmonid hatchery programs is to minimize potential interbreeding between hatchery- and natural-origin fish. Our objective was to assess this on the Klickitat River, Washington, USA. Methods We used radiotelemetry to evaluate spatiotemporal spawning overlap between hatchery- and natural-origin steelhead Oncorhynchus mykiss and spring Chinook Salmon O. tshawytscha. We estimated percentages of tagged fish that spawned naturally in the Klickitat River subbasin, emigrated from the Klickitat River, or died before spawning. A kernel density analysis was used to estimate probability of spatiotemporal overlap between hatchery- and natural-origin spawners. Result For steelhead, 12% of hatchery-origin and 50% of natural-origin fish spawned naturally. For spring Chinook Salmon, 18% of hatchery-origin and 44% of natural-origin fish spawned naturally. Tag loss may result in underestimates in these percentages. Most hatchery-origin steelhead (90%) spawned downstream of river kilometer (rkm) 32, and 75% spawned from November to mid-March. The majority of natural-origin steelhead (64%) spawned upstream of rkm 32, and 75% spawned from mid-March to late May. Spawn timing of hatchery-origin Chinook Salmon (early August to mid-September) overlapped with that of natural-origin Chinook Salmon (late July to late September), and fish of both origins spawned in the same 30-km reach of the river. We estimated the percentage of hatchery-origin spawners (pHOS) on the natural spawning grounds to be 12% for steelhead and 40% for spring Chinook Salmon across all study years. For steelhead, we estimated the overlap probability to be 25% (95% CI = 22.5–28%). For spring Chinook Salmon, tight spatial clustering of hatchery-origin fish resulted in a lower overlap estimate of 21% (13–31%). Conclusion We suggest adjusting pHOS estimates using these overlap estimates or similar spatiotemporal data on actual spawner proximity and possible interactions, and that these types of analyses be used in conjunction with gene flow analysis to accurately evaluate effects of individual hatchery programs.

Zendt, Joseph S.↗

DOE OSTI2019

Fertilizer timing affects nitrous oxide, carbon dioxide, and ammonia emissions from soil

The impact of interactions between management and climate on nitrous oxide (N 2 O), carbon dioxide (CO 2 ), and ammonia (NH 3 ) emissions are not well understood. This study quantified the effect of urea fertilizer application timing on inorganic N movement, immobilization, and the gaseous emissions of N 2 O-N, CO 2 -C, and NH 3 -N. Urea was applied once, at two rates (0 and 224 kg ha -1 ) on six dates (early fall, 20 Sept. 2017; mid-fall, 11 Oct. 2017; early winter, 1 Nov. 2017; early spring, 1 May 2018; mid-spring, 22 May 2018; and early summer, 12 June 2018). Gaseous emissions, soil temperature, and soil moisture were measured every 4 h for 21 consecutive days following urea application. Changes in soil inorganic N contents were used to determine the amount of inorganic N remaining in the soil, nitrification, immobilization/fixation, and leaching. For all fertilizer application dates, the cumulative fertilizer derived N 2 O-N emissions for the 21 days following application were <0.05% of the applied N. Fertilizer-derived N 2 O-N emission rates were higher than N 2 O-N emission rates in the unfertilized soil in early fall and early summer. Even though the highest net N 2 O-N emissions occurred in early spring, the application of fertilizer did not increase emissions. The highest net N 2 O-N + NH 3 -N emissions occurred in cool soils (early spring) in soils with water filled pore space (>60%). These findings indicate that intergovernmental panel on climate change (IPCC) default value of 1% of applied N for N 2 O emissions improved by considering the fertilizer application date.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

A Comparative Metagenomic Analysis of Specified Microorganisms in Groundwater for Non-Sterilized Pharmaceutical Products

In pharmaceutical manufacturing, ensuring product safety involves the detection and identification of microorganisms with human pathogenic potential, including Burkholderia cepacia complex (BCC), Escherichia coli, Pseudomonas aeruginosa, Salmonella enterica, Staphylococcus aureus, Clostridium sporogenes, Candida albicans, and Mycoplasma spp., some of which may be missed or not identified by traditional culture-dependent methods. In this study, we employed a metagenomic approach to detect these taxa, avoiding the limitations of conventional cultivation methods. We assessed the groundwater microbiome’s taxonomic and functional features from samples collected at two locations in the spring and summer. All datasets comprised 436–557 genera with Proteobacteria, Bacteroidota, Firmicutes, Actinobacteria, and Cyanobacteria accounting for > 95% of microbial DNA sequences. The aforementioned species constituted less than 18.3% of relative abundance. Escherichia and Salmonella were mainly detected in Hot Springs, relative to Jefferson, while Clostridium and Pseudomonas were mainly found in Jefferson relative to Hot Springs. Multidrug resistance efflux pumps and BlaR1 family regulatory sensor-transducer disambiguation dominated in Hot Springs and in Jefferson. These initial results provide insight into the detection of specified microorganisms and could constitute a framework for the establishment of comprehensive metagenomic analysis for the microbiological evaluation of pharmaceutical-grade water and other non-sterile pharmaceutical products, ensuring public safety.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2016

Ten-year variability in ecosystem water use efficiency in an oak-dominated temperate forest under a warming climate

The impacts of extreme weather events on water-carbon (C) coupling and ecosystem-scale water use efficiency (WUE) over a long term are poorly understood. We analyzed the changes in ecosystem water use efficiency (WUE) from 10 years of eddy-covariance measurements (2004-2013) over an oak-dominated temperate forest in Ohio, USA. The aim was to investigate the long-term response of ecosystem WUE to measured changes in site-biophysical conditions and ecosystem attributes. The oak forest produced new plant biomass of 2.5 +/- 0.2 gC kg(-1) of water loss annually. Monthly evapotranspiration (ET) and gross ecosystem production (GEP) were tightly coupled over the 10-year study period (R-2=0.94). Daily WUE had a linear relationship with air temperature (T-a) in low-temperature months and a unimodal relationship with T-a in high-temperature months during the growing season. On average, daily WUE ceased to increase when T-a exceeded 22 degrees C in warm months for both wet and dry years. Monthly WUE had a strong positive linear relationship with leaf area index (LAI), net radiation (R-n), and T-a and weak logarithmic relationship with water vapor pressure deficit (VPD) and precipitation (P) on a growing-season basis. When exploring the regulatory mechanisms on WUE within each season, spring LAI and P, summer R-n and T-a, and autumnal VPD and R-n were found to be the main explanatory variables for seasonal variation in WUE. The model developed in this study was able to capture 78% of growing-season variation in WUE on a monthly basis. The negative correlation between WUE and A in spring was mainly due to the high precipitation amounts in spring, decreasing GEP and WUE when LAI was still small, adding ET being observed to increase with high levels of evaporation as a result of high SWC in spring. Summer WUE had a significant decreasing trend across the 10 years mainly due to the combined effect of seasonal drought and increasing potential and available energy increasing ET, but decreasing GEP in summer. We concluded that seasonal dynamics of the interchange between precipitation and drought status of the system was an important variable in controlling seasonal WUE in wet years. In contrast, despite the negative impacts of unfavorable warming, available groundwater and an early start of the growing season were important contributing variables in high seasonal GEP, and thus, high seasonal WUE in dry years. (C) 2015 Elsevier B.V. All rights reserved.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

A Kaczmarz-inspired approach to accelerate the optimization of neural network wavefunctions

Neural network wavefunctions optimized using the variational Monte Carlo method have been shown to produce highly accurate results for the electronic structure of atoms and small molecules, but the high cost of optimizing such wavefunctions prevents their application to larger systems. We propose the Subsampled Projected-Increment Natural Gradient Descent (SPRING) optimizer to reduce this bottleneck. SPRING combines ideas from the recently introduced minimum-step stochastic reconfiguration optimizer (MinSR) and the classical randomized Kaczmarz method for solving linear least-squares problems. We demonstrate that SPRING outperforms both MinSR and the popular Kronecker-Factored Approximate Curvature method (KFAC) across a number of small atoms and molecules, given that the learning rates of all methods are optimally tuned. For example, on the oxygen atom, SPRING attains chemical accuracy after forty thousand training iterations, whereas both MinSR and KFAC fail to do so even after one hundred thousand iterations.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Hydrokinetic energy harvesting from slow currents using flow-induced oscillations

To harness marine hydrokinetic energy from slow flows, which constitute the majority of currents, tides, and rivers, new Passive Turbulence Control (PTC), consisting of large turbulence stimulators, is tested experimentally on circular cylinders on springs. Here, this study experimentally investigates the effect of PTC on the onset of Flow-Induced Oscillations (FIO) and particularly the relative onset of Vortex-Induced Vibrations (VIV) and galloping. Experiments are conducted in the Low Turbulence Free Surface Water Channel, University of Michigan. Fixed are: mass ratio m* = 1.48, aspect ratio l/D = 10.29, and total damping ratio ζ = 0.04. Parameters are: cylinder diameter D, spring stiffness K, PTC location and height, and flow speed U$\in$[0.36 m/s-1.45 m/s]. Placing the leading edge of PTC at 40–60° induces high amplitude FIO while placement at 10–20° suppresses FIO. As PTC height increases, VIV and galloping initiate earlier and exhibit higher amplitude with a steeper slope. Lower spring stiffness initiates VIV earlier by reducing the oscillator natural frequency in water. Even though large PTC maintained its effectiveness in initiating galloping early, it has no effect on the earlier initiation of VIV, which starts at a nearly fixed reduced velocity. Lower spring stiffness and large PTC enable power generation at low current speed (0.2 m/s).

16 TIDAL AND WAVE POWER↗

DOE OSTI2018

Future Changes in Seasonality of the North Pacific and North Atlantic Subtropical Highs

We report the subtropical highs have a zonal-mean and a zonally-asymmetric component related to the Hadley cell and land-sea contrast, respectively. Based on 37 Coupled Model Intercomparison Project phase 5 models, relative roles of the Hadley cell and land-sea contrast in future changes of the North Pacific and North Atlantic subtropical highs (NPSH and NASH) are evaluated. Both the NPSH and NASH are significantly enhanced during boreal spring (April-June) but not summer (July-September). Although the zonally-asymmetric component contributes to more than half of the enhancement during spring, the zonal-mean component is responsible for the inter-seasonal contrast of the responses of the NPSH and NASH between spring and summer. Lastly, the seasonally-dependent Hadley cell changes are due to changes in tropical precipitation related to sea surface temperature (SST) warming, while enhanced land-sea contrast has comparable effects on the NPSH and NASH during both spring and summer, with important implications to US regional precipitation.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Brockarchaeota, a novel archaeal phylum with unique and versatile carbon cycling pathways

Geothermal environments, such as hot springs and hydrothermal vents, are hotspots for carbon cycling and contain many poorly described microbial taxa. Here, we reconstructed 15 archaeal metagenome-assembled genomes (MAGs) from terrestrial hot spring sediments in China and deep-sea hydrothermal vent sediments in Guaymas Basin, Gulf of California. Phylogenetic analyses of these MAGs indicate that they form a distinct group within the TACK superphylum, and thus we propose their classification as a new phylum, ‘Brockarchaeota’, named after Thomas Brock for his seminal research in hot springs. Based on the MAG sequence information, we infer that some Brockarchaeota are uniquely capable of mediating non-methanogenic anaerobic methylotrophy, via the tetrahydrofolate methyl branch of the Wood-Ljungdahl pathway and reductive glycine pathway. The hydrothermal vent genotypes appear to be obligate fermenters of plant-derived polysaccharides that rely mostly on substrate-level phosphorylation, as they seem to lack most respiratory complexes. In contrast, hot spring lineages have alternate pathways to increase their ATP yield, including anaerobic methylotrophy of methanol and trimethylamine, and potentially use geothermally derived mercury, arsenic, or hydrogen. Their broad distribution and their apparent anaerobic metabolic versatility indicate that Brockarchaeota may occupy previously overlooked roles in anaerobic carbon cycling.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2012

A novel apparatus for in situ compression of submicron structures and particles in a high resolution SEM

We report on the development and characterization of a novel in situ manipulation device to perform stressing experiments on the submicron scale inside a high resolution field emission scanning electron microscope. The instrument comprises two main assembly groups: an upper part for positioning and moving a mounted probe and a force sensor as well as a specimen support as lower part. The upper part consists of a closed loop tripod piezoelectric scanner mounted on a self-locking coarse positioning stage. Two interlocked steel springs and a linear variable differential transformer measuring the springs' deflections compose the lower part of the instrument. This arrangement acts as force-sensor and sample support. In comparison to already well-established concepts a wide measuring range is covered by adjusting the spring constant between 30 N/m and 50000 N/m. Moreover, the new device offers striking advantages with respect to force calibration and sample deformation measurements. Force calibration is performed using the eigenfrequency of the force detection system directly inside the SEM. Deformation data are obtained with high accuracy by simultaneously recording displacements above and below the specimen. The detrimental apparatus compliance is determined, and the influence on measured data subsequently minimized: an easy to validate two-springs-in-series model is used for data correction. A force resolution in normal direction of 100 nN accompanied by a sample deformation resolution of 5 nm can be achieved with the instrument using an appropriate load cell stiffness. The capabilities and versatility of this instrument are exemplified by compression experiments performed on submicron amorphous silica particles.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2019

Detoured flight direction responses along the southwest coast of Lake Erie by night-migrating birds

Abstract Migratory birds encounter the Great Lakes while moving through eastern North America toward breeding grounds to the North, which offers a good opportunity to study variation in migratory behavior as birds face a potentially influencing topographical feature. Using passive infrared technology, we documented the direction of relatively low-flying, nocturnal, mostly passerine migration in spring along the southern coast of Lake Erie’s western basin. We examined the extent to which spring migrants flew across Lake Erie as a continuation of the inland, northeasterly broad front migratory direction, as determined by weather radar and infrared observations, or displayed a tendency to deviate to more closely follow the direction of the coastline. We found that an estimated 62% of all low-flying migrants deviated their flight directions toward the coast of Lake Erie at 2 coastal sites, Cedar Point and Ottawa, which were characterized by northwest–southeast oriented coastlines. Migrants at a third coastal location, Maumee Bay, which has a more east–west oriented coastline, did not display similarly deviated flight directions. We found that even when winds were energetically favorable for a lake crossing, many migrants still routinely displayed deviated flight directions that approached paralleling the coastline. Further, the mean flight direction at one site, Ottawa, shifted more in the direction of the coastline as the night progressed, suggesting that time of night could influence the shift to a more coastal flight direction. The data indicate that the western basin of Lake Erie acts as a salient topographical feature influencing the flight directions of nocturnal migrants. The data further suggest that birds are making active decisions while in flight, based on current environmental and physiological conditions, about whether to continue to cross Lake Erie or take a coastal detour.

Zoology↗

DOE OSTI2025

Habitat-specific seasonal densities of sympatric raccoons and opossums in the southeastern United States

Raccoon and opossum densities have implications for rabies management, but estimates of seasonal densities of both species are lacking for rural nonagricultural habitats of the southeastern United States, a core portion of their geographic range. Consequently, it remains unclear whether the densities of 1 species limit the other, which is possible considering their substantial niche overlap. We carried out a mark–recapture study of raccoons and opossums in 4 rural nonagricultural habitats (bottomland hardwood forest, riparian forest, upland pine forest, and isolated wetlands) in South Carolina, United States (2020 to 2022), and combined this with previous data from the same habitats (2017 to 2019) to estimate habitat-specific spring and fall densities. Raccoon densities ranged from 5.17 ± 0.96 animals/km 2 (bottomland hardwood fall) to 1.63 ± 0.83 animals/km 2 (upland pine spring) and were on average 19% higher in fall compared to spring. Opossum densities ranged from 10.35 ± 1.98 animals/km 2 (bottomland hardwood fall) to 1.11 ± 1.55 animals/km 2 (upland pine spring) with divergent seasonal patterns among habitats. These low densities across all habitats compared to other studies are likely the result of low resource availability, consistent with other habitats that have minimal anthropogenic influence. We observed a positive association between raccoon and opossum densities across trapping grids, suggesting that raccoons do not suppress opossum densities, but that densities of both species increase with increasing resource availability. Furthermore, our results can be used to inform oral rabies vaccination efforts such as refining bait densities and timing of bait distribution in these habitats.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

Parallel elastic elements improve energy efficiency on the STEPPR bipedal walking robot

This study describes how parallel elastic elements can be used to reduce energy consumption in the electric motor driven, fully-actuated, STEPPR bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how selectively-engaging springs for hip adduction and ankle flexion predict benefits for three different flat ground walking gaits: human walking, human-like robot walking and crouched robot walking. Based on locomotion data, springs are designed and substantial reductions in power consumption are demonstrated using a bench dynamometer. These lessons are then applied to STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a fully actuated bipedal robot designed to explore the impact of tailored joint mechanisms on walking efficiency. Featuring high-torque brushless DC motors, efficient low-ratio transmissions, and high fidelity torque control, STEPPR provides the ability to incorporate novel joint-level mechanisms without dramatically altering high level control. Unique parallel elastic designs are incorporated into STEPPR, and walking data shows that hip adduction and ankle flexion springs significantly reduce the required actuator energy at those joints for several gaits. These results suggest that parallel joint springs offer a promising means of supporting quasi-static joint torques due to body mass during walking, relieving motors of the need to support these torques and substantially improving locomotive energy efficiency.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗