Abstract: A method and corresponding device for transferring heat between a discharge fluid (3) of a first system (5) and a second system (7). The discharge fluid (3) from the first system (5) is received and conveyed to a given location (9). There is provided at least one non-vertical elongated member (11) being positioned, shaped and sized so as to define an array of stacked cross-sectional profiles (13) extending within at least one wall segment (15), said at least one wall segment (15) being operatively connectable to the second system (7). The discharge fluid (3) is allowed to free-flow (ex. free-fall, cascade, etc.) over said at least one wall segment (15) of stacked cross-sectional profiles (13) so as to allow a heat exchange between the discharge fluid (3) and the array of stacked cross-sectional profiles.

Abstract: The present invention relates a mechanical differential actuator for interacting with a mechanical load. The mechanical differential actuator comprises first and second semi-active sub-actuators, a velocity source and first and second mechanical differentials having three interaction ports each. The first mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator. The second mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator. Finally, the second interaction ports of the first and second mechanical differentials are coupled together to form an output which is configured so as to be coupled to the load.

Abstract: The mechanical differential actuator according to the present invention comprises a mechanical differential having three mechanicals ports. A first transducer with a low impedance is coupled to a first port, a second transducer with a high impedance is coupled to a second port, and the mechanical load is coupled to the third port. The mechanical differential actuator enables controlling a force and a speed at a load coupled thereto through a known relation between the force and the speed. Moreover, the mechanical differential actuator presents a compact structure enabling the transfer of a large force relative to its volume.

Abstract: The present invention relates a mechanical differential actuator for interacting with a mechanical load. The mechanical differential actuator comprises first and second semi-active sub-actuators, a velocity source and first and second mechanical differentials having three interaction ports each. The first mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator. The second mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator. Finally, the second interaction ports of the first and second mechanical differentials are coupled together to form an output which is configured so as to be coupled to the load.

Abstract: The mechanical differential actuator according to the present invention comprises a mechanical differential having three mechanicals ports. A first transducer with a low impedance is coupled to a first port, a second transducer with a high impedance is coupled to a second port, and the mechanical load is coupled to the third port. The mechanical differential actuator enables controlling a force and a speed at a load coupled thereto through a known relation between the force and the speed. Moreover, the mechanical differential actuator presents a compact structure enabling the transfer of a large force relative to its volume.

Abstract: A modular robotic platform is provided having four legs mounted to a body. Each of the legs is mounted to the body via a steering assembly so as to pivot in a first plane relatively to the body. Each leg includes an endless track assembly having a first wheel, a drive system for driving the first wheel, a second wheel, an endless track for rotatably coupling the second wheel to the first wheel, and a track tensioning assembly for pivoting the leg in a second plane perpendicular to the first plane. Each leg includes a locomotion controller and a local environment recognition module. Synchronisation of the legs is achieved by a central controller, which gathers data information from each leg through a synchronisation bus. A coordination bus allows to exchange data information between different modules of the robotic platform, including the legs, the central control system and other systems or modules such as an energizing system, a pitch gauge system, etc.