This paper presents the design, development, and basic operation of MinIAQ, an origami-inspired, foldable, untethered, miniature quadruped robot. Instead of employing multilayer composite structures similar to most microrobotic fabrication techniques, MinIAQ is fabricated from a single sheet of thin A4-sized PET film. Its legs are designed based on a simple four-bar locomotion mechanism that is embedded within its planar design. Each leg is actuated and controlled individually by separate DC motors enabling gait modification and higher degree of freedom on controlling the motion. The origami-inspired fabrication technique is a fast and inexpensive method to make complex 3D robotic structures through successive-folding of laser-machined sheets. However, there is still a need for improvement in modulating and extending the design standards of origami robots. In an effort to addressing this need, the primitive foldable design patterns of MinIAQ for higher structural integrity and rigidity are presented in detail. The current robot takes less than two hours to be cut and assembled and weighs about 23 grams where 3.5 grams is the weight of its body, 7.5 grams is its motors and encoders, 5 grams is its battery, and about 7 grams is its current on-board electronics and sensors. The robot is capable of running about 30 minutes on a single fully charged 150mAh single cell LiPo battery. Using the feedback signals from the custom encoders, MinIAQ can perform a trot gait with a speed of approximately 0.65 Bodylengths/sec, or equivalently 7.5 cm/s.

Origami has long been renowned as a simple yet creative form of art and its folding techniques have recently inspired advances in design and fabrication of miniature robots. In this work, we present the design and fabrication novelties, enhancements, and performance improvements on MinIAQ (Miniature Independently Actuated-legged Quadruped), an origami-inspired, foldable, miniature quadruped robot with individually actuated legs. The resulting robot, MinIAQ-II, has a trajectory-optimized leg actuation mechanism with longer stride, improved traction, less flexure joint bending, and smaller leg lift resulting in faster and smoother walking, better maneuverability, and higher durability and joint life. In order to maximize the joint fatigue life while keeping the leg design simple, the initial four-bar mechanism is optimized by manipulating the joint locations and changing the leg link into a non-straight knee shape with a fixed-angle lock. Despite having a 1 cm longer frame to embed its new actuation mechanism, the overall weight and dimensions are similar to its first version as its legs are no longer extended beyond its frame. As a result, MinIAQ-II is 12-cm-long, 6-cm-wide, 4.5-cm-high and weighs 23 grams. The test results demonstrate the improvement in speed over its predecessor from 0.65 to more than 0.8 bodylengths/s at 3 Hz, and an approximate decrease in body's roll ±21 • to ±9 • and pitch from 0 • -11 • to 0 • -7 • . The independent actuation and control over each leg enables such a robot to be used for gait studies in miniature scale, as is the next direction in our research.

a b s t r a c t Solar ponds are low cost pools of brine solutions with integrated storage zones that harvest incident solar energy and store it as thermal energy. The current study examined the performance of a salinity gradient solar pond under the Mediterranean climatic condition for ten consecutive months of operation, from October 8, 2014 to July 31, 2015. The presented results are based on the experimental data of a smallscale circular pond, 61 cm in diameter a height of 55 cm, constructed and operated at Middle East Technical University, Northern Cyprus Campus (METUNCC). The study showed the necessity of regular surface washing and having excess undissolved salt at the lower convective zone (LCZ) to maintain the pond stability. The variations in the temperature of the non-convective (NCZ) and lower convective zones (LCZ) are found to be a function of both ambient temperature and solar irradiation (insolation). The variation of the overall pond's temperature strongly follows the changes in ambient temperature while solar insolation directly affects the increase in temperature gradient by depth. During the period of this study, the pond reached the highest average temperature of 48°C in July 2015 while the average ambient temperature for this month was 30°C.

The study of animals and insects have led to realization that animals select their gaits, patterns of leg movement, according to speed. For proper gait planning, the legs must be controlled for proper foot placement with respect to the body motion and ground interactions. However, in small scale robotic platforms gait planning through foot placement control is neither cost effective nor easily attainable due to a lack of available sensors. Thus, even though a desired gait is envisioned at the design phase, it is not known whether the gait is optimum. In this work, we present the comprehensive dynamic model of the miniature foldable robot, MinIAQ-II, which has four independently actuated legs. Dynamic model is used to perform gait analysis, to investigate the difference between the intended gait and the achieved gait in the absence of foot placement control. The model is verified through slow speed walking experiments on flat terrain. The work presented can be modified for different miniature robots with passive legs to predict their locomotion under no foot placement control.

Generation expansion planning requires simulating the medium term power market. This can be done based on electricity price signals in the power market. The market clearing price is one of the most important factors to determine the incremental rate of private investor's profit. When calculating this parameter, the planners encounter greater uncertainties in a restructured power market than in a centralized market. This can be critical when renewable energies participate in this type of electricity market. In this study, the scenario based method is used to model a wind power plant in the restructured power market. The hourly output of the wind turbine generators is simulated based on a hybrid Auto Regressive and Moving Average-Monte Carlo method. Each scenario of the wind power plant as well as its occurrence probability is determined based on a data mining technique. Then, a new comprehensive model for the restructured power market is proposed to maximize the profit of investors as well as to determine the market clearing price by considering stochastic and rational uncertainties. The stochastic uncertainties include the demand and fuel price that are modelled by using the Monte-Carlo method. The Nash equilibrium in the rational uncertainty as a strategic behaviour of players in the power market is determined by using the Cournot game. The effect of the CO2 tax rate and the bilateral contract are investigated in this study. Finally, the model is implemented in a test power market. According to the findings, this model can be used as a robust and comprehensive model to determine the market clearing price which can be applied for capacity expansion planning.