Carlos Castro

 1. Biomechatronic Foot

Emulate the dexterity and range of motion of a human foot. Applications to legged locomotion and robotics.

The aim of this project is to create a dexterous mechatronic foot modeled after the physiology of the human foot and primates. Applications of this project are directed towards legged locomotion systems found in robotics and powered prosthesis.

Conventional humanoid robotics utilize the “flat foot” model, where there are no supporting arches and minimal range of motion within the foot. But as seen in everyday animal biology, the foot collectively uses both passive and active (powered) structures to create a remarkably mobile and stable system. The Biomechatronic Foot aims to replicate the dynamics and range of motion of a human foot by means of having both passive and active (powered) mechanical structures. The complexity of biology will be reduced to the primary and dominating mechanical degrees of freedom while allowing the necessary motion of the forefoot, heel, and ankle.

Past Biomechatronic Foot designs have implemented very nimble powered toes as well as an array of mechanical structures to mimic the functionality of a human foot. Different sensor types have been used to test and monitor the stability and dynamics of the foot. Continued development of the Biomechatronic Foot will involve investigating mechanical means of achieving complex flexion and extension of the toes as well as flexion, extension, and roll of the ankle, investigating more robust actuators for the toes and ankle, investigating passive means of reducing impact loading, increasing the quality and number of sensors placed throughout the foot, incorporating effective control systems, among other improvements.

2. Human Thermal Regulation

Heat exchanger systems for regulating body temperature. Applications to biomedical and life support systems. 

The aim of this project is to develop a compact and portable heat exchanger system that is contoured to a specific location(s) on the body to help regulate human core temperature as well as subcutaneous temperature. The function of this system makes this a biomedical device. Applications of this system can be directed towards everyday work usage such as farm and construction workers, life support systems for space applications, and therapeutic hypothermia (cooling) equipment where the primary goal is to protect the brain and organs through total body cooling.

The normal human body core temperature is approximately 98 °F (37 °C). Any slight increase or decrease to the core body temperature can lead to significant damage. Hypothermia occurs when the body core temperature decreases to 95 °F (35 °C). Hyperthermia occurs when the body core temperature approaches 101 °F (38 °C) and heat stroke occurs at 104 °F (40 °C). When the external working environment (temperature, humidity) is at extreme conditions (too hot/too cold) the body has a difficult time maintaining the desired and stable core temperature leading to physiological complications. Medically induced hypothermia, called therapeutic hypothermia is frequently used to protect vital organs from further damage.

The novelty of this system can be directed to the design and contouring of the heat exchanger. Previous designs have used thermoelectric (Peltier) devices along with a 3D printed heat exchanger with a high thermal conductive filament (Ice9) molded in a silicone-based material and garment fitted. Significant portions of this project will investigate heat exchanger design, materials, and internal structures as it applies to the contours required by the human body.

3. Control of Free-Falling Bodies

Actively and/or passively control the dynamics of a free-falling body. Applications to atmospheric-entry systems, satellite attitude control, stuntronic robots.

Project historically sponsored by Lockheed Martin Corporation

The aim of this project is to investigate and develop a system to actively and/or passively control the orientation (stability) of a free-falling body. The primary aims of the project are to investigate the dynamics associated with such motion and the mechanical means to control the motion. Active control will be done by either (or a combination of) active control surfaces, gyroscopic stability such as reaction wheels or control moment gyroscopes, or simply by controlling the extension and retraction of body segments. Passive control will be done by either (or a combination of) inherent stability of the body, or quasi-static control surfaces. Future applications of this project are directed towards space applications such as atmospheric-entry vehicle/capsule design studies, atmospheric collection systems to study planetary atmospheres, satellite attitude control, and stuntronics for aerial robotic entertainment.

Previous projects have involved the design and simulation of a free-falling multi-legged aerial robot and the prototyping of a 3D reaction wheel system for satellite attitude (orientation) control. The direction of this project will be based on common interests.

4. Vertical Wind Tunnel

Small (tabletop size) vertical wind tunnel to test small and scaled systems. Applications to investigating the flow dynamics of bodies.

The aim of this project is to design and build a small (tabletop size) vertical wind tunnel system. The end result is to have a system for flow visualization and flow characterization over a body. Characterization implies the ability to extract data in a controlled manner, therefore an array of sensors will be used. Future usage of the vertical wind tunnel will be to investigate scaled models associated with the Control of Free-Falling Bodies project and serve as a general educational tool.