WorldWideScience

Sample records for actuating systems

  1. Laser Actuated Presentation System

    Chowdhary, Atul; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given threshold value. Measured Reliability, Accuracy and Latency of our system are 90%, 10 pixels (in the worst case) and 38 ms respectively.

  2. Laser Actuated Presentation System

    Chowdhary, Atul; Agrawal, Vivek; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given thre...

  3. Electromechanical propellant control system actuator

    Myers, W. Neill; Weir, Rae Ann

    1990-01-01

    New control mechanism technologies are currently being sought to provide alternatives to hydraulic actuation systems. The Propulsion Laboratory at Marshall Space Flight Center (MSFC) is involved in the development of electromechanical actuators (EMA's) for this purpose. Through this effort, an in-house designed electromechanical propellant valve actuator has been assembled and is presently being evaluated. This evaluation will allow performance comparisons between EMA and hydraulics systems. The in-house design consists of the following hardware: a three-phase brushless motor, a harmonic drive, and an output spline which will mate with current Space Shuttle Main Engine (SSME) propellant control valves. A resolver and associated electronics supply position feedback for the EMA. System control is provided by a solid-state electronic controller and power supply. Frequency response testing has been performed with further testing planned as hardware and test facilities become available.

  4. Sensors and actuators engineering system instrumentation

    de Silva, Clarence W

    2015-01-01

    An engineering system contains multiple components that interconnect to perform a specific task. Starting from basic fundamentals through to advanced applications, Sensors and Actuators: Engineering System Instrumentation, Second Edition thoroughly explains the inner workings of an engineering system. The text first provides introductory material-practical procedures and applications in the beginning-and then methodically integrates more advanced techniques, theory, and concepts throughout the book. Emphasizing sensors, transducers, and actuators, the author discusses important aspects of comp

  5. A wireless actuating drug delivery system

    A wireless actuating drug delivery system was devised. The system is based on induction heating for drug delivery. In this study, thermally generated nitrogen gas produced by induction heating of azobisisobutyronitrile (AIBN) was utilized for pressure-driven release of the drug. The delivery device consists of an actuator chamber, a drug reservoir, and a microchannel. A semicircular copper disc (5 and 6 mm in diameter and 100 µm thick), and thermal conductive tape were integrated as the heating element in the actuator chamber. The final device was 2.7 mm thick. 28 µl of drug solution were placed in the reservoir and the device released the drug quickly at the rate of 6 µl s−1 by induction heating at 160 µT of magnetic intensity. The entire drug solution was released and dispersed after subcutaneous implantation under identical experimental condition. This study demonstrates that the device was simply prepared and drug delivery could be achieved by wireless actuation of a thin, pressure-driven actuator. (paper)

  6. 14 CFR 33.72 - Hydraulic actuating systems.

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hydraulic actuating systems. 33.72 Section... AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic actuating systems. Each hydraulic actuating system must function properly under all conditions in which...

  7. Design of actuator system for industrial robots

    Santaulària Arbonés, Oriol

    2010-01-01

    Heavy-duty robots are used in a wide range of industrial applications. During the last years the handling capacity and a reduced cycle time requirements have been increased without compromising the robot quality. The purpose of this master thesis is to design and simulate an actuator system for motion control suitable for a three joint robot. Before analyzing the 3-DOF model, a theoretical kinematic and dynamic analysis is performed. This theoretical foundation gives the basis to later dec...

  8. Requirement analysis of an intelligent, redundant, actuation system

    De Feo, P.; Shih, K. C.

    1986-01-01

    The reliability and fault tolerance requirements of integrated, critical, digital fly-by-wire control systems for advanced military and civil aircraft requires redundant, reconfigurable implementations of the actuation system. An effective way for controlling the actuators and implementing the required fault detection and reconfiguration strategies is by means of dedicated microprocessors. This paper describes a laboratory implementation of a flexible intelligent redundant actuation system capable of demonstrating the concept and analyzing a variety of configurations and technical issues.

  9. Microelectromechanical systems integrating molecular spin crossover actuators

    Manrique-Juarez, Maria D.; Rat, Sylvain; Mathieu, Fabrice; Saya, Daisuke; Séguy, Isabelle; Leïchlé, Thierry; Nicu, Liviu; Salmon, Lionel; Molnár, Gábor; Bousseksou, Azzedine

    2016-08-01

    Silicon MEMS cantilevers coated with a 200 nm thin layer of the molecular spin crossover complex [Fe(H2B(pz)2)2(phen)] (H2B(pz)2 = dihydrobis(pyrazolyl)borate and phen = 1,10-phenantroline) were actuated using an external magnetic field and their resonance frequency was tracked by means of integrated piezoresistive detection. The light-induced spin-state switching of the molecules from the ground low spin to the metastable high spin state at 10 K led to a well-reproducible shift of the cantilever's resonance frequency (Δfr = -0.52 Hz). Control experiments at different temperatures using coated as well as uncoated devices along with simple calculations support the assignment of this effect to the spin transition. This latter translates into changes in mechanical behavior of the cantilever due to the strong spin-state/lattice coupling. A guideline for the optimization of device parameters is proposed so as to efficiently harness molecular scale movements for large-scale mechanical work, thus paving the road for nanoelectromechanical systems (NEMS) actuators based on molecular materials.

  10. Stability and stabilization of linear systems with saturating actuators

    Tarbouriech, Sophie; Gomes da Silva Jr, João Manoel; Queinnec, Isabelle

    2011-01-01

    Gives the reader an in-depth understanding of the phenomena caused by the more-or-less ubiquitous problem of actuator saturation. Proposes methods and algorithms designed to avoid, manage or overcome the effects of actuator saturation. Uses a state-space approach to ensure local and global stability of the systems considered. Compilation of fifteen years' worth of research results.

  11. A system look at electromechanical actuation for primary flight control

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs)

  12. Design and demonstration of a fish robot actuated by a SMA-driven actuation system

    Le, Chan H.; Nguyen, Quang S.; Park, Hoon C.

    2010-04-01

    This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

  13. A jellyfish-like swimming mini-robot actuated by an electromagnetic actuation system

    Ko, Youngho; Na, Sungyoung; Lee, Youngwoo; Cha, Kyoungrae; Ko, Seong Young; Park, Jongoh; Park, Sukho

    2012-05-01

    Among the various kinds of actuations for biomimetic robots, the electromagnetic actuation (EMA) method has been regarded as the one with the most potential. This paper proposes a jellyfish-like swimming mini-robot actuated by an EMA system in three-dimensional (3D) space. The jellyfish-like mini-robot has four flexible fins, each of which is equipped with a permanent magnet for electromagnetic actuation; the robot’s body is 17 mm long and 0.5 mm thick. Our EMA system was able to generate a uniform magnetic field in a desired direction in 3D space, which could bend the fins of the jellyfish-like mini-robot. Therefore, a cyclic change in the uniform magnetic field, in the EMA system, would synchronize the fluctuation of the fins and could generate a propulsion force for the robot, in the desired direction. In order to maximize the propulsion force of the jellyfish-like mini-robot, the waveform and frequency of the input current in the EMA system are optimized. Consequently, our jellyfish-like mini-robot was able to generate maximum propulsion force when a square waveform input current (13 A magnitude and 10 Hz frequency) was applied to the EMA system. Finally, the jellyfish-like mini-robot with the EMA system was able to perform various 3D swimming motions.

  14. A jellyfish-like swimming mini-robot actuated by an electromagnetic actuation system

    Among the various kinds of actuations for biomimetic robots, the electromagnetic actuation (EMA) method has been regarded as the one with the most potential. This paper proposes a jellyfish-like swimming mini-robot actuated by an EMA system in three-dimensional (3D) space. The jellyfish-like mini-robot has four flexible fins, each of which is equipped with a permanent magnet for electromagnetic actuation; the robot’s body is 17 mm long and 0.5 mm thick. Our EMA system was able to generate a uniform magnetic field in a desired direction in 3D space, which could bend the fins of the jellyfish-like mini-robot. Therefore, a cyclic change in the uniform magnetic field, in the EMA system, would synchronize the fluctuation of the fins and could generate a propulsion force for the robot, in the desired direction. In order to maximize the propulsion force of the jellyfish-like mini-robot, the waveform and frequency of the input current in the EMA system are optimized. Consequently, our jellyfish-like mini-robot was able to generate maximum propulsion force when a square waveform input current (13 A magnitude and 10 Hz frequency) was applied to the EMA system. Finally, the jellyfish-like mini-robot with the EMA system was able to perform various 3D swimming motions. (technical note)

  15. Solar photovoltaic water pumping system using a new linear actuator

    Andrada Gascón, Pedro; Castro, Javier

    2007-01-01

    In this paper a photovoltaic solar pumping system using a new linear actuator is presented. This linear actuator is a double-sided flat two-phase variable-reluctance linear stepper motor that moves a piston-type water pump with the help of a rope, a pulley and a counterweight. The entire actuator pump ensemble is controlled by a simple electronic unit that manages the electric power generated by a photovoltaic array. The proposed system is suitable for rural communities in developing...

  16. On reliable control system designs. Ph.D. Thesis; [actuators

    Birdwell, J. D.

    1978-01-01

    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  17. Adaptive Non-linear Control of Hydraulic Actuator Systems

    Hansen, Poul Erik; Conrad, Finn

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  18. Adaptive Non-linear Control of Hydraulic Actuator Systems

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  19. Benefits and Challenges of Over-Actuated Excitation Systems

    Norman Fitz-Coy; Vivek Nagabhushan; Michael T. Hale

    2010-01-01

    This paper provides a comprehensive discussion on the benefits and technical challenges of controlling over-determined and over-actuated excitation systems ranging from 1-DOF to 6-DOF. The primary challenges of over-actuated systems result from the physical constraints imposed when the number of exciters exceeds the number of mechanical degree-of-freedom. This issue is less critical for electro-dynamic exciters which tend to be more compliant than servo-hydraulic exciters. To facilitate the t...

  20. Actuation technology for flight control system on civil aircraft

    Xue, L.

    2009-01-01

    This report addresses the author’s Group Design Project (GDP) and Individual Research Project (IRP). The IRP is discussed primarily herein, presenting the actuation technology for the Flight Control System (FCS) on civil aircraft. Actuation technology is one of the key technologies for next generation More Electric Aircraft (MEA) and All Electric Aircraft (AEA); it is also an important input for the preliminary design of the Flying Crane, the aircraft designed in the author’s G...

  1. Unavailability Analysis of Digital Engineered Safety Feature Actuation System

    This paper quantitatively presents the results of the fault tree analysis of Digital Engineered Safety Feature Actuation System which is one of the most important signal generation systems in nuclear power plant because it generates the signal for mitigating possible accidents. In this paper, as an example, we explore the case of auxiliary feedwater actuation signal. Based on the analysis results, we quantitatively explain the relationship between the important characteristics of digital systems and the system unavailability. We find out some factors which remarkably affect the system unavailability. They are the common cause failures and the coverage of fault tolerant mechanisms. Human operator's backup also plays very important role. In this analysis we ignore the effect of software failure. We also compare the result with the PSA result of conventional analog Engineered Safety Feature Actuation System. The result of Digital ESFAS is about 27% lower than in the analog system

  2. Two-stage actuation system using DC motors and piezoelectric actuators for controllable industrial and automotive brakes and clutches

    Neelakantan, Vijay A.; Washington, Gregory N.; Bucknor, Norman K.

    2005-05-01

    High bandwidth actuation systems that are capable of simultaneously producing relatively large forces and displacements are required for use in automobiles and other industrial applications. Conventional hydraulic actuation mechanisms used in automotive brakes and clutches are complex, inefficient and have poor control robustness. These lead to reduced fuel economy, controllability issues and other disadvantages. This paper involves the design, development, testing and control of a two-stage hybrid actuation mechanism by combining classical actuators like DC motors and advanced smart material actuators like piezoelectric actuators. The paper also discusses the development of a robust control methodology using the Internal Model Control (IMC) principle and emphasizes the robustness property of this control methodology by comparing and studying simulation and experimental results.

  3. Optimal Sensor and Actuator Location for Unstable Systems

    Shaker, Hamid Reza; Tahavori, Maryamsadat

    2013-01-01

    Accurate and reliable process measurements play a key role in the success of process control. In addition to selecting the instrumentation hardware, it is important to determine which variables should be measured in a process. Therefore it is important to study techniques for placing sensors...... on the processes. Dually the problem of placing actuators on the processes is equally important. In this paper, the problem of determining optimal sensor and actuator locations for the linear systems is addressed. The problem of the sensor locations is viewed as the problem of maximizing the output energy...... generated by a given state and for the actuator locations is viewed as the problem of minimizing the input energy required to reach a given state. Such design problems occur in many applications, and therefore have been studied extensively. Unfortunately, the results in this context, which have been...

  4. Actuator prototype system by voice commands using free software

    Jaime Andrango

    2016-06-01

    Full Text Available This prototype system is a software application that through the use of techniques of digital signal processing, extracts information from the user's speech, which is then used to manage the on/off actuator on a peripheral computer when vowels are pronounced. The method applies spectral differences. The application uses the parallel port as actuator, with the information recorded in the memory address 378H. This prototype was developed using free software tools for its versatility and dynamism, and to allow other researchers to base on it for further studies.

  5. A system look at electromechanical actuation for primary flight control

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs) is one of the essential steps in the implementation of the ALL Electric Aircraft. There is a great deal of interest in the application of brushless motors (BM) with rare-earth magnet rotors using e...

  6. Design of Transputer Controllers for Hydraulic Actuator Systems

    Conrad, Finn

    1996-01-01

    test robot controlled by a transputer-basec controller is presented. Some experimental path-tracking results with adaptive control algorithms are presented and discussed. The results confirm that transputers have significant advantages for intelligent control of actuator systems and robots for high...

  7. Structural/control system optimization with variable actuator masses

    Jin, Ik M.; Sepulveda, Abdon E.

    1993-01-01

    A method is presented to integrate the design space for structural/control system optimization problems in the case of linear state feedback control. Nonstructural lumped masses and control system design variables as well as structural sizing variables are all treated equally as independent design variables in the optimization process. Structural and control design variable linking schemes are used in order to avoid a prohibitively large increase in the total number of independent design variables. When actuator masses are treated as nonstructural lumped mass design variables, special consideration is given to the relation between the transient peak responses and the required actuator masses which is formulated as a behavior constraint form. The original nonlinear mathematical programming problem based on a finite element formulation and linear state feedback is replaced by a sequence of explicit approximate problems exploiting various approximation concepts such as design variable linkings, temporary constraint deletion and first order Taylor series expansion of nonlinear behavior constraints in terms of intermediate design variables. Examples which involve a variety of dynamic behavior constraints (including constraints on closed-loop eigenvalues, peak transient displacements, peak actuator forces, and relations between the peak responses and the actuator masses) are effectively solved by using the method presented.

  8. Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction System

    Xu, Tian-Bing (Inventor); Jiang, Xiaoning (Inventor); Su, Ji (Inventor)

    2014-01-01

    A novel full piezoelectric multilayer stacked hybrid actuation/transduction system. The system demonstrates significantly-enhanced electromechanical performance by utilizing the cooperative contributions of the electromechanical responses of multilayer stacked negative and positive strain components. Both experimental and theoretical studies indicate that for this system, the displacement is over three times that of a same-sized conventional flextensional actuator/transducer. The system consists of at least 2 layers which include electromechanically active components. The layers are arranged such that when electric power is applied, one layer contracts in a transverse direction while the second layer expands in a transverse direction which is perpendicular to the transverse direction of the first layer. An alternate embodiment includes a third layer. In this embodiment, the outer two layers contract in parallel transverse directions while the middle layer expands in a transverse direction which is perpendicular to the transverse direction of the outer layers.

  9. Conducting IPN actuator/sensor for biomimetic vibrissa system

    Festin, N.; Plesse, C.; Pirim, P.; Chevrot, C.; Vidal, F.

    2014-03-01

    Electroactive polymers, or EAPs, are polymers that exhibit a change in size or shape when stimulated by an electric field. The most common applications of this type of material are in actuators and sensors. One promising technology is the elaboration of electronic conducting polymers based actuators with Interpenetrating Polymer Networks (IPNs) architecture. Their many advantageous properties as low working voltage, light weight and high lifetime make them very attractive for various applications including robotics. Conducting IPNs were fabricated by oxidative polymerization of 3,4-ethylenedioxythiophene within a flexible Solid Polymer Electrolytes (SPE) combining poly(ethylene oxide) and Nitrile Butadiene Rubber. SPE mechanical properties and ionic conductivities in the presence of 1-ethyl-3- methylimidazolium bis-(trifluoromethylsulfonyl)-imide (EMITFSI) have been characterized. The presence of the elastomer within the SPE greatly improves the actuator performances. The free strain as well as the blocking force was characterized as a function of the actuator length. The sensing properties of those conducting IPNs allow their integration into a biomimetic perception prototype: a system mimicking the tactile perception of rat vibrissae.

  10. Biomimetic Control of Mechanical Systems Equipped with Musculotendon Actuators

    Javier Moreno-Valenzuela; Adriana Salinas-Avila

    2011-01-01

    This paper addresses the problem of modelling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case I of Zajac's model. Saturated semi positive proportional-derivative-type controllers with switching as neural excitation inputs are proposed. Stability theory of switched system and SOSTOOLS, which is a sum of squares optimization toolbox of Matlab, are used to determine the stability of the obtained closed-loop system. To corroborate the obtained theoretical results numerical simulations are carried out. As additional contribution, the discussed ideas are applied to the biomimetic control of a DC motor, i.e., the position control is addressed assuming the presence of musculotendon actuators. Real-experiments corroborate the expected results.

  11. 30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water...

  12. Experimental analysis of chaos in under actuated electromechanical systems

    Gonzalez Hernandez, H. G. [Universidad la Salle, Mexico, D.F. (Mexico); Alvarez Gallegos, Jaime [Instituto Politecnico Nacional (Mexico); Alvarez Gallegos Joaquin [Centro de Investigacion Cientifica y de Educacion Superior de Ensenada, Ensenada, Baja California (Mexico)

    2001-10-01

    An under actuated system is a kind of non-autonomous robotic system in which there are more links than actuators. The complexity of the dynamical behavior of these systems allows a wide variety of steady-state responses. The reconstruction of attractors based on time series obtained from measurements of one of the variables of a two-link, planar, under actuated robot called Pendubot, is developed. Time-delay coordinates, average mutual information, and percentage of false nearest neighbors' methods are used to reconstruct the invariant sets. It is shown that, under the action of a periodic torque, the Pendubot can display a variety of steady-state dynamics, including strange attractors. [Spanish] Un sistema electromecanico subactuado es un tipo de sistema robotico no autonomo que cuenta con mas eslabones que actuadores. La complejidad del comportamiento dinamico de estos sistemas permite una gran variedad de respuestas en estado estacionario. En este trabajo se desarrolla la reconstruccion de atractores basada en series de tiempo obtenidas a partir de mediciones de una de las variables de un robot planar de dos grados de libertad subactuado llamado Pendubot. A fin de reconstruir los conjuntos invariantes, se utilizan tecnica como retraso de coordenadas, promedio de informacion mutua y porcentaje de falsos vecinos cercanos. Se muestra que bajo la accion de un torque periodico, el Pendubot puede desplegar una variedad de comportamientos dinamicos en estado estacionario incluyendo atractores extranos.

  13. Transfer matrix method for multibody systems for piezoelectric stack actuators

    In order to achieve a large displacement output from a piezoelectric actuator, we realized the piezoelectric stack actuator (PSA) by mechanically layering/stacking multi-chip piezoelectric wafers in a series and electrically connecting the electrodes in parallel. In this paper, in order to accurately model the hysteresis and the dynamic characteristics of a PSA, the transfer matrix method for multibody systems (MSTMM) was adopted to describe the dynamic characteristics, and the Bouc-Wen hysteresis operator was used to represent the hysteresis. The vibration characteristics of a PSA and a piezo-actuated positioning mechanism (PPM) are derived and analyzed by the MSTMM; then, the dynamic responses of the PSA and the PPM are calculated. The experimental results show that the new method can accurately portray the hysteresis and the dynamic characteristics of a PSA and a PPM. On one hand, if we use this method to model the dynamic response of the PSA and the PPM, the PSA can be considered as a flexible body, as opposed to a mass-spring-damper system, which is in better agreement with the actual condition. On the other hand, the global dynamics equation is not needed for the study of system dynamics, and the dynamics equation has a small-sized matrix and a higher computational speed. Therefore, this method gives a broad range of possibilities for model-based controller design. (paper)

  14. Transfer matrix method for multibody systems for piezoelectric stack actuators

    Zhu, Wei; Chen, Gangli; Bian, Leixiang; Rui, Xiaoting

    2014-09-01

    In order to achieve a large displacement output from a piezoelectric actuator, we realized the piezoelectric stack actuator (PSA) by mechanically layering/stacking multi-chip piezoelectric wafers in a series and electrically connecting the electrodes in parallel. In this paper, in order to accurately model the hysteresis and the dynamic characteristics of a PSA, the transfer matrix method for multibody systems (MSTMM) was adopted to describe the dynamic characteristics, and the Bouc-Wen hysteresis operator was used to represent the hysteresis. The vibration characteristics of a PSA and a piezo-actuated positioning mechanism (PPM) are derived and analyzed by the MSTMM; then, the dynamic responses of the PSA and the PPM are calculated. The experimental results show that the new method can accurately portray the hysteresis and the dynamic characteristics of a PSA and a PPM. On one hand, if we use this method to model the dynamic response of the PSA and the PPM, the PSA can be considered as a flexible body, as opposed to a mass-spring-damper system, which is in better agreement with the actual condition. On the other hand, the global dynamics equation is not needed for the study of system dynamics, and the dynamics equation has a small-sized matrix and a higher computational speed. Therefore, this method gives a broad range of possibilities for model-based controller design.

  15. Towards Autonomous Control of Hydraulic Actuator Systems

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...

  16. Towards Autonomous Control of Hydraulic Actuator Systems

    Hansen, Poul Erik; Conrad, Finn

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed to...

  17. Magnetohydrodynamic actuation of droplets for millimetric planar fluidic systems

    Ahmadi, A., E-mail: ali.ahmadi@ubc.ca; McDermid, C. M.; Markley, L. [School of Engineering, University of British Columbia, Kelowna, British Columbia V1V 1V7 (Canada)

    2016-01-04

    In this work, a magnetohydrodynamic method is proposed for the actuation of droplets in small-scale planar fluidic systems, providing an alternative to commonly used methods such as electrowetting-on-dielectric. Elementary droplet-based operations, including transport, merging, and mixing, are demonstrated. The forces acting on millimetric droplets are carefully investigated, with a primary focus on the magnetic actuation force and on the unbalanced capillary forces that arise due to hysteresis. A super-hydrophobic channel is 3D printed to guide the droplets, with thin wires installed as contact electrodes and permanent magnets providing a static magnetic field. It is shown that droplet motion is enhanced by increasing the droplet size and minimizing the electrode contact surface. The effects of channel geometry on threshold voltage and minimum moveable droplet volume are characterized. Finally, the presence of electrolysis is investigated and mitigating strategies are discussed.

  18. Magnetohydrodynamic actuation of droplets for millimetric planar fluidic systems

    Ahmadi, A.; McDermid, C. M.; Markley, L.

    2016-01-01

    In this work, a magnetohydrodynamic method is proposed for the actuation of droplets in small-scale planar fluidic systems, providing an alternative to commonly used methods such as electrowetting-on-dielectric. Elementary droplet-based operations, including transport, merging, and mixing, are demonstrated. The forces acting on millimetric droplets are carefully investigated, with a primary focus on the magnetic actuation force and on the unbalanced capillary forces that arise due to hysteresis. A super-hydrophobic channel is 3D printed to guide the droplets, with thin wires installed as contact electrodes and permanent magnets providing a static magnetic field. It is shown that droplet motion is enhanced by increasing the droplet size and minimizing the electrode contact surface. The effects of channel geometry on threshold voltage and minimum moveable droplet volume are characterized. Finally, the presence of electrolysis is investigated and mitigating strategies are discussed.

  19. Power supply for wireless sensor or actuator systems

    Portable wireless sensor or actuator systems, like portable phones, remote control, or ID cards play an ever growing role in our industrialized environment. Those systems and many more were enabled due to the steady decreasing power consumption of high integrated ICs. Most such systems are powered by batteries or inductive coupling. In this presentation several concepts for an alternative power supply of wireless sensor or actuator systems are discussed in detail. Batteries, although today mostly used, suffer from a limited storage capacity, which induce a labour and sometimes cost-intensive periodic maintenance, and a problematic ecological impact. The operating range of inductive coupling systems is due to the near ?eld limited to the aperture of the coupling coil. UHF systems operate in the far field and reach higher distances. Their operating range is limited by the distance where the voltage at the feeding point of the antenna becomes too low to drive the rectifier circuit. Larger read out ranges become feasible by omitting the rectifier stage. In this case we need either a passive frequency modulating device to shift the read out signal to a side band, or a resonator with a high quality factor, like a SAW or BAW device, to store the energy until all environmental echoes are feed away. For many applications, both indoor and outdoor, energy harvesting system become feasible which convert ambient power densities like light, RF fields, special or temporal thermal gradients, or mechanical vibrations into electrical supply power of the wireless system. All those systems strongly suffer from a lack of energy. Thus new concepts for low-ering the power consumption of a wireless sensor or actuator system by keeping their features remain extreme important. Herby, a new wake up receiver is presented which operates on a current requirement as low as 3 micro A.

  20. Integrating Sensory/Actuation Systems in Agricultural Vehicles

    Luis Emmi

    2014-02-01

    Full Text Available In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles.

  1. Integrating sensory/actuation systems in agricultural vehicles.

    Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

    2014-01-01

    In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles. PMID:24577525

  2. A portable air jet actuator device for mechanical system identification

    Belden, Jesse; Staats, Wayne L.; Mazumdar, Anirban; Hunter, Ian W.

    2011-03-01

    System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon—the Coandă effect—is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use.

  3. A Systems Engineering Approach to Electro-Mechanical Actuator Diagnostic and Prognostic Development

    National Aeronautics and Space Administration — The authors have formulated a Comprehensive Systems Engineering approach to Electro-Mechanical Actuator (EMA) Prognostics and Health Management (PHM) system...

  4. Prognostic Health-Management System Development for Electromechanical Actuators

    National Aeronautics and Space Administration — Electro-mechanical actuators (EMAs) have been gaining increased acceptance as safety-critical actuation devices in the next generation of aircraft and spacecraft....

  5. Understanding the Space Shuttle Main Engine Hydraulic Actuation System and Reviewing Its Evolution

    McWade, Robert J.; Minor, Robert B.; McNutt, Leslie M.

    2010-01-01

    The complex engine start and thrust control requirements of the Space Shuttle Main Engine (SSME) require unique valve, actuator and control system hardware. The Hydraulic Actuation System (HAS) was designed, developed, and now operates to meet tight engine control requirement limits to assure safe, reliable and correct engine thrust at all times. The actuator is designed to be fail safe and fail operate in the areas where redundancy is important. The HAS has an additional pneumatic operating capability that insures a safe sequential closure of all actuators and propellant valves in the event of the loss of hydraulic system pressure or loss of electrical closed loop control of the actuator. The objective of this paper is to provide a complete description of the actuator s internal operating system, along with its interaction with all SSME system interfaces. Additionally the paper addresses the challenges, problems identified, and corrected, and lessons learned, during the course of the almost 35 years of engine operation.

  6. Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

    Tabatabaeipour, Mojtaba; Galeazzi, Roberto

    2015-01-01

    This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal...... controller. The role of the RB is twofold: on one hand it transforms the output of the faulty system such that its behaviour is similar to that of the nominal one from the controller’s viewpoint; on the other hand it modifies the control input to the faulty system such that the stability of the reconfigured...... need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping....

  7. Electromagnetic variable degrees of freedom actuator systems and methods

    Montesanti, Richard C.; Trumper, David L.; Kirtley, Jr., James L.

    2009-02-17

    The present invention provides a variable reluctance actuator system and method that can be adapted for simultaneous rotation and translation of a moving element by applying a normal-direction magnetic flux on the moving element. In a beneficial example arrangement, the moving element includes a swing arm that carries a cutting tool at a set radius from an axis of rotation so as to produce a rotary fast tool servo that provides a tool motion in a direction substantially parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. An actuator rotates a swing arm such that a cutting tool moves toward and away from a mounted rotating workpiece in a controlled manner in order to machine the workpiece. Position sensors provide rotation and displacement information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in feed slide of a precision lathe.

  8. Full Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction Systems

    Su, Ji; Jiang, Xiaoning; Zu, Tian-Bing

    2011-01-01

    The Stacked HYBATS (Hybrid Actuation/Transduction system) demonstrates significantly enhanced electromechanical performance by using the cooperative contributions of the electromechanical responses of multilayer, stacked negative strain components and positive strain components. Both experimental and theoretical studies indicate that, for Stacked HYBATS, the displacement is over three times that of a same-sized conventional flextensional actuator/transducer. The coupled resonance mode between positive strain and negative strain components of Stacked HYBATS is much stronger than the resonance of a single element actuation only when the effective lengths of the two kinds of elements match each other. Compared with the previously invented hybrid actuation system (HYBAS), the multilayer Stacked HYBATS can be designed to provide high mechanical load capability, low voltage driving, and a highly effective piezoelectric constant. The negative strain component will contract, and the positive strain component will expand in the length directions when an electric field is applied on the device. The interaction between the two elements makes an enhanced motion along the Z direction for Stacked-HYBATS. In order to dominate the dynamic length of Stacked-HYBATS by the negative strain component, the area of the cross-section for the negative strain component will be much larger than the total cross-section areas of the two positive strain components. The transverse strain is negative and longitudinal strain positive in inorganic materials, such as ceramics/single crystals. Different piezoelectric multilayer stack configurations can make a piezoelectric ceramic/single-crystal multilayer stack exhibit negative strain or positive strain at a certain direction without increasing the applied voltage. The difference of this innovation from the HYBAS is that all the elements can be made from one-of-a-kind materials. Stacked HYBATS can provide an extremely effective piezoelectric

  9. Development of a resonant trailing-edge flap actuation system for helicopter rotor vibration control

    Kim, J.-S.; Wang, K. W.; Smith, E. C.

    2007-12-01

    A resonant trailing-edge flap actuation system for helicopter rotors is developed and evaluated experimentally. The concept involves deflecting each individual trailing-edge flap using a compact resonant piezoelectric actuation system. Each resonant actuation system yields high authority, while operating at a single frequency. By tailoring the natural frequencies of the actuation system (including the piezoelectric actuator and the related mechanical and electrical elements) to the required operating frequencies, one can increase the output authority. The robustness of the device can be enhanced by increasing the high authority bandwidth through electric circuitry design. Such a resonant actuation system (RAS) is analyzed for a full-scale piezoelectric induced-shear tube actuator, and bench-top testing is conducted to validate the concept. An adaptive feed-forward controller is developed to realize the electric network dynamics and adapt to phase variation. The control strategy is then implemented via a digital signal processor (DSP) system. Analysis is also performed to examine the rotor system dynamics in forward flight with piezoelectric resonant actuators, using a perturbation method to evaluate the system's time-varying characteristics. Numerical simulations reveal that the resonant actuator concept can be applied to forward flights as well as to hover conditions.

  10. IVVS actuating system compatibility test to ITER gamma radiation conditions

    Rossi, Paolo, E-mail: paolo.rossi@enea.it [Associazione EURATOM-ENEA sulla Fusione, 45 Via Enrico Fermi, 00044 Frascati, Rome (Italy); Collibus, M. Ferri de; Florean, M.; Monti, C.; Mugnaini, G.; Neri, C.; Pillon, M.; Pollastrone, F. [Associazione EURATOM-ENEA sulla Fusione, 45 Via Enrico Fermi, 00044 Frascati, Rome (Italy); Baccaro, S.; Piegari, A. [ENEA CR Casaccia, 301 Via Anguillarese, 00123 Santa Maria di Galeria, Rome (Italy); Damiani, C.; Dubus, G. [Fusion For Energy c/Josep Pla, n° 2 Torres Diagonal Litoral, 08019 Barcelona (Spain)

    2013-10-15

    Highlights: • ENEA developed and tested a prototype of a laser In Vessel Viewing and ranging System (IVVS) for ITER. • One piezo-motor prototype has been tested on the ENEA Calliope gamma irradiation facility to verify its compatibility to ITER gamma radiation conditions. • After a total dose of more than 4 MGy the piezo-motor maintained almost the same working parameters monitored before test without any evident and significant degradation of functionality. • After the full gamma irradiation test, the same piezo-motor assembly will be tested with 14 MeV neutrons irradiation using ENEA FNG facility. -- Abstract: The In Vessel Viewing System (IVVS) is a fundamental remote handling equipment, which will be used to make a survey of the status of the blanket first wall and divertor plasma facing components. A design and testing activity is ongoing, in the framework of a Fusion for Energy (F4E) grant agreement, to make the IVVS probe design compatible with ITER operating conditions and in particular, but not only, with attention to neutrons and gammas fluxes and both space constraints and interfaces. The paper describes the testing activity performed on the customized piezoelectric motors and the main components of the actuating system of the IVVS probe with reference to ITER gamma radiation conditions. In particular the test is performed on the piezoelectric motor, optical encoder and small scale optical samples .The test is carried out on the ENEA Calliope gamma irradiation facility at ITER relevant gamma fields at rate of about 2.5 kGy/h and doses of 4 MGy. The paper reports in detail the setup arrangement of the test campaign in order to verify significant working capability of the IVVS actuating components and the results are shown in terms of functional performances and parameters. The overall test campaign on IVVS actuating system will be completed on other ENEA testing facilities in order to verify compatibility to Magnetic field, neutrons and thermal

  11. New results on switched linear systems with actuator saturation

    Duan, Chang; Wu, Fen

    2016-04-01

    This paper further studies the analysis and control problems of continuous-time switched linear systems subject to actuator saturation. Using the norm-bounded differential inclusion description of the saturated systems and the minimal switching rule, a set of switched output feedback controllers is designed to minimise the disturbance attenuation level defined by the regional ? gain over a class of energy-bounded disturbances. The synthesis conditions are expressed as bilinear matrix inequalities, and can be solved by numerical search coupled with linear matrix inequality optimisation. Compared to the previous method based on polytopic differential inclusion, the proposed approach has good scalability and potentially renders better performance. Numerical examples are provided to verify the effectiveness of the proposed approach.

  12. Transducer-actuator systems and methods for performing on-machine measurements and automatic part alignment

    Barkman, William E.; Dow, Thomas A.; Garrard, Kenneth P.; Marston, Zachary

    2016-07-12

    Systems and methods for performing on-machine measurements and automatic part alignment, including: a measurement component operable for determining the position of a part on a machine; and an actuation component operable for adjusting the position of the part by contacting the part with a predetermined force responsive to the determined position of the part. The measurement component consists of a transducer. The actuation component consists of a linear actuator. Optionally, the measurement component and the actuation component consist of a single linear actuator operable for contacting the part with a first lighter force for determining the position of the part and with a second harder force for adjusting the position of the part. The actuation component is utilized in a substantially horizontal configuration and the effects of gravitational drop of the part are accounted for in the force applied and the timing of the contact.

  13. Constant force actuator for gravitational wave detector's seismic attenuation systems (SAS)

    We have designed, tested and implemented a UHV-compatible, low-noise, non-contacting force actuator for DC positioning and inertial damping of the rigid body resonances of the Seismic Attenuation System (SAS) designed for the TAMA Gravitational Wave Interferometer. The actuator fully satisfies the stringent zero-force-gradient requirements that are necessary to prevent re-injecting seismic noise into the SAS chain. The actuator's closed magnetic field design makes for particularly low power requirements, and low susceptibility to external perturbations. The actuator retains enough strength to absorb seismic perturbations even during small earthquakes

  14. Annexes to the lecture on reactor protection system including engineered features actuation system

    The present paper deals with the fundamentals for a reactor protection system and discusses the following topics: - System lay-out - Analog measured data acquisition - Analog measured data processing - Limit value generation and logical gating - Procesing of the reactor protection actuation signals - Decoupling of the reactor protection system - Mechanical lay-out - Monitoring system and - Emergency control station. (orig./RW)

  15. Shape memory system with integrated actuation using embedded particles

    Buckley, Patrick R. (New York, NY); Maitland, Duncan J. (Pleasant Hill, CA)

    2012-05-29

    A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

  16. Shape memory system with integrated actuation using embedded particles

    Buckley, Patrick R. (New York, NY); Maitland, Duncan J. (Pleasant Hill, CA)

    2009-09-22

    A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

  17. Shape memory system with integrated actuation using embedded particles

    Buckley, Patrick R; Maitland, Duncan J

    2014-04-01

    A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

  18. A modeling framework for deteriorating control system and predictive maintenance of actuators

    Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy

  19. Control of an electro-hydrostatic actuation system for the nose landing gear of an "all electric aircraft"

    Greissner, Carsten; Carl, Udo

    2004-01-01

    The EU research Project Power Optimised Aircraft (POA) investigates the approach to replace primary hydraulic supply by extended electric power systems towards a More or All Electric Aircraft. This contribution presents an electrically powered actuation system for nose landing gears using an EHA (electrohydrostatic actuator) approach. One motor pump unit supplies door and gear actuation as well as the steering system. Different control strategies for the individual actuators are introduced. T...

  20. Analysis of actuating mechanics characteristics for a flexible miniature robot system

    Lianzhi YU; Guozheng YAN; Guanying MA; Peng ZAN

    2008-01-01

    Based on the inchworm movement, a minia-ture endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of free-dom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.

  1. NanoDrill: 1 Actuator Core Acquisition System Project

    National Aeronautics and Space Administration — We propose to design, build and test a 1 kg, single actuator, sample acquisition drill. The drill uses a novel method of core or powder acquisition. The core...

  2. System Compliant Actuation for Structural Engine Noise Remission Project

    National Aeronautics and Space Administration — The purpose of the research into ?Compliant Actuator? design will be to demonstrate to prototype level a low profile fully integrated control mechanism. This...

  3. System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

    Khairuddin Osman; Ahmad 'Athif Mohd Faudzi; M. F. Rahmat; Koichi Suzumori

    2014-01-01

    This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system identification (SI) method. Next, combination of predictive functional control with observer (PFC-O) design is selected as a new control strategy for pneumatic system. Performance assessment of the ...

  4. Development and evaluation of an autonomous wirelesssensor actuator network in logistic systems

    Molla Jafari, Amir Mohammad

    2010-01-01

    In this work, definition, development and evaluation of Autonomous Wireless Sensor Actuator Network (AWSAN) is discussed. Firstly the central and distributed systems are described. Then characteristic for autonomous system are considered. Based on the feedback model it is explained how the autonomous concept is applied in sensor actuator network. The necessity of developing the intelligent container to establish autonomous logistic system and reinforcing the system performance is explained.In...

  5. The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System

    Chuanhui Zhang; Xiaodong Song

    2013-01-01

    This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation) in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametri...

  6. Fault-tolerant control of delta operator systems with actuator saturation and effectiveness loss

    Yang, Hongjiu; Zhang, Luyang; Zhao, Ling; Yuan, Yuan

    2016-07-01

    This paper studies the problem of robust fault-tolerant control against the actuator effectiveness loss for delta operator systems with actuator saturation. Ellipsoids are used to estimate the domain of attraction for the delta operator systems with actuator saturation and effectiveness loss. Some invariance set conditions used for enlarging the domain of attraction are expressed by linear matrix inequalities. Discussions on system performance optimisation are presented in this paper, including reduction on computational complexity, expansion of the domain of attraction and disturbance rejection. Two numerical examples are given to illustrate the effectiveness of the developed techniques.

  7. Conducting polymer actuators: From basic concepts to proprioceptive systems

    Martinez Gil, Jose Gabriel

    Designers and engineers have been dreaming for decades of motors sensing, by themselves, working and surrounding conditions, as biological muscles do originating proprioception. Here bilayer full polymeric artificial muscles were checked up to very high cathodic potential limits (-2.5 V) in aqueous solution by cyclic voltammetry. The electrochemical driven exchange of ions from the conducting polymer film, and the concomitant Faradaic bending movement of the muscle, takes place in the full studied potential range. The presence of trapped counterion after deep reduction was corroborated by EDX determinations giving quite high electronic conductivity to the device. The large bending movement was used as a tool to quantify the amount of water exchanged per reaction unit (exchanged electron or ion). The potential evolutions of self-supported films of conducting polymers or conducting polymers (polypyrrole, polyaniline) coating different microfibers, during its oxidation/reduction senses working mechanical, thermal, chemical or electrical variables. The evolution of the muscle potential from electrochemical artificial muscles based on electroactive materials such as intrinsically conducting polymers and driven by constant currents senses, while working, any variation of the mechanical (trailed mass, obstacles, pressure, strain or stress), thermal or chemical conditions of work. One physically uniform artificial muscle includes one electrochemical motor and several sensors working simultaneously under the same driving reaction. Actuating (current and charge) and sensing (potential and energy) magnitudes are present, simultaneously, in the only two connecting wires and can be read by the computer at any time. From basic polymeric, mechanical and electrochemical principles a physicochemical equation describing artificial proprioception has been developed. It includes and describes, simultaneously, the evolution of the muscle potential during actuation as a function of the

  8. Adaptive fault-tolerant control of linear systems with actuator saturation and L2-disturbances

    Wei GUAN; Guanghong YANG

    2009-01-01

    This paper studies the problem of designing adaptive fault-tolerant H-infinity controllers for linear timeinvariant systems with actuator saturation. The disturbance tolerance ability of the closed-loop system is measured by an optimal index. The notion of an adaptive H-infinity performance index is proposed to describe the disturbance attenuation performances of closed-loop systems. New methods for designing indirect adaptive fault-tolerant controllers via state feedback are presented for actuator fault compensations. Based on the on-line estimation of eventual faults, the adaptive fault-tolerant controller parameters are updated automatically to compensate for the fault effects on systems. The designs are developed in the framework of the linear matrix inequality (LMI) approach, which can guarantee the disturbance tolerance ability and adaptive H-infinity performances of closed-loop systems in the cases of actuator saturation and actuator failures. An example is given to illustrate the efficiency of the design method.

  9. Design and Development of Autonomous High Voltage Driving System for DEAP Actuator in Radiator Thermostat

    Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

    2014-01-01

    make a high voltage capacitive load driving system to be necessary. The only energy source battery determines it needs to be an autonomous system. The detailed system specifications have been introduced and the corresponding system level design has been proposed. In addition, the detailed design......In radiator thermostat applications, DEAP (Dielectric Electro Active Polymer) actuator tends to be a good candidate to replace the conventional self-actuating or step motor based actuator due to its intrinsic advantages. The capacitive property and high voltage (HV) driving demand of DEAP actuator...... and implementation information has been provided as well, including the power and control stage inside the high voltage converter, the output voltage measurement circuit, the feedback control, etc. Finally, the experimental results have been provided to validate the capability and performance of the driving system....

  10. Design and Development of Autonomous High Voltage Driving System for DEAP Actuator in Radiator Thermostat

    Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

    In radiator thermostat applications, DEAP (Dielectric Electro Active Polymer) actuator tends to be a good candidate to replace the conventional self-actuating or step motor based actuator due to its intrinsic advantages. The capacitive property and high voltage (HV) driving demand of DEAP actuator...... make a high voltage capacitive load driving system to be necessary. The only energy source battery determines it needs to be an autonomous system. The detailed system specifications have been introduced and the corresponding system level design has been proposed. In addition, the detailed design and...... implementation information has been provided as well, including the power and control stage inside the high voltage converter, the output voltage measurement circuit, the feedback control, etc. Finally, the experimental results have been provided to validate the capability and performance of the driving system....

  11. Airborne Electro-Mechanical Actuator Test Stand for Development of Prognostic Health Management Systems

    National Aeronautics and Space Administration — With the advent of the next generation of aerospace systems equipped with fly-by-wire controls, electro- mechanical actuators (EMA) are quickly becoming components...

  12. Feedback Control of Negative-Imaginary Systems: Large Flexible structures with colocated actuators and sensors

    Petersen, Ian R.; Lanzon, Alexander

    2014-01-01

    This paper presents a survey of recent results on the theory of negative imaginary systems. This theory can be applied to the robust control of large flexible structures with colocated force actuators and position sensors.

  13. A Method to Measure Reference Strain in FBG Strain Sensor Interrogation System Involving Actuators

    Rajan, Ginu; Semenova, Yuliya; Wu, Qiang; Farrell, Gerald; Wang, Pengfei

    2007-01-01

    A method for reference strain measurement for FBG strain sensor in the testing stage while applying strain using actuators like piezo translators or micro screw is introduced. Unlike conventional methods of surface mounting, in our method the strain gauge is affixed directly to the optical fibre, which allows it to use with systems where the strain is applied directly using actuators while testing the FBG sensing system. Different bonding techniques were tested and a comparison with the resul...

  14. Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

    Hansen, Poul Erik

    1997-01-01

    The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

  15. Silicon micromachined pumps employing piezoelectric membrane actuation for microfluidic systems

    Koch, Michael

    Microsystems technology is a rapidly expanding area that comprises electronics, mechanics and optics. In this field, physical/chemical sensing, fluid handling and optical communication are emerging as potential markets. Microfluidic systems like an implantable insulin pump, a drug delivery system and a total chemical analysis system are currently being developed by academia and industry around the world. This project contributes to the area of microfluidics in that a novel thick-film-on-silicon membrane actuator has been developed to allow inexpensive mass production of micropumps. To date piezoelectric plates have been surface mounted onto a silicon membrane. This single chip fabrication method can now be replaced by screen printing thick piezoelectric layers onto 4 inch silicon substrates. Two different pump types have been developed. These are membrane pumps with either cantilever valves or diffuser/nozzle valves. Pump rates between 100 and 200 μl min-1 and backpressures up to 4 kPa have been achieved with these pumps. Along with the technology of micropumps, simulators have been developed. A novel coupled FEM-CFD solver was realised by a computer controlled coupling of two commercially available packages (ANSYS and CFX-Flow3D). The results of this simulator were in good agreement with measurements on micromachined cantilever valves. CFX- Flow3D was also used to successfully model the behaviour of the diffuser/nozzle valve. Finally, the pump has been simulated using a continuity equation. A behavioural dynamic extension of the cantilever valve was necessary to achieve better prediction of the pump rates for higher frequencies. As well, a common process has been developed for microfluidic devices like micromixers, particle counters and sorters as well as flow sensors. The micromixer has been tested already and achieves mixing for input pressures between 2 and 7 kPa. This agrees with simulations of the diffusive mixing with CFX-Flow3D. Together with the micropump

  16. Simulation of an actuator & drive of a wire drawing machine's mechatronic system using Matlab/Simulink

    Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)

  17. Reactor protection system including engineered features actuation system

    The safety concept requires to ensure that - the reactor protection system - the active engineered safeguard - and the necessary auxiliary systems are so designed and interfaced in respect of design and mode of action that, in the event of single component failure reliable control of the consequences of accidents remains ensured at all times and that the availability of the power plant is not limited unnecessarily. In order to satisfy these requirements due, importance was attached to a consistent spacial separation of the mutually redundant subsystems of the active safety equipment. The design and layout of the reactor protection system, of the power supply (emergency power supply), and of the auxiliary systems important from the safety engineering point of view, are such that their subsystems also largely satisfy the requirements of independence and spacial separation. (orig./RW)

  18. Control of a teleoperation system actuated by low-cost pneumatic on/off valves

    Hodgson, Sean; Tavakoli, Mahdi; Lelevé, Arnaud; Pham, Minh Tu

    2012-01-01

    For a pneumatic teleoperation system, sliding-mode control laws ensuring both transparency and low switching (open/close) activity of the valves are developed. Each pneumatic actuator has four on/off valves, thus sixteen possible combinations ("operating modes") for the valves exist but only seven of them are both functional and unique. While previous works have focused on three-mode sliding-based position control of one pneumatic actuator, this paper develops seven-mode sliding-based bilater...

  19. Determination of buffer capacity by means of an ISFET-based coulometric sensor-actuator system with a gate-covering porous actuator

    Luo, J; Olthuis, W.; Bergveld, P.; Bos, M.; Linden, van der, M.M.

    1994-01-01

    In this paper we propose a dynamic way to measure the buffer capacity of an electrolyte by means of an ISFET-based coulometric sensor-actuator system whose gate is covered with a porous actuator. A theoterical model for this measurement is presented. Experiments are carried out in nitric and acetic acid as well as in phosphoric acid solutions. A fairly good agreement has been found between the theoretical calculations and the experimental results.

  20. Advanced Launch System (ALS) actuation and power systems impact operability and cost

    Sundberg, Gale R.

    1990-01-01

    To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrical power system and controls for all actuation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a specific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military and civilian aircraft, lunar/Martian vehicles, and a multitude of commercial applications.

  1. Advanced Launch System (ALS): Electrical actuation and power systems improve operability and cost picture

    Sundberg, Gale R.

    1990-01-01

    To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrical power system and controls for all actuation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a specific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military and civilian aircraft, lunar/Martian vehicles, and a multitude of commercial applications.

  2. Worcester 1 Inch Solenoid Actuated Gas Operated SCHe System Valves

    MISKA, C.R.

    2000-11-13

    1 inch gas-operated full-port ball valves incorporate a solenoid and limit switches as integral parts of the actuator. These valves are normally open and fail safe to the open position (GOV-1*02 and 1*06 fail closed) to provide a flow path of helium gas to the MCO under helium purge and off-normal conditions when the MCO is isolated.

  3. Low spring index, large displacement Shape Memory Alloy (SMA) coil actuators for use in macro- and micro-systems

    Holschuh, Brad; Newman, Dava

    2014-03-01

    Shape memory alloys (SMA) offer unique shape changing characteristics that can be exploited to produce low­ mass, low-bulk, large-stroke actuators. We are investigating the use of low spring index (defined as the ratio of coil diameter to wire diameter) SMA coils for use as actuators in morphing aerospace systems. Specifically, we describe the development and characterization of minimum achievable spring index coiled actuators made from 0.3048 mm (0.012") diameter shape memory alloy (SMA) wire for integration in textile architectures for future compression space suit applications. Production and shape setting of the coiled actuators, as well as experimental test methods, are described. Force, length and voltage relationships for multiple coil actuators are reported and discussed. The actuators exhibit a highly linear (R2 designs, and the broader viability of these actuators in both macro- and micro-systems, are presented.

  4. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications

    Murali Muniraj; Ramaswamy Arulmozhiyal

    2015-01-01

    A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage m...

  5. Design of a linear-motion dual-stage actuation system for precision control

    Actuators with high linear-motion speed, high positioning resolution and a long motion stroke are needed in many precision machining systems. In some current systems, voice coil motors (VCMs) are implemented for servo control. While the voice coil motors may provide the long motion stroke needed in many applications, the main obstacle that hinders the improvement of the machining accuracy and efficiency is their limited bandwidth. To fundamentally solve this issue, we propose to develop a dual-stage actuation system that consists of a voice coil motor that covers the coarse motion, and a piezoelectric stack actuator that induces the fine motion, thus enhancing the positioning accuracy. The focus of this present research is the mechatronics design and synthesis of the new actuation system. In particular, a flexure hinge based mechanism is developed to provide a motion guide and preload to the piezoelectric stack actuator that is serially connected to the voice coil motor. This mechanism is built upon parallel plane flexure hinges. A series of numerical and experimental studies are carried out to facilitate the system design and the model identification. The effectiveness of the proposed system is demonstrated through open-loop studies and preliminary closed-loop control practice. While the primary goal of this particular design is aimed at enhancing optical lens machining, the concept and approach outlined are generic and can be extended to a variety of applications

  6. Sensor and Actuator Fault-Hiding Reconfigurable Control Design for a Four-Tank System Benchmark

    Hameed, Ibrahim; El-Madbouly, Esam I; Abdo, Mohamed I

    2015-01-01

    is introduced. Faults are modeled as a drastic gain loss in actuators (i.e., pumps) and in sensor measurements (i.e., level detection) which could lead to a large loss in the nominal performance. A configurable decentralized Proportional Integral (PI) controller is designed and applied to a Linear Time......Fault detection and compensation plays a key role to fulfill high demands for performance and security in today's technological systems. In this paper, a fault-hiding (i.e., tolerant) control scheme that detects and compensates for actuator and sensor faults in a four-tank system benchmark...... Invariant (LTI) system where virtual sensors and virtual actuators are used to correct faulty performance through the use of a pre-fault performance. Simulation results showed that the developed approach can handle different types of faults and able to completely and instantly recover the original system...

  7. Dry actuation testing of viscous drag micropumping systems for determination of optimal drive waveforms

    Sosnowchik, Brian D.; Galambos, Paul C.; Sharp, Kendra V.; Jenkins, Mark W.; Horn, Mark W.; Hendrix, Jason R.

    2004-01-01

    This paper presents the dry actuation testing procedures and results for novel viscous drag micropumping systems. To overcome the limitations of previously developed mechanical pumps, we have developed pumps that are surface micromachined for efficient mass production which utilize viscous drag (dominant at low Reynolds numbers typical of microfluidics) to move fluid. The SUMMiT (www.sandia.gov/micromachine) fabricated pumps, presented first by Kilani et al., are being experimentally and computationally analyzed. In this paper we will describe the development of optimal waveforms to drive the electrostatic pumping mechanism while dry. While wet actuation will be significantly different, dry testing provides insight into how to optimally move the mechanism and differences between dry and wet actuation can be used to isolate fluid effects. Characterization began with an analysis of the driving voltage waveforms for the torsional ratcheting actuator (TRA), a micro-motor that drove the gear transmission for the pump, actuated with SAMA (Sandia"s Arbitrary waveform MEMS Actuator), a new waveform generating computer program with the ability to generate and output arbitrary voltage signals. Based upon previous research, a 50% duty cycle half-sine wave was initially selected for actuation of the TRA. However, due to the geometry of the half-sine waveform, the loaded micromotor could not transmit the motion required to pump the tested liquids. Six waveforms were then conceived, constructed, and selected for device actuation testing. Dry actuation tests included high voltage, low voltage, high frequency, and endurance/reliability testing of the TRA, gear transmission and pump assembly. In the SUMMiT process, all of the components of the system are fabricated together on one silicon chip already assembled in a monolithic microfabrication process. A 40% duty cycle quarter-sine waveform with a 20% DC at 60V has currently proved to be the most reliable, allowing for an 825Hz

  8. Autonomous control system reconfiguration for spacecraft with non-redundant actuators

    Grossman, Walter

    1995-01-01

    The Small Satellite Technology Initiative (SSTI) 'CLARK' spacecraft is required to be single-failure tolerant, i.e., no failure of any single component or subsystem shall result in complete mission loss. Fault tolerance is usually achieved by implementing redundant subsystems. Fault tolerant systems are therefore heavier and cost more to build and launch than non-redundent, non fault-tolerant spacecraft. The SSTI CLARK satellite Attitude Determination and Control System (ADACS) achieves single-fault tolerance without redundancy. The attitude determination system system uses a Kalman Filter which is inherently robust to loss of any single attitude sensor. The attitude control system uses three orthogonal reaction wheels for attitude control and three magnetic dipoles for momentum control. The nominal six-actuator control system functions by projecting the attitude correction torque onto the reaction wheels while a slower momentum management outer loop removes the excess momentum in the direction normal to the local B field. The actuators are not redundant so the nominal control law cannot be implemented in the event of a loss of a single actuator (dipole or reaction wheel). The spacecraft dynamical state (attitude, angular rate, and momentum) is controllable from any five-element subset of the six actuators. With loss of an actuator the instantaneous control authority may not span R(3) but the controllability gramian integral(limits between t,0) Phi(t, tau)B(tau )B(prime)(tau) Phi(prime)(t, tau)d tau retains full rank. Upon detection of an actuator failure the control torque is decomposed onto the remaining active axes. The attitude control torque is effected and the over-orbit momentum is controlled. The resulting control system performance approaches that of the nominal system.

  9. Actuator fault estimation and accommodation for switched systems with time delay: Discrete-time case.

    Du, Dongsheng; Jiang, Bin

    2016-05-01

    This paper investigates the problems of actuator fault estimation and accommodation for discrete-time switched systems with state delay. By using reduced-order observer method and switched Lyapunov function technique, a fault estimation algorithm is achieved for the discrete-time switched system with actuator fault and state delay. Then based on the obtained online fault estimation information, a switched dynamic output feedback controller is employed to compensate for the effect of faults by stabilizing the closed-loop systems. Finally, an example is proposed to illustrate the obtained results. PMID:26924247

  10. Ferromagnetic shape memory flapper for remotely actuated propulsion systems

    Generating propulsion with small-scale devices is a major challenge due to both the domination of viscous forces at low Reynolds numbers as well as the small relative stroke length of traditional actuators. Ferromagnetic shape memory materials are good candidates for such devices as they exhibit a unique combination of large strains and fast responses, and can be remotely activated by magnetic fields. This paper presents the design, analysis, and realization of a novel NiMnGa shear actuation method, which is especially suitable for small-scale fluid propulsion. A fluid mechanics analysis shows that the two key parameters for powerful propulsion are the engineering shear strain and twin boundary velocity. Using high-speed photography, we directly measure both parameters under an alternating magnetic field. Reynolds numbers in the inertial flow regime (>700) are evaluated. Measurements of the transient thrust show values up to 40 mN, significantly higher than biological equivalents. This work paves the way for new remotely activated and controlled propulsion for untethered micro-scale robots. (paper)

  11. Bioinspired Soft Actuation System Using Shape Memory Alloys

    Matteo Cianchetti

    2014-07-01

    Full Text Available Soft robotics requires technologies that are capable of generating forces even though the bodies are composed of very light, flexible and soft elements. A soft actuation mechanism was developed in this work, taking inspiration from the arm of the Octopus vulgaris, specifically from the muscular hydrostat which represents its constitutive muscular structure. On the basis of the authors’ previous works on shape memory alloy (SMA springs used as soft actuators, a specific arrangement of such SMA springs is presented, which is combined with a flexible braided sleeve featuring a conical shape and a motor-driven cable. This robot arm is able to perform tasks in water such as grasping, multi-bending gestures, shortening and elongation along its longitudinal axis. The whole structure of the arm is described in detail and experimental results on workspace, bending and grasping capabilities and generated forces are presented. Moreover, this paper demonstrates that it is possible to realize a self-contained octopus-like robotic arm with no rigid parts, highly adaptable and suitable to be mounted on underwater vehicles. Its softness allows interaction with all types of objects with very low risks of damage and limited safety issues, while at the same time producing relatively high forces when necessary.

  12. DESIGN AND ANALYSIS OF NOVEL ACTIVE ACTUATOR TO CONTROL LOW FREQUENCY VIBRATIONS OF SHAFT SYSTEM

    2008-01-01

    Aiming at providing with high-load capability in active vibration control of large-scale rotor system, a new type of active actuator to simultaneously reduce the dangers of low frequency flexural and torsional vibrations is designed. The actuator employs electro-hydraulic system and can provide a high and circumferential load. To initialize new research, the characteristics of various kinds of active actuators to control rotor shaft vibration are briefly introduced. The purpose of this paper is to introduce the preliminary results via presenting the structure, functions and operating principles, in particular, the working process of the electro-hydraulic system of the new actuator which includes a set of high speed electromagnetic valves and a series of sloping cone-shaped openings, and presenting the transmission relationships among the control parameters from control signals into the valves to active load onto shaft. The course of the work is dynamic, and a series of spatial forces and moments are put on the shaft to get an external resultant force to reduce excitations that induce vibration of shafts. By checking states of vibration, the actuator can control the impulse width and the interval of injection time for applying different control force to a vibration shaft in two circumference directions through the regulating action of a set of combination directional control valves. The results from simulating analysis and experiment show evidence of that this design can satisfy the case of active process of decreasing of flexural and torsional vibrations.

  13. Optimization of actuator/sensor position of multi-body system with quick startup and brake

    2007-01-01

    A new method was put forward to optimize the position of actuator/sensor of multi-body system with quick startup and brake. Dynamical equation was established for the system with intelligent structure of piezoelectric actuators. According to the property of the modes varying with time, the performance index function was developed based on the optimal configuration principle of energy maximal dissipation, and the relevant optimal model was obtained. According to its characteristic, a float-encoding genetic algorithm, which is efficient, simple and excellent for solving the global-optimal solution of this problem, was adopted. Taking the plane manipulator as an example, the result of numerical calculation shows that, after the actuator/sensor position being optimized,the vibration amplitude of the multi-body system is reduced by 35% compared with that without optimization.

  14. Vibration control of a camera mount system for an unmanned aerial vehicle using piezostack actuators

    This work proposes an active mount for the camera systems of unmanned aerial vehicles (UAV) in order to control unwanted vibrations. An active actuator of the proposed mount is devised as an inertial type, in which a piezostack actuator is directly connected to the inertial mass. After evaluating the actuating force of the actuator, it is combined with the rubber element of the mount, whose natural frequency is determined based on the measured vibration characteristics of UAV. Based on the governing equations of motion of the active camera mount, a robust sliding mode controller (SMC) is then formulated with consideration of parameter uncertainties and hysteresis behavior of the actuator. Subsequently, vibration control performances of the proposed active mount are experimentally evaluated in the time and frequency domains. In addition, a full camera mount system of UAVs that is supported by four active mounts is considered and its vibration control performance is evaluated in the frequency domain using a hardware-in-the-loop simulation (HILS) method

  15. Influence of low optical frequencies on actuation dynamics of microelectromechanical systems via Casimir forces

    Sedighi, Mehdi; Palasantzas, George

    2015-04-01

    The role of the Casimir force on the analysis of microactuators is strongly influenced by the optical properties of interacting materials. Bifurcation and phase portrait analysis were used to compare the sensitivity of actuators when the optical properties at low optical frequencies were modeled using the Drude and Plasma models. Indeed, for metallic systems, which have strong Casimir attraction, the details of the modeling of the low optical frequency regime can be dramatic, leading to predictions of either stable motion or stiction instability. However, this difference is strongly minimized for weakly conductive systems as are the doped insulators making actuation modeling more certain to predict.

  16. Design Comparison of Autonomous High Voltage Driving System for DEAP Actuator

    Huang, Lina; Pittini, Riccardo; Zhang, Zhe; Andersen, Michael A. E.

    As a new type of smart material, the Dielectric Electro Active Polymer (DEAP) is introduced in terms of configuration, working principle and potential applications. The design of an autonomous high voltage driving system for DEAP actuator is investigated. The system configuration and the design...

  17. An enhanced approach to actuator fault estimation design for linear continuous-time systems

    An enhanced approach to fault estimation systems design, adjusted for linear continuous-time systems, is proposed in the paper. Based on LMI principle the method exploits state-space observer principle in an adaptive fault estimation scheme for single actuator faults. A simulation example, subject to different type of failures, demonstrates the effectiveness of the proposed form of the fault estimation technique

  18. INTEGRATED DRILLING SYSTEM USING MUD ACTUATED DOWN HOLE HAMMER AS PRIMARY ENGINE

    John V. Fernandez; David S. Pixton

    2005-12-01

    A history and project summary of the development of an integrated drilling system using a mud-actuated down-hole hammer as its primary engine are given. The summary includes laboratory test results, including atmospheric tests of component parts and simulated borehole tests of the hammer system. Several remaining technical hurdles are enumerated. A brief explanation of commercialization potential is included. The primary conclusion for this work is that a mud actuated hammer can yield substantial improvements to drilling rate in overbalanced, hard rock formations. A secondary conclusion is that the down-hole mud actuated hammer can serve to provide other useful down-hole functions including generation of high pressure mud jets, generation of seismic and sonic signals, and generation of diagnostic information based on hammer velocity profiles.

  19. Simulation of self-actuating valves in piping systems

    Water and steam loops of large thermal power units are often equipped with self-actuating valves. This means that the kinetic energy of the valve piston is taken from the medium of the loop to be controlled by the valve itself. Three main typs of valves exist: a) damped check valves for one-way motion, b) safety-valves as two level controllers between two pressure levels and c) control-valves as real controllers to control a pressure level or a mass flow, for example. The complexity of geometry and mechanism depends on the function of the valve. To provide engineers with data for piping and valve layout against transient loads it is necessary to perform computations regarding the interaction of the pipe flow and valve kinematics. (orig.)

  20. Hydraulic engine valve actuation system including independent feedback control

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  1. Fiber Optic Experience with the Smart Actuation System on the F-18 Systems Research Aircraft

    Zavala, Eddie

    1997-01-01

    High bandwidth, immunity to electromagnetic interference, and potential weight savings have led to the development of fiber optic technology for future aerospace vehicle systems. This technology has been incorporated in a new smart actuator as the primary communication interface. The use of fiber optics simplified system integration and significantly reduced wire count. Flight test results showed that fiber optics could be used in aircraft systems and identified critical areas of development of fly-by-light technology. This paper documents the fiber optic experience gained as a result of this program, and identifies general design considerations that could be used in a variety of specific applications of fiber optic technology. Environmental sensitivities of fiber optic system components that significantly contribute to optical power variation are discussed. Although a calibration procedure successfully minimized the effect of fiber optic sensitivities, more standardized calibration methods are needed to ensure system operation and reliability in future aerospace vehicle systems.

  2. Development of a magneto-rheological fluid based hybrid actuation system

    John, Shaju

    A hybrid hydraulic actuation system is proposed as an active pitch link for rotorcraft applications. Such an active pitch link can be used to implement Individual Blade Control (IBC) techniques for vibration and noise reduction, in addition to providing primary control for the helicopter. Conventional technologies like electric motors and hydraulic actuators have major disadvantages when it come to applications on a rotating environment. Centralized hydraulic system require the use of mechanically complex hydraulic slip rings and electric motors have high precision mechanical moving parts that make them unattractive in application with high centrifugal load. The high energy density of smart materials can be used to design hydraulic actuators in a compact package. MagnetoRheological (MR) fluids can be used as the working fluid in such a hybrid hydraulic actuation system to implement a valving system with no moving parts. Thus, such an actuation system can be theoretically well-suited for application in a rotating environment. To develop an actuation system based on an active material stack and MR fluidic valves, a fundamental understanding of the hydraulic circuit is essential. In order to address this issue, a theoretical model was developed to understand the effect of pumping chamber geometry on the pressure losses in the pumping chamber. Three dimensional analytical models were developed for steady and unsteady flow and the results were correlated to results obtained from Computation Fluid Dynamic simulation of fluid flow inside the pumping chamber. Fundamental understanding regarding the pressure losses in a pumping chamber are obtained from the modeling process. Vortices that form in the pumping chamber (during intake) and the discharge tube (during discharge) are identified as a major cause of pressure loss in the chamber. The role of vortices during dynamic operation is also captured through a frequency domain model. Extensive experimental studies were

  3. RESEARCH OF THE APPLICATIONS POSSIBILITY OF INTERFACE RELAY IN HYBRID SWITCHING SYSTEMS OF BISTABLE ACTUATORS WINDINGS

    B.V. Klymenko

    2016-03-01

    Full Text Available Purpose. Development of methods of experimental determination of action coordination characteristics of semiconductor and mechanical switching elements in systems of hybrid commutation of bistable actuators coils taking into account contact bounce of mechanical switching elements. Consideration of the application possibility of interface relay as mechanical switches, and the definition of the duration of the intervals to ensure coordination of the relay operation with semiconductor switches. Methodology. Experimental determination of the time intervals between the moments of switching transistor which controls the relay coil, and power transistor when the switching on and off operations using a hybrid switching device are performed; statistical processing of experimental results. Results. The durations of the time intervals between the moments of switching of semiconductor and mechanical switching elements in systems of actuator coils hybrid commutation are experimentally determined. A way of a significant reduction of the duration of the indicated time intervals is considered and experimentally confirmed. Originality. The scheme of the power circuit of the control system with hybrid commutation of the actuator coil circuit, which differs from the known schemes that the only semiconductor switching element performs functions of the current switching on and off, and electromechanical relay contact elements act as a router interconnecting electrical circuits during dead times. Practical value. The use of hybrid switches instead of switches with semiconductor switches will significantly reduce the cost of the actuators control system, as well as reduce their sizes.

  4. Reliable Control for Time-Varying Delay Switched Fuzzy Systems with Faulty Actuators Based on Observers Switching Method

    Le Zhang; Jinnan Wu

    2013-01-01

    This paper deals with the reliable control problem of nonlinear systems represented by switched fuzzy systems (SFS) with time-varying delay, where each subsystem of switched system is a time-varying delay fuzzy system. A switched fuzzy system with a Takagi and Sugeno (T-S) fuzzy model, which differs from existing ones, is firstly employed to describe a nonlinear system. When the actuators are serious failure, the residual part of actuators cannot make original system stability, using switchin...

  5. Effectiveness of a passive-active vibration isolation system with actuator constraints

    Sun, Lingling; Sun, Wei; Song, Kongjie; Hansen, Colin H.

    2014-05-01

    In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators. The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed. The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts. Vertical and transverse forces as well as a rotational moment are applied at the rigid body, and resonances excited in elastic mounts and the supporting plate are analyzed. The overall isolation performance is evaluated by numerical simulation. The simulation results are then compared with those obtained using unconstrained control strategies. In addition, the effects of waves in elastic mounts are analyzed. It is shown that the control strategies which rely on unconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. In the frequency range in which rigid body modes are present, the control strategies can only achieve 5-10 dB power transmission reduction, when control forces are constrained to be the same order of the magnitude as the primary vertical force. The resonances of the elastic mounts result in a notable increase

  6. A Method for Exploiting Redundancy to Accommodate Actuator Limits in Multivariable Systems

    Litt, Jonathan; Roulette, Greg

    1995-01-01

    This paper introduces a new method for accommodating actuator saturation in a multivariable system with actuator redundancy. Actuator saturation can cause significant deterioration in control system performance because unmet demand may result in sluggish transients and oscillations in response to setpoint changes. To help compensate for this problem, a technique has been developed which takes advantage of redundancy in multivariable systems to redistribute the unmet control demand over the remaining useful effectors. This method is not a redesign procedure, rather it modifies commands to the unlimited effectors to compensate for those which are limited, thereby exploiting the built-in redundancy. The original commands are modified by the increments due to unmet demand, but when a saturated effector comes off its limit, the incremental commands disappear and the original unmodified controller remains intact. This scheme provides a smooth transition between saturated and unsaturated modes as it divides up the unmet requirement over any available actuators. This way, if there is sufficiently redundant control authority, performance can be maintained.

  7. System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

    Khairuddin Osman

    2014-01-01

    Full Text Available This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function is obtained from system identification (SI method. Next, combination of predictive functional control with observer (PFC-O design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI devices and programmable system on chip (PSoC microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments.

  8. The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System

    Chuanhui Zhang

    2013-05-01

    Full Text Available This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametric variations accompanying with the variations of the stiffness. Based on compensation from the feed-forward control on the disturbance brought by the motion of steering engine, the system performance can be improved by using fuzzy adaptive adjusting PID control to make up the changes of system parameter caused by the changes of the stiffness. By combining the fuzzy control with traditional PID control, fuzzy adaptive PID control is able to choose the parameters more properly.

  9. EFFECT OF ELECTRICAL CABLE ON MOVEMENT-RANGE OF AGNETIC ACTUATOR SYSTEM CAPABLE OF INSPECTION IN A PIPE

    K. Sasaki

    2014-12-01

    Full Text Available This paper proposes a magnetic actuator system of a new type capable of inspection in a complex pipe by means of a new motion principle. Using plural vibration components, the magnetic actuator is able to move in the complex pipe. A magnetic actuator of the reversible type, due to opening and closing of a compound material by using elongation and contraction of four shape-memory-alloy (SMA coils, was fabricated. In this paper, the influence of the electrical cable length on the moving characteristics of the magnetic actuator is discussed. Twenty electrical cables of 0.12 mm diameter were used in this paper. The experimental result shows that the prototype actuator was able to climb at 15.3 mm/s in the straight pipe when pulling a load mass of 50 g. In addition, the result demonstrated that the magnetic actuator system was able to inspect the complex pipe over a distance of 10 m. This actuator system can inspect a complex pipe with an inside diameter from 40 mm to 50 mm. In addition, the actuator system was able to inspect the pipe with a simple apparatus of three amplifiers and one signal generator.

  10. Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems

    Bingtuan Gao; Fei Ye

    2014-01-01

    Rotational translational actuator (RTAC) system, whose motions occur in horizontal planes, is a benchmark for studying of control techniques. This paper presents dynamical analysis and stabilizing control design for the RTAC system on a slope. Based on Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cart position and rotor angle as the general coordinates and torque acting on the rotor as general force. The analysis of equilibriums and their co...

  11. Robust Exponential Stabilization of Uncertain Impulsive Bilinear Time-Delay Systems with Saturating Actuators

    Pan Tetie; Zhang Qiang; Shi Bao; Yang Shujie

    2010-01-01

    This paper investigates the problem of robust exponential stabilization for uncertain impulsive bilinear time-delay systems with saturating actuators. By using the Lyapunov function and Razumikhin-type techniques, two classes of impulsive systems are considered: the systems with unstable discrete-time dynamics and the ones with stable discrete-time dynamics. Sufficient conditions for robust stabilization are obtained in terms of linear matrix inequalities. Numerical examples are given to illu...

  12. Magnetorheological valve based actuator for improvement of passively controlled turbocharger system

    Bahiuddin, I.; Mazlan, S. A.; Imaduddin, F.; Ubaidillah, Ichwan, B.

    2016-03-01

    Variable geometry turbochargers have been widely researched to fulfil the current engine stringent regulations. The passively controlled turbocharger (PCT) concept has been proposed to reduce energy consumption by utilizing the emission energy to move the actuator. However, it only covered a small range operating condition. Therefore, a magnetorheological(MR) Valve device, as typical smart material devices to enhance a passive device, is proposed to improve the PCT. Even though the benefits have been considered for the compactness and easiness to connect to an electrical system, the number of publications regarding the MR application within engine system is hard to be found. Therefore, this paper introduces a design of an MR Valve in a turbocharger. The main challenge is to make sure its capability to produce a sufficient total pressure drop. To overcome the challenge, its material properties, shape and pressure drop calculation has been analyzed to fulfil the requirement. Finally, to get a more understanding of actuator performance, the actuator response was simulated by treating the exhaust gas pressure as an input. It shows that the new MR actuator has a potential dynamic to improve the PCT controllability.

  13. Operating experience of protection and safety actuation systems of CIRUS reactor

    Operating experience of: (1) the protection system of the CIRUS reactor with regard to its reliability and availability and (2) the safety actuation system is given. Average rate of unsafe failures of the protection system has been only 0.6 per year even after 18 years of reactor operating. Failures were confined to power regulating systems and electromechanical relays and were detected during surveillance checks. Reasons for failures are traced. No unsafe failures have been observed in the safety actuation systems. As from the availability point of view, safety actuation system caused four reactor outages which were traced to malfunction of control and dump valves. Trips and shutdowns due to failures of protection systems constitute 61.4% and 17.3% of the total number of reactor trips and shutdowns respectively. The total operating efficiency lost due to them is 1.88% on average. 75% of the reactor trips due to safe failures originated in power control system, logic relays, fuel rod coolant flow monitoring devices and ground fault monjtoring circuit. The main factors responsible for malfunctions of these systems are analysed. (M.G.B.)

  14. Advanced launch system (ALS) - Electrical actuation and power systems improve operability and cost picture

    Sundberg, Gale R.

    1990-01-01

    To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrrical power system and controls for all aviation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a sdpecific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military ans civilian aircraft, lunar/Martian vehicles, and a multitude of comercial applications.

  15. Bio-Inspired Control of an Arm Exoskeleton Joint with Active-Compliant Actuation System

    Michele Folgheraiter

    2009-01-01

    Full Text Available This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.

  16. Robust Stabilization and Disturbance Rejection of Positive Systems with Time-Varying Delays and Actuator Saturation

    Xi Ding; Zhengrong Xiang; Chunyu Yang

    2015-01-01

    This paper focuses on the problems of robust stabilization and disturbance rejection for a class of positive systems with time-varying delays and actuator saturation. First, a convex hull representation is used to describe the saturation characteristics. By constructing an appropriate copositive type Lyapunov functional, we give sufficient conditions for the existence of a state feedback controller such that the closed-loop system is positive and asymptotically stable at the origin of the sta...

  17. Complete modelling of a piezo actuator last-generation injector for diesel injection systems

    Salvador Rubio, Francisco Javier; PLAZAS TORRES, ALEJANDRO HERNÁN; Gimeno García, Jaime; Carreres Talens, Marcos

    2014-01-01

    An experimental and computational study of an increasingly used third-generation common-rail injection system with a piezo actuator has been carried out. A complete characterization of the different elements of the system, both geometrically and hydraulically, has been performed in order to describe its behaviour. The information obtained through the characterization has been used to create a one-dimensional model that has been implemented in the commercial software AMESim and ext...

  18. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M.; Hata, Nobuhiko; Fischer, Gregory S.

    2014-01-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian...

  19. Design and performance evaluation of a new jetting dispenser system using two piezostack actuators

    This paper presents a new jetting dispenser system which is adaptable to various packaging processes such as light emitting diode packaging and flip chip packaging. The proposed dispenser system is driven by piezostack actuators and a lever-hinge mechanism. In order to improve jetting performances such as accurate dispensed amount and adaptability to high viscosity fluid, two piezostack actuators are used. By activating the two actuators dually, the angular displacement of the lever can be controlled to produce a required motion of the needle. Firstly, the configuration and working principles of the proposed jetting system are explained, the design of the dispenser is then conducted and significant geometric dimensions of the dispenser are presented. In the design process, several operational requirements such as the maximum needle stroke, operational frequency, and amplification ratio of the lever-hinge are considered. The principal design parameters of the jetting dispenser system are determined from static and modal analysis using the finite element analysis. After obtaining the dimensional characteristics, the control logic for the dispensing operation is explained using a feed-forward controller. The piezostack-driven jetting dispenser system and control devices are then fabricated to evaluate the dispenser performance. It is shown experimentally that by changing the input voltage conditions, the amount of fluid dispensed by the proposed jetting system can be effectively controlled to achieve the desired jetting performance. (paper)

  20. Reactivity Accidents in CAREM-25 Core with and Without Safety Systems Actuation

    A reactivity accident in CAREM core can be provoked by different initiating events, a cold water injection in pressure vessel, a secondary side steam line breakage and a failure in the absorbing rods drive system.The present work analyses inadverted control rod withdraws transients.Maximum worth control rod (2.5 $) at normal velocity (1 cm/s) is adopted for the simulations (Reactivity ramp of 0.018 $/s).Different scenarios considering actuation of first shutdown system (FSS), second shutdown system (SSS) and selflimiting conditions were modeled.Results of the accident with actuation of FSS show that safety margins are well above critical values (DNBR and CPR).In the cases with failure of the FSS and success of SSS or selflimited, safety margins are below critical values, however, the SSS provides a reduction of elapsed time under advised margins

  1. Optimal reliability design for over-actuated systems based on the MIT rule: Application to an octocopter helicopter testbed

    This paper addresses the problem of optimal reliability in over-actuated systems. Overloading an actuator decreases its overall lifetime and reduces its average performance over a long time. Therefore, performance and reliability are two conflicting requirements. While appropriate reliability is related to average loads, good performance is related to fast response and sufficient loads generated by actuators. Actuator redundancy allows us to address both performance and reliability at the same time by properly allocating desired loads among redundant actuators. The main contribution of this paper is the on-line optimization of the overall plant reliability according to performance objective using an MIT (Massachusetts Institute of Technology) rule-based method. The effectiveness of the proposed method is illustrated through an experimental application to an octocopter helicopter testbed

  2. Non-contacting actuation by radiation powered telemetry system

    In laser interferometer gravitational wave detectors, local control relative to vibration isolated parts of a suspension chain may introduce noise through wires. In this paper we present a feasibility study of a wireless signal transmission method for control systems. A prototype system provides a wireless two-way signal transmission over short distances at more than 800 kbits s-1. Wireless electric power for the system may be provided using a diode laser and solar cells with up to 33% conversion efficiency

  3. Null controllable region of delta operator systems subject to actuator saturation

    Yang, Hongjiu; Yan, Ce; Xia, Yuanqing; Zhang, Jinhui

    2016-07-01

    In this paper, we give exact description of null controllable regions for delta operator systems subject to actuator saturation. The null controllable region is in terms of a set of extremal trajectories of anti-stable subsystems. For the delta operator system with real eigenvalues or complex eigenvalues, the description is simplified to an explicit formula which is used to characterise the boundary of a null controllable region. The relations of null controllable regions are shown separately for continuous-time systems, discrete-time systems and delta operator systems. Two numerical examples are given to illustrate the effectiveness of the proposed techniques on null controllable regions.

  4. System and method for controlling engine knock using electro-hydraulic valve actuation

    Brennan, Daniel G

    2013-12-10

    A control system for an engine includes a knock control module and a valve control module. The knock control module adjusts a period that one or more of an intake valve and an exhaust valve of a cylinder are open based on engine knock corresponding to the cylinder. The valve control module, based on the adjusted period, controls the one or more of the intake valve and the exhaust valve using one or more hydraulic actuators.

  5. Robust Adaptive Sliding Mode Consensus of Multiagent Systems with Perturbed Communications and Actuators

    Xiao-Zheng Jin

    2013-01-01

    Full Text Available This paper deals with the asymptotic consensus problem for a class of multiagent systems with time-varying additive actuator faults and perturbed communications. The L2 performance of systems is also considered in the consensus controller designs. The upper and lower bounds of faults and perturbations in actuators and communications and controller gains are assumed to be unknown but can be estimated by designing some indirect adaptive laws. Based on the information from the adaptive estimation mechanism, the distributed robust adaptive sliding mode controllers are constructed to automatically compensate for the effects of faults and perturbations and to achieve any given level of L2 gain attenuation from external disturbance to consensus errors. Through Lyapunov functions and adaptive schemes, the asymptotic consensus of resulting adaptive multiagent system can be achieved with a specified performance criterion in the presence of perturbed communications and actuators. The effectiveness of the proposed design is illustrated via a decoupled longitudinal model of F-18 aircraft.

  6. High Resolution Actuators

    Mathieu Grossard

    2016-06-01

    Full Text Available Driven by increasing societal, economic, and technological pressures, high-resolution actuators must achieve ever increasing accuracy requirements and functional integration into the system.[...

  7. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications.

    Muniraj, Murali; Arulmozhiyal, Ramaswamy

    2015-01-01

    A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102

  8. Quantum mechanical actuation of microelectromechanical systems by the Casimir force.

    Chan, H B; Aksyuk, V A; Kleiman, R N; Bishop, D J; Capasso, F

    2001-03-01

    The Casimir force is the attraction between uncharged metallic surfaces as a result of quantum mechanical vacuum fluctuations of the electromagnetic field. We demonstrate the Casimir effect in microelectromechanical systems using a micromachined torsional device. Attraction between a polysilicon plate and a spherical metallic surface results in a torque that rotates the plate about two thin torsional rods. The dependence of the rotation angle on the separation between the surfaces is in agreement with calculations of the Casimir force. Our results show that quantum electrodynamical effects play a significant role in such microelectromechanical systems when the separation between components is in the nanometer range. PMID:11239149

  9. Fault-tolerant Actuator System for Electrical Steering of Vehicles

    Sørensen, Jesper Sandberg; Blanke, Mogens

    2006-01-01

    Being critical to the safety of vehicles, the steering system is required to maintain the vehicles ability to steer until it is brought to halt, should a fault occur. With electrical steering becoming a cost-effective candidate for electrical powered vehicles, a fault-tolerant architecture is...... needed that meets this requirement. This paper studies the fault-tolerance properties of an electrical steering system. It presents a fault-tolerant architecture where a dedicated AC motor design used in conjunction with cheap voltage measurements can ensure detection of all relevant faults in the...

  10. STOCHASTIC OPTIMAL VIBRATION CONTROL OF PARTIALLY OBSERVABLE NONLINEAR QUASI HAMILTONIAN SYSTEMS WITH ACTUATOR SATURATION

    Ronghua Huan; Lincong Chen; Weiliang Jin; Weiqiu Zhu

    2009-01-01

    An optimal vibration control strategy for partially observable nonlinear quasi Hamil-tonian systems with actuator saturation is proposed. First, a controlled partially observable non-linear system is converted into a completely observable linear control system of finite dimension based on the theorem due to Charalambous and Elliott. Then the partially averaged Ito stochas-tic differential equations and dynamical programming equation associated with the completely observable linear system are derived by using the stochastic averaging method and stochastic dynamical programming principle, respectively. The optimal control law is obtained from solving the final dynamical programming equation. The results show that the proposed control strategy has high control effectiveness and control efficiency.

  11. Actuator fault diagnosis of time-delay systems based on adaptive observer

    2005-01-01

    A novel approach for the actuator fault diagnosis of time-delay systems is presented by using an adaptive observer technique. Systems without model uncertainty are initially considered, followed by a discussion of a general situation where the system is subjected to either model uncertainty or external disturbance. An adaptive diagnostic algorithm is developed to diagnose the fault, and a modified version is proposed for general system to improve robustness. The selection of the threshold for fault detection is also discussed. Finally, a numerical example is given to illustrate the efficiency of the proposed method.

  12. Design of a New Virtual Interaction Based PLC Training Using Virtual Sensors and Actuators: System and Its Application

    Yoon Sang Kim; Hak-Man Kim

    2013-01-01

    This paper proposes a new virtual interaction based programmable logic controller (PLC) training system using virtual sensors and actuators. The proposed system is composed of four components including virtual sensors (for interacting between user and input devices), virtual actuators (for manipulating and controlling device or equipment), virtual PLC (for programming and generating command), and virtual networks (for interfacing the interactions and transferring the data between all the comp...

  13. Adaptive vibration suppression system: An iterative control law for a piezoelectric actuator shunted by a negative capacitor

    Kodejska, Milos; Linhart, Vaclav; Vaclavik, Jan; Sluka, Tomas

    2014-01-01

    An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that using negative capacitance shunt, the spring constant of piezoelectric actuator can be controlled to extreme values of zero or infinity. Since the value of spring constant controls a force transmitted through an elastic element, it is possible to achieve a reduction of transmissibility of vibrations through a piezoelectric actuator by reducing its effective spring constant. The narrow frequency range and broad frequency range vibration isolation systems are analyzed, modeled, and experimentally investigated. The problem of high sensitivity of the vibration control system to varying operational conditions is resolved by applying an adaptive control to the circuit parameters of the negative capacitor. A control law that is based on the estimation of the value of effective spring constant of shunted piezoelectric actuator is presented. An ...

  14. Adaptive Compensation of Unknown Actuator Failures for Strict-feedback Systems

    Jianping. Cai

    2011-08-01

    Full Text Available Actuator failures are inevitable in practice especially in complex systems. The unknown failure may cause instability and catastrophic accidents during operation of control systems. A state feedback control scheme is proposed by using backstepping techniques. Compared with exist results, The uncertainties caused by total failure are seen as the bounded term and an estimator is designed to estimate its upper bound. The stability of closed loop system and output tracking performance can be guaranteed by our control law and corresponding update laws of uncertain parameters.

  15. Robust stability analysis of switched uncertain systems with multiple time-varying delays and actuator failures

    2011-01-01

    In this paper,the robust stability issue of switched uncertain multidelay systems resulting from actuator failures is considered.Based on the average dwell time approach,a set of suitable switching signals is designed by using the total activation time ratio between the stable subsystem and the unstable one.It is first proven that the resulting closed-loop system is robustly exponentially stable for some allowable upper bound of delays if the nominal system with zero delay is exponentially stable under thes...

  16. A flat and cost effective actuator based on superabsorbent polymer driving a skin attachable drug delivery system

    We present a flat and cost effective volume displacement actuator based on superabsorbent polymer. It offers slow kinetics and is able to work against reasonable back-pressures, e.g. 0.50 ml in 235 min at 140 kPa. It is predestined for low-cost skin attachable drug delivery devices. The actuator consists of a plastic ring filled with superabsorbent polymer granulate. It is sealed with a thermoplastic elastomeric membrane on one side and a stiff filter membrane on the other side. After adding a defined amount (e.g. 2 or 10 ml) of swelling agent the actuator shows a fast initial volume displacement within a few minutes followed by a slow continuous increase of this volume within hours. Minimized initial volume displacement and maximized displaced volume after 4 h cannot be combined in one actuator. A minimized initial displacement can be as low as 0.10 ml± 0.03 ml. A maximized displaced volume after 4 h can be 1.71 ml± 0.18 ml, not considering the initial effect. The back-pressure dependency of one selected actuator design was studied. At a back-pressure of 100 kPa the displaced volume is reduced by 33%. We investigated various actuator designs with varying surface area, hardness of the elastomeric membrane and superabsorbent polymer. Finally, we demonstrate a skin attachable drug delivery system based on the employment of the superabsorbent polymer actuator. (paper)

  17. Thermoelectric-Driven Sustainable Sensing and Actuation Systems for Fault-Tolerant Nuclear Incidents

    Longtin, Jon [Stony Brook Univ., NY (United States)

    2016-02-08

    The Fukushima Daiichi nuclear incident in March 2011 represented an unprecedented stress test on the safety and backup systems of a nuclear power plant. The lack of reliable information from key components due to station blackout was a serious setback, leaving sensing, actuation, and reporting systems unable to communicate, and safety was compromised. Although there were several independent backup power sources for required safety function on site, ultimately the batteries were drained and the systems stopped working. If, however, key system components were instrumented with self-powered sensing and actuation packages that could report indefinitely on the status of the system, then critical system information could be obtained while providing core actuation and control during off-normal status for as long as needed. This research project focused on the development of such a self-powered sensing and actuation system. The electrical power is derived from intrinsic heat in the reactor components, which is both reliable and plentiful. The key concept was based around using thermoelectric generators that can be integrated directly onto key nuclear components, including pipes, pump housings, heat exchangers, reactor vessels, and shielding structures, as well as secondary-side components. Thermoelectric generators are solid-state devices capable of converting heat directly into electricity. They are commercially available technology. They are compact, have no moving parts, are silent, and have excellent reliability. The key components to the sensor package include a thermoelectric generator (TEG), microcontroller, signal processing, and a wireless radio package, environmental hardening to survive radiation, flooding, vibration, mechanical shock (explosions), corrosion, and excessive temperature. The energy harvested from the intrinsic heat of reactor components can be then made available to power sensors, provide bi-directional communication, recharge batteries for other

  18. Thermoelectric-Driven Sustainable Sensing and Actuation Systems for Fault-Tolerant Nuclear Incidents

    The Fukushima Daiichi nuclear incident in March 2011 represented an unprecedented stress test on the safety and backup systems of a nuclear power plant. The lack of reliable information from key components due to station blackout was a serious setback, leaving sensing, actuation, and reporting systems unable to communicate, and safety was compromised. Although there were several independent backup power sources for required safety function on site, ultimately the batteries were drained and the systems stopped working. If, however, key system components were instrumented with self-powered sensing and actuation packages that could report indefinitely on the status of the system, then critical system information could be obtained while providing core actuation and control during off-normal status for as long as needed. This research project focused on the development of such a self-powered sensing and actuation system. The electrical power is derived from intrinsic heat in the reactor components, which is both reliable and plentiful. The key concept was based around using thermoelectric generators that can be integrated directly onto key nuclear components, including pipes, pump housings, heat exchangers, reactor vessels, and shielding structures, as well as secondary-side components. Thermoelectric generators are solid-state devices capable of converting heat directly into electricity. They are commercially available technology. They are compact, have no moving parts, are silent, and have excellent reliability. The key components to the sensor package include a thermoelectric generator (TEG), microcontroller, signal processing, and a wireless radio package, environmental hardening to survive radiation, flooding, vibration, mechanical shock (explosions), corrosion, and excessive temperature. The energy harvested from the intrinsic heat of reactor components can be then made available to power sensors, provide bi-directional communication, recharge batteries for other

  19. Hydraulic power system for implement actuators in an off-highway self-propelled work machine

    All but the circle drive motor of the implement actuators of a motor grader are divided into two groups each consisting of those which need not be operated simultaneously. The power system has three fixed displacement pumps for driving the circle drive motor via a circle control valve and the two implement actuator groups via respective implement control valve arrangements of carry-over parallel configurations. One of the pumps is connected to the two implement control valve arrangements via a restriction and a flow divider. A first demand valve controls communication between the other two pumps and the implement control valve arrangements in response to the pressure differential across the restriction, maintaining constant fluid flow to the valve arrangements regardless of engine speed or the loads on the implement actuators. A second demand valve likewise responds to a pressure differential across another restriction formed in a conduit communicating the first demand valve and the carry-over ports of the implement control valve arrangements with the circle control valve, maintaining constant fluid flow thereto

  20. A Portable, Air-Jet-Actuator-Based Device for System Identification

    Staats, Wayne; Belden, Jesse; Mazumdar, Anirban; Hunter, Ian

    2010-11-01

    System identification (ID) of human and robotic limbs could help in diagnosis of ailments and aid in optimization of control parameters and future redesigns. We present a self-contained actuator, which uses the Coanda effect to rapidly switch the direction of a high speed air jet to create a binary stochastic force input to a limb for system ID. The design of the actuator is approached with the goal of creating a portable device, which could deployed on robot or human limbs for in situ identification. The viability of the device is demonstrated by performing stochastic system ID on an underdamped elastic beam system with fixed inertia and stiffness, and variable damping. The non-parametric impulse response yielded from the stochastic system ID is modeled as a second order system, and the resultant parameters are found to be in excellent agreement with those found using more traditional system ID techniques. The current design could be further miniaturized and developed as a portable, wireless, on-site multi-axis system identification system for less intrusive and more widespread use.

  1. An innovative ultra-capacitor driven shape memory alloy actuator with an embedded control system

    In this paper, an innovative ultra-capacitor driven shape memory alloy (SMA) actuator with an embedded control system is proposed targeting high power high-duty cycle SMA applications. The ultra-capacitor, which is capable of delivering massive amounts of instantaneous current in a compact dimension for high power applications, is chosen as the main component of the power supply. A specialized embedded system is designed from the ground up to control the ultra-capacitor driven SMA system. The control of the ultra-capacitor driven SMA is different from that of a regular constant voltage powered SMA system in that the energy and the voltage of the ultra-capacitor decrease as the system load increases. The embedded control system is also different from a computer-based control system in that it has limited computational power, and the control algorithm has to be designed to be simple while effective so that it can fit into the embedded system environment. The problem of a variable voltage power source induced by the use of the ultra-capacitor is solved by using a fuzzy PID (proportional integral and derivative) control. The method of using an ultra-capacitor to drive SMA actuators enabled SMA as a good candidate for high power high-duty cycle applications. The proposed embedded control system provides a good and ready-to-use solution for SMA high power applications. (paper)

  2. Active cancellation of Tollmien-Schlichting instabilities on a wing using multi-channel sensor actuator systems

    This paper describes investigations on active attenuation of naturally occurring Tollmien-Schlichting (TS) instabilities on an unswept wing. TS disturbances are canceled in their linear stage by superimposition with artificially generated counter waves in order to shift the laminar-turbulent transition downstream. In this method, the need for energy input is considerably lower than the stabilization by manipulation of the local mean velocity profile (e.g. boundary layer suction). An optimum TS wave cancellation is achieved by a fast digital signal processor performing an adaptive control algorithm. The oncoming traveling TS disturbances are detected by a reference sensor upstream of an actuator. The reference signal is directly calculated into an actuator signal by means of a linear transfer function. The transfer function is continuously adapted to minimize the error signal measured downstream of the actuator. Previous investigations with a single control system have shown the successful TS wave damping by an adaptive control algorithm. These investigations led to an improvement in the set up of sensors and actuators used in the field of TS wave control. As a follow up of these experiments, recent investigations focus on the application of multi-channel control systems. This approach is essential to attenuate three-dimensionally dominated boundary layer instabilities by spanwise arranged sensor-actuator systems. Furthermore, the employment of multiple sensor-actuator systems allows a streamwise repeated damping to extend the delay of laminar-turbulent transition considerably

  3. Finite Energy and Bounded Actuator Attacks on Cyber-Physical Systems

    Djouadi, Seddik M [ORNL; Melin, Alexander M [ORNL; Ferragut, Erik M [ORNL; Laska, Jason A [ORNL; Dong, Jin [ORNL; Drira, Anis [ORNL

    2015-01-01

    As control system networks are being connected to enterprise level networks for remote monitoring, operation, and system-wide performance optimization, these same connections are providing vulnerabilities that can be exploited by malicious actors for attack, financial gain, and theft of intellectual property. Much effort in cyber-physical system (CPS) protection has focused on protecting the borders of the system through traditional information security techniques. Less effort has been applied to the protection of cyber-physical systems from intelligent attacks launched after an attacker has defeated the information security protections to gain access to the control system. In this paper, attacks on actuator signals are analyzed from a system theoretic context. The threat surface is classified into finite energy and bounded attacks. These two broad classes encompass a large range of potential attacks. The effect of theses attacks on a linear quadratic (LQ) control are analyzed, and the optimal actuator attacks for both finite and infinite horizon LQ control are derived, therefore the worst case attack signals are obtained. The closed-loop system under the optimal attack signals is given and a numerical example illustrating the effect of an optimal bounded attack is provided.

  4. State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system.

    Brizuela Mendoza, Jorge Aurelio; Astorga Zaragoza, Carlos Manuel; Zavala Río, Arturo; Pattalochi, Leo; Canales Abarca, Francisco

    2016-03-01

    This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories. PMID:26708303

  5. Magnetic actuators and sensors

    Brauer, John R

    2014-01-01

    An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva

  6. Electromechanical actuation of buckypaper actuator: Material properties and performance relationships

    Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation

  7. Control of Adjustable Compliant Actuators

    Berno J.E. Misgeld; Kurt Gerlach-Hahn; Daniel Rüschen; Anake Pomprapa; Steffen Leonhardt

    2014-01-01

    Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity...

  8. Optimal Mobile Sensing and Actuation Policies in Cyber-physical Systems

    Tricaud, Christophe

    2012-01-01

    A successful cyber-physical system, a complex interweaving of hardware and software in direct interaction with some parts of the physical environment, relies heavily on proper identification of the, often pre-existing, physical elements. Based on information from that process, a bespoke “cyber” part of the system may then be designed for a specific purpose. Optimal Mobile Sensing and Actuation Strategies in Cyber-physical Systems focuses on distributed-parameter systems the dynamics of which can be modelled with partial differential equations. Such systems are very challenging to measure, their states being distributed throughout a spatial domain. Consequently, optimal strategies are needed and systematic approaches to the optimization of sensor locations have to be devised for parameter estimation. The text begins by reviewing the newer field of cyber-physical systems and introducing background notions of distributed parameter systems and optimal observation theory. New research opportunities are then de...

  9. An in situ heater for a phase-change-material-based actuation system

    This paper reports efforts to develop paraffin actuators that rely on a phase change to achieve actuation. While paraffin phase-change actuators have existed for some time, this work relies on heating the paraffin in situ, rather than using external heaters. Graphite is used to create an in situ heater that utilizes resistive heating as a voltage is applied across the graphite–paraffin wax mixture. The main motivation behind this work is to reduce the actuation time and power required. An added advantage of the developed in situ heater is the use of printed circuit board technology to fabricate the prototypes rapidly and in a cost-effective manner. A video microscope and IR camera are used to characterize the performance of the actuators built in this work. Different compositions of graphite in paraffin wax are used to measure the actuator performance characteristics such as actuation time, actuation height and power required. Both dc and a pulsed power input are used to test the prototypes. Comparison with a similar actuator that utilizes a thin film heater shows a 90% reduction in actuation time for similar power usage. The actuator developed as part of this work resulted in 0.577 mm dot height at 0.69 W power input in 6 s translating to ∼4 J/actuation for an actuator chamber of 2.82 µL. A new performance metric, 'effective actuation time (W s−1 mm−4)', is used to compare the performance of this technology with other phase-change-material-based actuators, and the actuator developed in this work is found to be 10 to 200 times better.

  10. Decentralized Adaptive Control of Systems with Uncertain Interconnections, Plant-Model Mismatch and Actuator Failures

    Patre, Parag; Joshi, Suresh M.

    2011-01-01

    Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.

  11. Pulse mode actuation-readout system based on MEMS resonator for liquid sensing

    Tang, Meng; Cagliani, Alberto; Davis, Zachary James;

    2014-01-01

    A MEMS (Micro-Electro-Mechanical Systems) bulk disk resonator is applied for mass sensing under its dynamic mode. The classical readout circuitry involves sophisticated feedback loop and feedthrough compensation. We propose a simple straightforward non-loop pulse mode actuation and capacitive...... readout scheme. In order to verify its feasibility in liquid bio-chemical sensing environment, an experimental measurement is conducted with humidity sensing application. The measured resonant frequency changes 60kHz of 67.7MHz with a humidity change of 0~80%....

  12. An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets

    Stuart Bradley

    2015-11-01

    Full Text Available Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings” to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.

  13. Magnetically Actuated Seal

    Pinera, Alex

    2013-01-01

    This invention is a magnetically actuated seal in which either a single electromagnet, or multiple electromagnets, are used to control the seal's position. This system can either be an open/ close type of system or an actively controlled system.

  14. System-Level Design of a Shape Memory Alloy Actuator for Active Clearance Control in the High-Pressure Turbine

    DeCastro, Jonathan A.; Melcher, Kevin J.; Noebe, Ronald D.

    2005-01-01

    This paper describes results of a numerical analysis evaluating the feasibility of high-temperature shape memory alloys (HTSMA) for active clearance control actuation in the high-pressure turbine section of a modern turbofan engine. The prototype actuator concept considered here consists of parallel HTSMA wires attached to the shroud that is located on the exterior of the turbine case. A transient model of an HTSMA actuator was used to evaluate active clearance control at various operating points in a test bed aircraft engine simulation. For the engine under consideration, each actuator must be designed to counteract loads from 380 to 2000 lbf and displace at least 0.033 inches. Design results show that an actuator comprised of 10 wires 2 inches in length is adequate for control at critical engine operating points and still exhibits acceptable failsafe operability and cycle life. A proportional-integral-derivative (PID) controller with integrator windup protection was implemented to control clearance amidst engine transients during a normal mission. Simulation results show that the control system exhibits minimal variability in clearance control performance across the operating envelope. The final actuator design is sufficiently small to fit within the limited space outside the high-pressure turbine case and is shown to consume only small amounts of bleed air to adequately regulate temperature.

  15. Reliable fuzzy control with domain guaranteed cost for fuzzy systems with actuator failures

    JIA Xinchun; ZHENG Nanning

    2004-01-01

    The reliable fuzzy control with guaranteed cost for T-S fuzzy systems with actuator failure is proposed in this paper. The cost function is a quadratic function with failure input. When the initial state of such systems is known, a design method of the reliable fuzzy controller with reliable guaranteed cost is presented, and the formula of the guaranteed cost is established. When the initial state of such systems is unknown but belongs to a known bounded closed domain, a notion of the reliable domain guaranteed cost (RDGC) for such systems is proposed. For two classes of initial state domain, polygon domain and ellipsoid domain, some design methods for reliable fuzzy controllers with the RDGC are provided. The efficiency of our design methods is finally verified by numerical design and simulation on the Rossler chaotic system.

  16. Design of feedback control systems for unstable plants with saturating actuators

    Kapasouris, Petros; Athans, Michael; Stein, Gunter

    1988-01-01

    A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.

  17. Development of a self-actuated shutdown system and its reliability

    A reactor shutdown system is designed generally as an active system. It has also a passive function of gravitational insertion. In order to improve the reliability of the reactor shutdown system, a design having as much passive function as possible is aimed. Events to be protected by the passive function are studied, and independent shutdown subsystems that have temperature switching mechanism in a main subsystem and a curie point electromagnet mechanism in backup subsystem are designed. R and D has been performed as to the curie point electromagnet mechanism in fields of electromagnetic characteristics, quick responsiveness and analytical estimation of temperature response. Through R and D and design, affecting factors to a reliability are analyzed in case of applying the mechanism with a curie point electromagnet to a large FBR. After identifying factors not to actuate and factors to operate spuriously, possibility of demand failure and erroneous operation is considered. The passive mechanism using a curie point electromagnet in the present design has relatively high reliability in loss of flow type events, but has low reliability in transient overpower type events. As for a probability of spurious actuation, a design of appropriate margin for a curie point temperature makes it to a sufficiently low level. (author)

  18. Dynamic Characteristics of a Hydraulic Amplification Mechanism for Large Displacement Actuators Systems

    Xavier Arouette

    2010-03-01

    Full Text Available We have developed a hydraulic displacement amplification mechanism (HDAM and studied its dynamic response when combined with a piezoelectric actuator. The HDAM consists of an incompressible fluid sealed in a microcavity by two largely deformable polydimethylsiloxane (PDMS membranes. The geometry with input and output surfaces having different cross-sectional areas creates amplification. By combining the HDAM with micro-actuators, we can amplify the input displacement generated by the actuators, which is useful for applications requiring large deformation, such as tactile displays. We achieved a mechanism offering up to 18-fold displacement amplification for static actuation and 12-fold for 55 Hz dynamic actuation.

  19. Parameter-dependent vibration-attenuation controller design for electro-hydraulic actuated linear structural systems

    Weng, Falu; Mao, Weijie

    2012-03-01

    The problem of robust active vibration control for a class of electro-hydraulic actuated structural systems with time-delay in the control input channel and parameter uncertainties appearing in all the mass, damping and stiffness matrices is investigated in this paper. First, by introducing a linear varying parameter, the nonlinear system is described as a linear parameter varying (LPV) model. Second, based on this LPV model, an LMI-based condition for the system to be asymptotically stabilized is deduced. By solving these LMIs, a parameter-dependent controller is established for the closedloop system to be stable with a prescribed level of disturbance attenuation. The condition is also extended to the uncertain case. Finally, some numerical simulations demonstrate the satisfying performance of the proposed controller.

  20. Development of a flexible microfluidic system integrating magnetic micro-actuators for trapping biological species

    A flexible microfluidic system embedding microelectromagnets has been designed, modeled and fabricated by using a photosensitive resin as structural material. The fabrication process involves the integration of micro-coils in a multilayer SU-8 microfluidic system by combining standard electroplating and dry films lamination. This technique offers numerous advantages in terms of integration, biocompatibility and chemical resistance. Various designs of micro-coils, including spiral, square or serpentine wires, have been simulated and experimentally tested. It has been established that thermal dissipation in micro-coils depends strongly on the number of turns and current density but remains compatible with biological applications. Real-time experimentations show that these micro-actuators are efficient in trapping magnetic micro-beads without any external field source or a permanent magnet and highlight that the size of microfluidic channels has been adequately designed for optimal trapping. Moreover, we trap magnetic beads in less than 2 s and release them instantaneously into the micro-channel. The actuation solely relies on electric fields, which are easier to control than standard magneto-fluidic modules

  1. Smart Control of Multiple Evaporator Systems with Wireless Sensor and Actuator Networks

    Apolinar González-Potes

    2016-02-01

    Full Text Available This paper describes the complete integration of a fuzzy control of multiple evaporator systems with the IEEE 802.15.4 standard, in which we study several important aspects for this kind of system, like a detailed analysis of the end-to-end real-time flows over wireless sensor and actuator networks (WSAN, a real-time kernel with an earliest deadline first (EDF scheduler, periodic and aperiodic tasking models for the nodes, lightweight and flexible compensation-based control algorithms for WSAN that exhibit packet dropouts, an event-triggered sampling scheme and design methodologies. We address the control problem of the multi-evaporators with the presence of uncertainties, which was tackled through a wireless fuzzy control approach, showing the advantages of this concept where it can easily perform the optimization for a set of multiple evaporators controlled by the same smart controller, which should have an intelligent and flexible architecture based on multi-agent systems (MAS that allows one to add or remove new evaporators online, without the need for reconfiguring, while maintaining temporal and functional restrictions in the system. We show clearly how we can get a greater scalability, the self-configuration of the network and the least overhead with a non-beacon or unslotted mode of the IEEE 802.15.4 protocol, as well as wireless communications and distributed architectures, which could be extremely helpful in the development process of networked control systems in large spatially-distributed plants, which involve many sensors and actuators. For this purpose, a fuzzy scheme is used to control a set of parallel evaporator air-conditioning systems, with temperature and relative humidity control as a multi-input and multi-output closed loop system; in addition, a general architecture is presented, which implements multiple control loops closed over a communication network, integrating the analysis and validation method for multi

  2. Long-time stability of shape memory actuators for pedestrian safety system

    J. Strittmatter

    2009-05-01

    Full Text Available Purpose: Pedestrian safety systems play an increasing significant role to reduce injuries and fatal casualties caused by accidents. One automotive safety system for pedestrian protection is the bonnet lifting system. Using shape memory alloys (SMA the existing systems could be simplified, performing the same function through new mechanisms with reduced size, weight and costs. A drawback for the use of SMA in such safety systems is the lack of material knowledge concerning the durability of the switching function. This paper gives an introduction to existing bonnet lifting systems for pedestrian protection, describes the use of quick changing SM actuators and presents the testing facilities and some results of the study concerning the long-time stability of the tested NiTi-wires.Design/methodology/approach: A large number of NiTi-wires was trained, exposed up to four years at elevated temperatures and tested regarding their phase change temperatures, times and strokes.Findings: It was found out that Ap-temperature is shifted towards higher temperatures with longer exposing periods and higher temperatures. However, in the functional testing plant a delay in the switching time could not be detected.Research limitations/implications: For future works it is suggested that more NiTi-specimens at longer ageing periods should be tested, stress should also be applied by a constant load and the functional testing plant should be further optimized.Practical implications: It can be concluded, that the use of quick changing SM actuators in safety systems could simplify the mechanism, reduce maintenance and manufacture cost and should be insertable also for other automotive applications.Originality/value: This paper gives some answers concerning the long-time stability of NiTi-wires that were missing till now. With this knowledge the number of future automotive applications using SMA can be increased.

  3. Optimal Control Modification for Robust Adaptation of Singularly Perturbed Systems with Slow Actuators

    Nguyen, Nhan T.; Ishihara, Abraham; Stepanyan, Vahram; Boskovic, Jovan

    2009-01-01

    Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. The model matching conditions in the transformed time coordinate results in increase in the feedback gain and modification of the adaptive law.

  4. Limiting vibration in systems with constant amplitude actuators through command preshaping. M.S Thesis - MIT

    Rogers, Keith Eric

    1994-01-01

    The basic concepts of command preshaping were taken and adapted to the framework of systems with constant amplitude (on-off) actuators. In this context, pulse sequences were developed which help to attenuate vibration in flexible systems with high robustness to errors in frequency identification. Sequences containing impulses of different magnitudes were approximated by sequences containing pulses of different durations. The effects of variation in pulse width on this approximation were examined. Sequences capable of minimizing loads induced in flexible systems during execution of commands were also investigated. The usefulness of these techniques in real-world situations was verified by application to a high fidelity simulation of the space shuttle. Results showed that constant amplitude preshaping techniques offer a substantial improvement in vibration reduction over both the standard and upgraded shuttle control methods and may be mission enabling for use of the shuttle with extremely massive payloads.

  5. Nonmagnetic driver for piezoelectric actuators

    Ekhtiari, Marzieh

    2014-01-01

    Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....

  6. Creep-Fatigue Relationsihps in Electroactive Polymer Systems and Predicted Effects in an Actuator Design

    Vinogradov, Aleksandra M.; Ihlefeld, Curtis M.; Henslee, Issac

    2009-01-01

    The paper concerns the time-dependent behavior of electroactive polymers (EAP) and their use in advanced intelligent structures for space exploration. Innovative actuator design for low weight and low power valves required in small plants planned for use on the moon for chemical analysis is discussed. It is shown that in-depth understanding of cyclic loading effects observed through accelerated creep rates due to creep-fatigue interaction in polymers is critical in terms of proper functioning of EAP based actuator devices. In the paper, an overview of experimental results concerning the creep properties and cyclic creep response of a thin film piezoelectric polymer polyvinylidene fluoride (PVDF) is presented. The development of a constitutive creep-fatigue interaction model to predict the durability and service life of electroactive polymers is discussed. A novel method is proposed to predict damage accumulation and fatigue life of polymers under oyclic loading conditions in the presence of creep. The study provides a basis for ongoing research initiatives at the NASA Kennedy Space Center in the pursuit of new technologies using EAP as active elements for lunar exploration systems.

  7. Regulatory analysis for the resolution of generic issue 57: Effects of Fire Protection System Actuation on Safety-Related Equipment

    Actuation of Fire Protection Systems (FPS) in Nuclear Power Plants have resulted in adverse interactions with equipment important to safety. Precursor operational experience has shown that 37% of all FPS actuations damaged some equipment, and 20% of all FPS actuations have resulted in a plant transient and reactor trip. On an average 0.17 FPS actuations per reactor year have been experienced in nuclear power plants in this country. This report presents the regulatory analysis for GI-57, ''Effects of Fire Protection System Actuation on Safety-Related Equipment''. The risk reduction estimates, cost/benefit analyses, and other insights gained during this effort have shown that implementation of the recommendations contained in this report can significantly reduce risk, and that these improvements can be warranted in accordance with the backfit rule, 10 CFR 50.109(a)(3). However, plant specific analyses are required in order to identify such improvements. Generic analyses can not serve to identify improvements that could be warranted for individual, specific plants. Plant specific analyses of the type needed for this purpose are underway as part of the Individual Plant Examination of External Events (IPEEE) program

  8. Adaptive Control of Active Balancing System for a Fast Speed-varying Jeffcott Rotor with Actuator Time Delay

    HU Bing; FANG Zhi-chu

    2008-01-01

    Due to actuator time delay existing in an adaptive control of the active balancing system for a fastspeed-varying Jeffcott rotor, if an unsynchronized control force (correction imbalance) is applied to the system,it may lead to degradation in control efficiency and instability of the control system. In order to avoid theseshortcomings, a simple adaptive controller was designed for a strictly positive real rotor system with actuatortime delay, then a Lyapunov-Krasovskii functional was constructed after an appropriate transform of this sys-tem model, the stability conditions of this adaptive control system with actuator time delay were derived. Afteradding a filter function, the active balancing system for the fast speed-varying Jeffcott rotor with actuator timedelay can easily be converted to a strictly positive real system, and thus it can use the above adaptive controllersatisfying the stability conditions. Finally, numerical simulations show that the adaptive controller proposedworks very well to perform the active balancing for the fast speed-varying Jeffcott rotor with actuator timedelay.

  9. Adaptive Robust Actuator Fault Accommodation for a Class of Uncertain Nonlinear Systems with Unknown Control Gains

    Yuefei Wu

    2014-01-01

    Full Text Available An adaptive robust fault tolerant control approach is proposed for a class of uncertain nonlinear systems with unknown signs of high-frequency gain and unmeasured states. In the recursive design, neural networks are employed to approximate the unknown nonlinear functions, K-filters are designed to estimate the unmeasured states, and a dynamical signal and Nussbaum gain functions are introduced to handle the unknown sign of the virtual control direction. By incorporating the switching function σ algorithm, the adaptive backstepping scheme developed in this paper does not require the real value of the actuator failure. It is mathematically proved that the proposed adaptive robust fault tolerant control approach can guarantee that all the signals of the closed-loop system are bounded, and the output converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by the simulation examples.

  10. Development of a Micro-Step Voltage-Fed Actuator with a Novel Stepper Motor for Automobile AGS Systems

    Se-Hyun Rhyu; Jeong-Jong Lee; Bon-Gwan Gu; Byung-Dae Choi; Jung-Hyuk Lim

    2014-01-01

    This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS) system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM) motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possess...

  11. Controllable nanoscale rotating actuator system based on carbon nanotube and graphene

    Huang, Jianzhang; Han, Qiang

    2016-04-01

    A controllable nanoscale rotating actuator system consisting of a double carbon nanotube and graphene driven by a temperature gradient is proposed, and its rotating dynamics performance and driving mechanism are investigated through molecular dynamics simulations. The outer tube exhibits stable pure rotation with certain orientation under temperature gradient and the steady rotational speed rises as the temperature gradient increases. It reveals that the driving torque is caused by the difference of atomic van der Waals potentials due to the temperature gradient and geometrical features of carbon nanotube. A theoretical model for driving torque is established based on lattice dynamics theory and its predicted results agree well with molecular dynamics simulations. Further discussion is taken according to the theoretical model. The work in this study would be a guide for design and application of controllable nanoscale rotating devices based on carbon nanotubes and graphene.

  12. Neural network-based adaptive consensus tracking control for multi-agent systems under actuator faults

    Zhao, Lin; Jia, Yingmin

    2016-06-01

    In this paper, a distributed output feedback consensus tracking control scheme is proposed for second-order multi-agent systems in the presence of uncertain nonlinear dynamics, external disturbances, input constraints, and partial loss of control effectiveness. The proposed controllers incorporate reduced-order filters to account for the unmeasured states, and the neural networks technique is implemented to approximate the uncertain nonlinear dynamics in the synthesis of control algorithms. In order to compensate the partial loss of actuator effectiveness faults, fault-tolerant parts are included in controllers. Using the Lyapunov approach and graph theory, it is proved that the controllers guarantee a group of agents that simultaneously track a common time-varying state of leader, even when the state of leader is available only to a subset of the members of a group. Simulation results are provided to demonstrate the effectiveness of the proposed consensus tracking method.

  13. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

  14. Automated stopcock actuator

    Vandehey, N. T.; O'Neil, J.P.

    2015-01-01

    Introduction We have developed a low-cost stopcock valve actuator for radiochemistry automation built using a stepper motor and an Arduino, an open-source single-board microcontroller. The con-troller hardware can be programmed to run by serial communication or via two 5–24 V digital lines for simple integration into any automation control system. This valve actuator allows for automated use of a single, disposable stopcock, providing a number of advantages over stopcock manifold systems ...

  15. Reliability study: digital engineered safety feature actuation system of Korean Standard Nuclear Power Plant

    The usage of digital Instrumentation and Control (I and C) in a nuclear power plant becomes more extensive, including safety related systems. The PSA application of these new designs are very important in order to evaluate their reliability. In particular, Korean Standard Nuclear Power Plants (KSNPPs), typically Ulchin 5 and 6 (UCN 5 and 6) reactor units, adopted the digital safety-critical systems such as Digital Plant Protection System (DPPS) and Digital Engineered Safety Feature Actuation System (DESFAS). In this research, we developed fault tree models for assessing the unavailability of the DESFAS functions. We also performed an analysis of the quantification results. The unavailability results of different DESFAS functions showed that their values are comprised from 5.461E-5 to 3.14E-4. The system unavailability of DESFAS AFAS-1 is estimated as 5.461E-5, which is about 27% less than that of analog system if we consider the difference of human failure probability estimation between both analyses. The results of this study could be utilized in risk-effect analysis of KSNPP. We expect that the safety analysis result will contribute to design feedback

  16. Structure-preserving model reduction for spatially interconnected systems with experimental validation on an actuated beam

    Al-Taie, Fatimah; Werner, Herbert

    2016-06-01

    A technique for model reduction of exponentially stable spatially interconnected systems is presented, where the order of the reduced model is determined by the number of truncated small generalised singular values of the structured solutions to a pair of Lyapunov inequalities. For parameter-invariant spatially interconnected systems, the technique is based on solving a pair of Lyapunov inequalities in continuous-time and -space domain with a rank constraint. Using log-det and cone complementarity methods, an improved error bound can be obtained. The approach is extended to spatially parameter-varying systems, and a balanced truncation approach using parameter-dependent Gramians is proposed to reduce the conservatism caused by the use of constant Gramians. This is done by considering two important operators, which can be used to represent multidimensional systems (temporal- and spatial-linear parameter varying interconnected systems). The results are illustrated with their application to an experimentally identified spatially interconnected model of an actuated beam; the experimentally obtained response to an excitation signal is compared with the response predicted by a reduced model.

  17. A Solar Energy Powered Autonomous Wireless Actuator Node for Irrigation Systems

    Rafael Lajara

    2010-12-01

    Full Text Available The design of a fully autonomous and wireless actuator node (“wEcoValve mote” based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered, thus eliminating the need of wires and facilitating its deployment. By using supercapacitors recharged from a specifically designed solar power module, the need to replace batteries is also eliminated and the system is completely autonomous and maintenance free. The “wEcoValve mote” firmware is based on a synchronous protocol that allows a bidirectional communication with a latency optimized for real-time work, with a synchronization time between nodes of 4 s, thus achieving a power consumption average of 2.9 mW.

  18. A Solar Energy Powered Autonomous Wireless Actuator Node for Irrigation Systems

    Lajara, Rafael; Alberola, Jorge; Pelegrí-Sebastiá, José

    2011-01-01

    The design of a fully autonomous and wireless actuator node (“wEcoValve mote”) based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close) of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered, thus eliminating the need of wires and facilitating its deployment. By using supercapacitors recharged from a specifically designed solar power module, the need to replace batteries is also eliminated and the system is completely autonomous and maintenance free. The “wEcoValve mote” firmware is based on a synchronous protocol that allows a bidirectional communication with a latency optimized for real-time work, with a synchronization time between nodes of 4 s, thus achieving a power consumption average of 2.9 mW. PMID:22346580

  19. Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

    Woods, Benjamin K. S.; Kothera, Curt S.; Wang, Gang; Wereley, Norman M.

    2014-09-01

    This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi.

  20. Self-actuated shutdown system for a commercial size LMFBR. Final report

    A Self-Actuated Shutdown System (SASS) is defined as a reactor shutdown system in which sensors, release mechanisms and neutron absorbers are contained entirely within the reactor core structure, where they respond inherently to abnormal local process conditions, by shutting down the reactor, independently of the plant protection system (PPS). It is argued that a SASS, having a response time similar to that of the PPS, would so reduce the already very low probability of a failure-to-scram event that costly design features, derived from core disruptive accident analysis, could be eliminated. However, the thrust of the report is the feasibility and reliability of the in-core SASS hardware to achieve sufficiently rapid shutdown. A number of transient overpower and transient undercooling-responsive systems were investigated leading to the selection of a primary candidate and a backup concept. During a transient undercooling event, the recommended device is triggered by the associated rate of change of pressure, whereas the alternate concept responds to the reduction in core pressure drop and requires calibration and adjustment by the operators to accommodate changes in reactor power

  1. Design of virtual display and testing system for moving mass electromechanical actuator

    Gao, Zhigang; Geng, Keda; Zhou, Jun; Li, Peng

    2015-12-01

    Aiming at the problem of control, measurement and movement virtual display of moving mass electromechanical actuator(MMEA), the virtual testing system of MMEA was developed based on the PC-DAQ architecture and the software platform of LabVIEW, and the comprehensive test task such as drive control of MMEA, tests of kinematic parameter, measurement of centroid position and virtual display of movement could be accomplished. The system could solve the alignment for acquisition time between multiple measurement channels in different DAQ cards, then on this basis, the researches were focused on the dynamic 3D virtual display by the LabVIEW, and the virtual display of MMEA were realized by the method of calling DLL and the method of 3D graph drawing controls. Considering the collaboration with the virtual testing system, including the hardware drive, the measurement software of data acquisition, and the 3D graph drawing controls method was selected, which could obtained the synchronization measurement, control and display. The system can measure dynamic centroid position and kinematic position of movable mass block while controlling the MMEA, and the interface of 3D virtual display has realistic effect and motion smooth, which can solve the problem of display and playback about MMEA in the closed shell.

  2. Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

    This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi. (paper)

  3. The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

    Mahmoud Tavakoli; Rafael Batista; Lucio Sgrigna

    2015-01-01

    In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key ...

  4. Ageing study of the engineered safety features actuation system of the Loviisa NPP

    An ageing study of the engineered safety features actuation system of the Loviisa nuclear power plant has been performed. The operating experience, including failure and maintenance histories of analog measuring devices, logics for safety signal formation and individual control electronics of pumps and valves, has been collected and analysed. The safety importance of system components has been studied with a fault tree analysis of a selected safety function. Based on the results of the analysis of operating experiences and the fault tree analysis, some components were selected for deeper analyses. According to the operating experience, the amount of failures in the Loviisa plant safety system has been low and no increasing trend in the failure history can yet be observed. Only a few failures had prohibited the propagation of the safety signal, mostly the failures have caused a false alarm. The failures reported have concerned mainly limit signal units, transmitters, and priority units. According to the fault tree analysis of one safety function, the most important components of this subsystem are individual control units and pulse/DC converters. Failure modes and effect analyses were performed for priority and individual control unit, limit signal unit and comparator and pulse/DC converter in order to identify the critical failure modes of these devices. (orig.) (15 refs., 26 figs., 9 tabs.)

  5. Development of an Upper Limb Power Assist System Using Pneumatic Actuators for Farming Lift-up Motion

    Yagi, Eiichi; Harada, Daisuke; Kobayashi, Masaaki

    A power assist system has lately attracted considerable attention to lifting-up an object without low back pain. We have been developing power assist systems with pneumatic actuators for the elbow and shoulder to farming support of lifting-up a bag of rice weighing 30kg. This paper describes the mechanism and control method of this power assist system. The pneumatic rotary actuator supports shoulder motion, and the air cylinder supports elbow motion. In this control method, the surface electromyogram(EMG) signals are used as input information of the controller. The joint support torques of human are calculated based on the antigravity term of necessary joint torques, which are estimated on the dynamics of a human approximated link model. The experimental results show the effectiveness of the proposed mechanism and control method of the power assist system.

  6. Monolithic integrated system with an electrowetting-on-dielectric actuator and a film-bulk-acoustic-resonator sensor

    Although digital microfluidics has shown great potential in a wide range of applications, a lab-on-a-chip with integrated digital droplet actuators and powerful biochemical sensors is still lacking. To address the demand, a fully integrated chip with electrowetting-on-dielectric (EWOD) and a film bulk acoustic resonator (FBAR) sensor is introduced, where an EWOD actuator manipulates digital droplets and the FBAR sensor detects the presence of substances in the droplets, respectively. The piezoelectric layer of the FBAR sensor and the dielectric layer of the EWOD share the same aluminum nitride (AlN) thin film, which is a key factor to achieve the full integration of the two completely different devices. The liquid droplets are reliably managed by the EWOD actuator to sit on or move off the FBAR sensor precisely. Sessile drop experiments and limit of detection (LOD) experiments are carried out to characterize the EWOD actuator and the FBAR sensor, respectively. Taking advantage of the digital droplet operation, a ‘dry sensing mode’ of the FBAR sensor in the lab-on-a-chip microsystem is proposed, which has a much higher signal to noise ratio than the conventional ‘wet sensing mode’. Hg2+ droplets with various concentrations are transported and sensed to demonstrate the capability of the integrated system. The EWOD–FBAR chip is expected to play an important role in many complex lab-on-a-chip applications. (paper)

  7. Monolithic integrated system with an electrowetting-on-dielectric actuator and a film-bulk-acoustic-resonator sensor

    Zhang, Menglun; Cui, Weiwei; Chen, Xuejiao; Wang, Chao; Pang, Wei; Duan, Xuexin; Zhang, Daihua; Zhang, Hao

    2015-02-01

    Although digital microfluidics has shown great potential in a wide range of applications, a lab-on-a-chip with integrated digital droplet actuators and powerful biochemical sensors is still lacking. To address the demand, a fully integrated chip with electrowetting-on-dielectric (EWOD) and a film bulk acoustic resonator (FBAR) sensor is introduced, where an EWOD actuator manipulates digital droplets and the FBAR sensor detects the presence of substances in the droplets, respectively. The piezoelectric layer of the FBAR sensor and the dielectric layer of the EWOD share the same aluminum nitride (AlN) thin film, which is a key factor to achieve the full integration of the two completely different devices. The liquid droplets are reliably managed by the EWOD actuator to sit on or move off the FBAR sensor precisely. Sessile drop experiments and limit of detection (LOD) experiments are carried out to characterize the EWOD actuator and the FBAR sensor, respectively. Taking advantage of the digital droplet operation, a ‘dry sensing mode’ of the FBAR sensor in the lab-on-a-chip microsystem is proposed, which has a much higher signal to noise ratio than the conventional ‘wet sensing mode’. Hg2+ droplets with various concentrations are transported and sensed to demonstrate the capability of the integrated system. The EWOD-FBAR chip is expected to play an important role in many complex lab-on-a-chip applications.

  8. Experimental and Analytical Development of a Health Management System for Electro-Mechanical Actuators

    National Aeronautics and Space Administration — Expanded deployment of Electro-Mechanical Actuators (EMAs) in critical applications has created much interest in EMA Prognostic Health Management (PHM), a key...

  9. Position control of ionic polymer metal composite actuator based on neuro-fuzzy system

    Nguyen, Truong-Thinh; Yang, Young-Soo; Oh, Il-Kwon

    2009-07-01

    This paper describes the application of Neuro-Fuzzy techniques for controlling an IPMC cantilever configuration under water to improve tracking ability for an IPMC actuator. The controller was designed using an Adaptive Neuro-Fuzzy Controller (ANFC). The measured input data based including the tip-displacements and electrical signals have been recorded for generating the training in the ANFC. These data were used for training the ANFC to adjust the membership functions in the fuzzy control algorithm. The comparison between actual and reference values obtained from the ANFC gave satisfactory results, which showed that Adaptive Neuro-Fuzzy algorithm is reliable in controlling IPMC actuator. In addition, experimental results show that the ANFC performed better than the pure fuzzy controller (PFC). Present results show that the current adaptive neuro-fuzzy controller can be successfully applied to the real-time control of the ionic polymer metal composite actuator for which the performance degrades under long-term actuation.

  10. The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

    Mahmoud Tavakoli

    2015-12-01

    Full Text Available In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.

  11. A Diagnostic Approach for Electro-Mechanical Actuators in Aerospace Systems

    National Aeronautics and Space Administration — Electro-mechanical actuators (EMA) are finding increasing use in aerospace applications, especially with the trend towards all all-electric aircraft and spacecraft...

  12. Experimental Validation of a Prognostic Health Management System for Electro-Mechanical Actuators

    National Aeronautics and Space Administration — The work described herein is aimed to advance prognostic health management solutions for electro-mechanical actuators and, thus, increase their reliability and...

  13. Study of damping in 5 kWh superconductor flywheel energy storage system using a piezoelectric actuator

    Jang, H.K.; Song, D.; Kim, S.B. [Hanyang University, 17 Haengdang-Dong, Seongdong-Gu, Seoul 133-791 (Korea, Republic of); Han, S.C. [Korea Electric Power Research Institute, 103-16 Munji-Ro, Yuseong-Gu, Daejeon 305-380 (Korea, Republic of); Sung, T.H., E-mail: sungth@hanyang.ac.kr [Hanyang University, 17 Haengdang-Dong, Seongdong-Gu, Seoul 133-791 (Korea, Republic of)

    2012-05-15

    A 5 kWh superconductor flywheel energy storage system (SFES) has advantages in terms of high electrical energy density, environmental affinity and long life. However, the SFES has disadvantage that electromagnetic damper is needed because superconducting bearings do not have enough damping coefficient. The purpose of this experiment is to develop a method of damping the vibration of the SFES. A piezoelectric actuator was attached to a superconducting bearing system for feasibility test in order to make it as a damper of the SFES. For this experiment, a cylindrical permanent magnet (PM) 40 mm in diameter and 10 mm height was used as a rotor, a high-temperature superconductor bulk (HTS bulk) with dimensions 40 mm Multiplication-Sign 40 mm Multiplication-Sign 15 mm was used as a stator, and two vibration exciters (an upper and a lower vibration exciter) and a piezoelectric actuator were used. The PM was fixed on the upper vibration exciter. The HTS bulk was fixed on either the lower vibration exciter to test for damping in the feasibility test, or on the piezoelectric actuator for the actual SFES. The conditions of this experiment included various voltage outputs of a power amplifier to the lower vibration exciter, moving distances of the piezoelectric actuator which are displacements of the HTS bulk, and phase differences between the upper and lower vibration exciter or the piezoelectric actuator. The damping feasibility test was conducted with a 300 {mu}m gap between the PM and HTS bulk with a PM vibration of 30 {mu}m. For the actual SFES test, the gap between the PM and HTS bulk was 1.6 mm and the PM vibration was 25 {mu}m. The following conditions were conducted to optimize: an appropriate voltage input to the lower vibration exciter or a displacement of piezoelectric actuator and an appropriate phase difference. When the piezoelectric actuator was used, the damping effect was greatly improved up to 92.32% which a displacement of damped PM was 1.92 {mu}m.

  14. Chapter 2. Mode-switching in Hydraulic Actuator Systems - An Experiment

    Andersen, Torben Ole; Conrad, Finn; Ravn, Anders P.;

    1996-01-01

    Experiments with mode-switching adaptive control of actuators to drive a hydraulic test robot.The research is a cooperation with IT, DTU within the IMCIA Research Programme supported by the Danish Technical Research Council, STVF.......Experiments with mode-switching adaptive control of actuators to drive a hydraulic test robot.The research is a cooperation with IT, DTU within the IMCIA Research Programme supported by the Danish Technical Research Council, STVF....

  15. Muscle Motion Solenoid Actuator

    Obata, Shuji

    It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.

  16. Bio-inspired Actuating System for Swimming Using Shape Memory Alloy Composites

    Tao Tao; Yuan-Chang Liang; Minoru Taya

    2006-01-01

    The paper addresses the designs of a caudal peduncle actuator, which is able to furnish a thrust for swimming of a robotic fish. The caudal peduncle actuator is based on concepts of ferromagnetic shape memory alloy (FSMA) composite and hybrid mechanism that can provide a fast response and a strong thrust. The caudal peduncle actuator was inspired by Scomber Scombrus which utilises thunniform mode swimming, which is the most efficient locomotion mode evolved in the aquatic environment, where the thrust is generated by the lift-based method, allowing high cruising speeds to be maintained for a long period of time. The morphology of an average size Scomber Scombrus (length in 310 mm) was investigated, and a 1:1 scale caudal peduncle actuator prototype was modelled and fabricated. The propulsive wave characteristics of the fish at steady speeds were employed as initial design objectives. Some key design parameters are investigated, i.e. aspect ratio (AR) (AR = 3.49), Reynolds number (Re = 429 649), reduced frequency (σ = 1.03), Strouhal number (St = 0.306) and the maximum strain of the bent tail was estimated at ε = 1.11% which is in the range of superelasticity. The experimental test of the actuator was carried out in a water tank. By applying 7 V and 2.5 A, the actuator can reach the tip-to-tip rotational angle of 85° at 4 Hz.

  17. Controller Parameter Tuning for Systems with Hysteresis and Its Application to Shape Memory Alloy Actuators

    Wakasa, Yuji; Kanagawa, Shinji; Tanaka, Kanya; Nishimura, Yuki

    This paper proposes a simple controller parameter tuning method that can compensate for hysteresis. The proposed method is based on the so-called fictitious reference iterative tuning (FRIT) technique which can easily tune controller parameters such as proportional-integral-derivative gains using a one-shot closed-loop experimental data. In the proposed framework, a simple hysteresis model is introduced to a control system, and its inverse is used as a hysteresis compensator. Since the hysteresis model is characterized with only three parameters, the related computational burden is moderate in the parameter tuning process. Also, the proposed FRIT method needs an only one-shot experiment as in the standard FRIT one, which implies that the feature of FRIT is well-maintained. In the optimization process, the so-called covariance matrix adaptation evolution strategy is used for simultaneously searching hysteresis parameters as well as controller parameters. The proposed FRIT method is applied to an experimental control system that comprises a shape memory alloy actuator, and its effectiveness is verified.

  18. Thermal-hydraulic studies on self actuated shutdown system for Japan Sodium-cooled Fast Reactor

    The self-actuated shutdown system (SASS), which is selected for Japan Sodium-cooled Fast Reactor (JSFR), is a passive reactor shutdown system utilizing a Curie point electromagnet (CPEM). With CPEM, an excessive fuel outlet temperature rise is sensed and the control rods are released into the core, and the reactor can be shutdown. Therefore it is important for feasibility of SASS to be established by assuring a quick response of CPEM to the coolant temperature rise. In this paper, a device named 'flow collector', which collects flows discharged from six fuel subassemblies surrounding CPEM backup control rods, has been proposed to ensure a shorter response time. Three-dimensional thermal-hydraulic analysis has been performed to evaluate the response time of CPEM with the flow collector, and it is confirmed that the coolant discharged from the fuel subassemblies flows into CPEM with high velocity and the response time of CPEM can be significantly shortened. Based on this analysis, the safety analysis has been carried out, confirming that the maximum temperatures of core and coolant are lower than those imposed by the safety criteria, and feasibility of SASS is assured. (author)

  19. Near-surface gravity actuated pipe (GAP{sup TM}) system for Brazilian deepwater fluid transfer

    Fromage, Lionel; Brown, Paul A. [SBM Offshore (Monaco)

    2009-12-19

    The recent discovery of new deep water and ultra-deep water oil and gas fields offshore Brazil, including pre-salt reservoirs, has become a focal point for field development Operators and Contractors. The aggressive nature of fluids (sour, high density) in combination with deeper waters implies potential flow assurance issues. These issues challenge riser and pipeline technology to find cost effective solutions for hydrocarbon fluid transfer in field development scenarios involving phased tied-back. The near-surface GAP{sup TM}, system (Gravity Actuated Pipe{sup TM}), which has been in operation for more than two years on the Kikeh field offshore Malaysia in 1325 m of water between a Dry Tree Unit (SPAR) and a turret-moored FPSO, is considered to meet these challenges since such a product is quasi independent of water depth and takes advantage of being near surface to optimize flow assurance. Furthermore the GAP{sup TM} has undergone technical upgrades when compared to the Kikeh project in order to make it suitable for the more hostile met ocean conditions offshore Brazil. This paper presents the design features, the construction and assembly plans in Brazil and the offshore installation of a GAP fluid transfer system for operation in Brazilian deep waters. (author)

  20. Vertical comb drive actuator for the measurement of piezoelectric coefficients in small-scale systems

    A micro-electro-mechanical systems (MEMS) vertical levitation comb drive actuator has been created for the measurement of piezoelectric coefficients in thin/thick films or piezoelectrically active micro-scale components of other MEMS devices. The device exerts a dynamic force of 33 μN at an applied voltage of 100 V. The charge developed on the piezoelectric test device is measured using a charge sensitive pre-amplifier and lock-in technique, enabling measurements down to 1×10−5 pC. The system was tested with ten different piezoelectric samples with coefficients in the range 70–1375 pC N−1 and showed a good correlation (r = 0.9997) to measurements performed with macroscopic applied stresses, and piezoelectric impedance resonance techniques. The measurement of the direct piezoelectric effect in micro- and nano-scale piezo-materials has been made possible using MEMS processing technology. This new application of a MEMS metrology device has been developed and fully characterized in order to accurately evaluate the functional properties of piezoelectric materials at the scale required in micro- to nano-scale applications. (paper)

  1. Air microjet system for non-contact force application and the actuation of micro-structures

    We demonstrate a non-contact technique to apply calibrated and localized forces in the micro-Newton to milli-Newton range using an air microjet. An electromagnetically actuated diaphragm controlled by a signal generator is used to generate the air microjet. With a nozzle diameter of 150 μm, the microjet diameter was maintained to a maximum of 1 mm at a distance of 5 mm from the nozzle. The force generated by the microjet was measured using a commercial force sensor to determine the velocity profile of the jet. Axial flow velocities of up to 25 m s−1 were obtained at distances as long as 6 mm. The microjet exerted a force up to 1 μN on a poly dimethyl siloxane (PDMS) micropillar (50 μm in diameter, 157 μm in height) and 415 μN on a PDMS membrane (3 mm in diameter, 28 μm thick). We also demonstrate that from a distance of 6 mm our microjet can exert a peak pressure of 187 Pa with a total force of about 84 μN on a flat surface with 8 V operating voltage. Out of the cleanroom fabrication and robust design make this system cost effective and durable. (technical note)

  2. Stochastic processes and feedback-linearisation for online identification and Bayesian adaptive control of fully-actuated mechanical systems

    Calliess, Jan-Peter; Roberts, Stephen J

    2013-01-01

    This work proposes a new method for simultaneous probabilistic identification and control of an observable, fully-actuated mechanical system. Identification is achieved by conditioning stochastic process priors on observations of configurations and noisy estimates of configuration derivatives. In contrast to previous work that has used stochastic processes for identification, we leverage the structural knowledge afforded by Lagrangian mechanics and learn the drift and control input matrix functions of the control-affine system separately. We utilise feedback-linearisation to reduce, in expectation, the uncertain nonlinear control problem to one that is easy to regulate in a desired manner. Thereby, our method combines the flexibility of nonparametric Bayesian learning with epistemological guarantees on the expected closed-loop trajectory. We illustrate our method in the context of torque-actuated pendula where the dynamics are learned with a combination of normal and log-normal processes.

  3. A Family of Reliable H∞ State-Feedback Controllers for Nonlinear Systems with Strictly Redundant Actuators:the Full Information Case

    FU Yu-sun; TIAN Zuo-hua; SHI Song-jiao

    2001-01-01

    The paper is concerned with the reliable H∞ state feedback control and controller parameterization problem for nonlinear systems with strictly redundant actuators. Based on Hamilton-Jacobi inequality,the sufficient condition is presented such that the reliable control problem is resolved, and a family of controllers is given such that the resulting closed-loop systems are asymptotically stable and their L2-gain is limitable not only when all actuators are operational but also when any one, but only one of actuators experiences an outage. The results of this paper provide a deep insight into the synthesis of the reliable nonlinear H∞ state-feedback.

  4. Suitability review of FMEA and reliability analysis for digital plant protection system and digital engineered safety features actuation system

    Kim, I. S.; Kim, T. K.; Kim, M. C.; Kim, B. S.; Hwang, S. W.; Ryu, K. C. [Hanyang Univ., Seoul (Korea, Republic of)

    2000-11-15

    Of the many items that should be checked out during a review stage of the licensing application for the I and C system of Ulchin 5 and 6 units, this report relates to a suitability review of the reliability analysis of Digital Plant Protection System (DPPS) and Digital Engineered Safety Features Actuation System (DESFAS). In the reliability analysis performed by the system designer, ABB-CE, fault tree analysis was used as the main methods along with Failure Modes and Effect Analysis (FMEA). However, the present regulatory technique dose not allow the system reliability analysis and its results to be appropriately evaluated. Hence, this study was carried out focusing on the following four items ; development of general review items by which to check the validity of a reliability analysis, and the subsequent review of suitability of the reliability analysis for Ulchin 5 and 6 DPPS and DESFAS L development of detailed review items by which to check the validity of an FMEA, and the subsequent review of suitability of the FMEA for Ulchin 5 and 6 DPPS and DESFAS ; development of detailed review items by which to check the validity of a fault tree analysis, and the subsequent review of suitability of the fault tree for Ulchin 5 and 6 DPPS and DESFAS ; an integrated review of the safety and reliability of the Ulchin 5 and 6 DPPS and DESFAS based on the results of the various reviews above and also of a reliability comparison between the digital systems and the comparable analog systems, i.e., and analog Plant Protection System (PPS) and and analog Engineered Safety Features Actuation System (ESFAS). According to the review mentioned above, the reliability analysis of Ulchin 5 and 6 DPPS and DESFAS generally satisfies the review requirements. However, some shortcomings of the analysis were identified in our review such that the assumed test periods for several equipment were not properly incorporated in the analysis, and failures of some equipment were not included in the

  5. Design and control of a dual unidirectional brake hybrid actuation system for haptic devices.

    Rossa, Carlos; Lozada, José; Micaelli, Alain

    2014-01-01

    Hybrid actuators combining brakes and motors have emerged as an efficient solution to achieve high performance in haptic devices. In this paper, an actuation approach using two unidirectional brakes and a DC motor is proposed. The brakes are coupled to overrunning clutches and can apply a torque in only one rotational direction. The associated control laws, that are independent of the virtual environment model, calculate the control gains in real time in order limit the energy and the stiffness delivered by the motor to ensure stability. The reference torque is respected using the combination of the motor and the brake. Finally, an user experiment has been performed to evaluate the influence of passive and active torque differences in the perception of elasticity. The proposed actuator has a torque range of 0.03 Nm to 5.5 Nm with a 17.75 kNm (-2) torque density. PMID:25122593

  6. Refillable and magnetically actuated drug delivery system using pear-shaped viscoelastic membrane

    So, Hongyun

    2014-07-01

    We report a refillable and valveless drug delivery device actuated by an external magnetic field for on-demand drug release to treat localized diseases. The device features a pear-shaped viscoelastic magnetic membrane inducing asymmetrical deflection and consecutive touchdown motion to the bottom of the dome-shaped drug reservoir in response to a magnetic field, thus achieving controlled discharge of the drug. Maximum drug release with 18 ± 1.5 μg per actuation was achieved under a 500 mT magnetic flux density, and various controlled drug doses were investigated with the combination of the number of accumulated actuations and the strength of the magnetic field.

  7. Adaptive Fuzzy Tracking Control of Nonlinear Systems With Asymmetric Actuator Backlash Based on a New Smooth Inverse.

    Lai, Guanyu; Liu, Zhi; Zhang, Yun; Philip Chen, C L

    2016-06-01

    This paper is concentrated on the problem of adaptive fuzzy tracking control for an uncertain nonlinear system whose actuator is encountered by the asymmetric backlash behavior. First, we propose a new smooth inverse model which can approximate the asymmetric actuator backlash arbitrarily. By applying it, two adaptive fuzzy control scenarios, namely, the compensation-based control scheme and nonlinear decomposition-based control scheme, are then developed successively. It is worth noticing that the first fuzzy controller exhibits a better tracking control performance, although it recourses to a known slope ratio of backlash nonlinearity. The second one further removes the restriction, and also gets a desirable control performance. By the strict Lyapunov argument, both adaptive fuzzy controllers guarantee that the output tracking error is convergent to an adjustable region of zero asymptotically, while all the signals remain semiglobally uniformly ultimately bounded. Lastly, two comparative simulations are conducted to verify the effectiveness of the proposed fuzzy controllers. PMID:27187937

  8. Mixed H2/H∞ distributed robust model predictive control for polytopic uncertain systems subject to actuator saturation and missing measurements

    Song, Yan; Fang, Xiaosheng; Diao, Qingda

    2016-03-01

    In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.

  9. A Diagnostic Approach for Electro-Mechanical Actuators in Aerospace Systems

    Balaban, Edward; Saxena, Abhinav; Bansal, Prasun; Goebel, Kai Frank; Stoelting, Paul; Curran, Simon

    2009-01-01

    Electro-mechanical actuators (EMA) are finding increasing use in aerospace applications, especially with the trend towards all all-electric aircraft and spacecraft designs. However, electro-mechanical actuators still lack the knowledge base accumulated for other fielded actuator types, particularly with regard to fault detection and characterization. This paper presents a thorough analysis of some of the critical failure modes documented for EMAs and describes experiments conducted on detecting and isolating a subset of them. The list of failures has been prepared through an extensive Failure Modes and Criticality Analysis (FMECA) reference, literature review, and accessible industry experience. Methods for data acquisition and validation of algorithms on EMA test stands are described. A variety of condition indicators were developed that enabled detection, identification, and isolation among the various fault modes. A diagnostic algorithm based on an artificial neural network is shown to operate successfully using these condition indicators and furthermore, robustness of these diagnostic routines to sensor faults is demonstrated by showing their ability to distinguish between them and component failures. The paper concludes with a roadmap leading from this effort towards developing successful prognostic algorithms for electromechanical actuators.

  10. Worcester 1 Inch Solenoid-Actuated Gas-Operated VPS System Ball Valve

    1 inch Gas-operated full-port ball valve incorporates a solenoid and limit switches as integral parts of the actuator. The valve is normally open and fails safe to the closed position. The associated valve position switch is class GS

  11. Worcester 1 Inch Solenoid-Actuated Gas-Operated VPS System Ball Valve

    1 inch Gas-operated full-pod ball valve incorporates a solenoid and limit switches as integral park of the actuator. The valve is normally open and fails safe to the closed position. The associated valve position switch is class GS

  12. Worcester 1 Inch Solenoid Actuated Gas Operated VPS System Ball Valve

    MISKA, C.R.

    2000-11-13

    1 inch Gas-operated full-pod ball valve incorporates a solenoid and limit switches as integral park of the actuator. The valve is normally open and fails safe to the closed position. The associated valve position switch is class GS.

  13. A micromachined dual-axis beam steering actuator for use in a miniaturized optical space communication system

    The design, fabrication and evaluation of an electrothermally actuated micromachined beam steering device for use in a free-space optical communication system intended for use on micro- and nanospacecraft in kilometer-sized formations are presented. SU-8 confined in v-grooves is heated to create bending movement in two orthogonal directions for two-axial steering with large static bending angles and low actuation voltages. Standard MEMS processing is used to fabricate the devices with square mirror side lengths of 1, 3.5 and 5 mm. In addition, a method to prevent thermal damage to SU-8 during deep reactive ion etching has been successfully developed. Characterization shows optical scan ranges larger than 40° in both directions with the maximum driving voltage of 16 V corresponding to a total power consumption of 1.14 W. Infrared imaging is used to investigate thermal cross-talk between actuators for the two scanning directions. It is found that a silicon backbone on the joint backside is crucial for device performance. Differences from expected performance are believed to arise from the SU-8 curing process and excessive heating during fabrication. A finite element method simulation is used to find the eigenfrequencies of the structures, and these are in good agreement with the measured frequency response

  14. A Michelson interferometer system for testing the stability of a piezo-electric actuator intended for use in space

    The Laser Interferometer Space Antenna (LISA) experiment will search for gravitational waves generated by cataclysmic events far back in astronomical history. LISA is an interferometer formed by three spacecraft positioned five million km apart, and to observe gravitational waves, it must monitor test mass positions with picometre level resolution. One of the numerous technological challenges is to identify an actuator with appropriate accuracy, precision and stability for positioning of the optical fibres used to deliver LISA's laser sources. We have developed a Michelson interferometer system to determine the temporal and thermal stability of candidate actuators, with an emphasis on characterisation in the milliHertz frequency range required for gravitational wave detection in space. This paper describes the interferometer data logging and calibration and presents preliminary results in the form of a 'noise spectrum' generated from the small perturbation of a nominally static mirror. The maximum displacement of the mirror was ∼50 nm with sub-Hz noise levels of 0.1-1 nm√Hz. This is within the LISA noise specification, and confirms that the apparatus is stable enough for the characterisation of the actuator

  15. A novel spherical actuator: Design and control

    Wang, J B; Jewell, G. W.; Howe, D

    1997-01-01

    The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust con...

  16. More Electric Landing Gear Actuation Study

    Li, Wei

    2009-01-01

    This report addresses the problem of landing gear actuation system design on more-electric aircraft (MEA). Firstly, information about more-electric aircraft and more-electric actuators was gathered and sorted. Current more-electric landing actuation system applications and researches were also summarized. Then several possible more-electric landing gear actuation concepts were identified. To evaluate these concepts, the case study method has been used. A concept aircraft “MR...

  17. Efficient control of servo pneumatic actuator system utilizing by-pass valve and digital sliding mode

    Vladislav Blagojević; Dragan Šešlija; Miodrag Stojiljković; Slobodan Dudić

    2013-04-01

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the compressed air consumption is. This paper presents a new solution of the positioning control algorithm which unifies digital control of variable structure and sliding working mode and inter chamber cross-flow. The experiments demonstrated that this control algorithm provides a satisfactory positioning accuracy and robustness of the system, simultaneously reducing compressed air consumption by as much as 29.5%.

  18. Worcester 1 Inch Solenoid-Actuated Gas Operated SCHe System Valves

    1 inch gas-operated full-port ball valves incorporate a solenoid and limit switches as integral parts of the actuator. These valves are normally open and fail safe to the open position (GOV-1*02 and 1*06 fail closed) to provide a flow path of helium gas to the MCO under helium purge and off-normal conditions when the MCO is isolated

  19. Worcester 1 Inch Solenoid-Actuated Gas Operated SCHe System Valves

    1 inch Gas-operated full-port ball valves incorporate a solenoid and limit switches as integral parts of the actuator. These valves are normally open and fail safe to the open position (GOV-1*02 and 1*06 fail closed) to provide a flow path of helium gas to the MCO under helium purge and off-normal conditions when the MCO is isolated

  20. Electrostatic actuators fabricated by surface micromachining techniques

    Legtenberg, Rob

    1996-01-01

    This thesis deals with "electrostatic actuators fabricated by surface micromachining techniques". It presents fabrication techniques, design issues, modelling and performance characteristics of a number of electrostatic actuators. These actuators can be used in future micromechanical devices and systems which have applications such as micropositioning, microfluidics, microsurgery etc.

  1. Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

    Chuanjing Hou; Lisheng Hu; Yingwei Zhang

    2015-01-01

    An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

  2. Design of a smart optically controlled high-power switch for fly-by-light motor actuation systems

    Bhadri, Prashant; Sukumaran, Deepti; Dasgupta, Samhita; Beyette, Fred R., Jr.

    2001-12-01

    In avionic systems, data integrity and high data rates are necessary for stable flight control. Unfortunately, conventional electronic control systems are susceptible to electromagnetic interference (EMI) that can reduce the clarity of flight control signals. Fly-by-Light systems that use optical signals to actuate the flight control surfaces of an aircraft have been suggested as a solution to the EMI problem in avionic systems. Fly-by-Light in avionic systems reduces electromagnetic interference hence improving the clarity of the control signals. A hybrid approach combining a silicon photoreceiver module with a SiC power transistor is proposed. The resulting device uses a 5 mW optical control signal to produce a 150 A current suitable for driving an electric motor.

  3. Modular droplet actuator drive

    Pollack, Michael G. (Inventor); Paik, Philip (Inventor)

    2011-01-01

    A droplet actuator drive including a detection apparatus for sensing a property of a droplet on a droplet actuator; circuitry for controlling the detection apparatus electronically coupled to the detection apparatus; a droplet actuator cartridge connector arranged so that when a droplet actuator cartridge electronically is coupled thereto: the droplet actuator cartridge is aligned with the detection apparatus; and the detection apparatus can sense the property of the droplet on a droplet actuator; circuitry for controlling a droplet actuator coupled to the droplet actuator connector; and the droplet actuator circuitry may be coupled to a processor.

  4. Smart Tendon Actuated Flexible Actuator

    Md. Masum Billah; Raisuddin Khan

    2015-01-01

    We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external...

  5. Phase lag deduced information in photo-thermal actuation for nano-mechanical systems characterization

    Bijster, R. J. F., E-mail: roy.bijster@tno.nl; Vreugd, J. de [Department of Optomechatronics, TNO, Stieltjesweg 1, 2628 CK Delft (Netherlands); Sadeghian, H. [Department of Optomechatronics, TNO, Stieltjesweg 1, 2628 CK Delft (Netherlands); Department of Precision and Microsystems Engineering, Delft University of Technology, 2628 CD Delft (Netherlands)

    2014-08-18

    In photo-thermal actuation, heat is added locally to a micro-cantilever by means of a laser. A fraction of the irradiation is absorbed, yielding thermal stresses and deformations in the structure. Harmonic modulation of the laser power causes the cantilever to oscillate. Moreover, a phase lag is introduced which is very sensitive to the spot location and the cantilever properties. This phase lag is theoretically predicted and experimentally verified. Combined with thermo-mechanical properties of the cantilever and its geometry, the location of the laser spot, the thermal diffusivity, and the layer thicknesses of the cantilever can be extracted.

  6. Computer Modeling and Optimization of DC Actuators with a System of Permanent Magnets

    Ulrych, B.; Karban, P.; Doležel, Ivo

    Madeira : APDEE, 2007, s. 1-6. ISBN 978-972-8822-09-5. [ Portuguese -Spanish Congress in Electrical Engineering - XCLEEE /10./. Madeira - Funchal (PT), 05.07.2007-08.07.2007] R&D Projects: GA ČR GA102/04/0095; GA AV ČR IAA100760702 Institutional research plan: CEZ:AV0Z20570509 Keywords : electromagnetic actuator * permanent magnet * magnetic field Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering http://www.apdee.org/index.php?pageid=1117

  7. Phase lag deduced information in photo-thermal actuation for nano-mechanical systems characterization

    In photo-thermal actuation, heat is added locally to a micro-cantilever by means of a laser. A fraction of the irradiation is absorbed, yielding thermal stresses and deformations in the structure. Harmonic modulation of the laser power causes the cantilever to oscillate. Moreover, a phase lag is introduced which is very sensitive to the spot location and the cantilever properties. This phase lag is theoretically predicted and experimentally verified. Combined with thermo-mechanical properties of the cantilever and its geometry, the location of the laser spot, the thermal diffusivity, and the layer thicknesses of the cantilever can be extracted.

  8. Low-Power, Low-Voltage Electroosmotic Actuator for an Implantable Micropumping System Intended for Drug Delivery Applications

    Getpreecharsawas, Jirachai

    An electroosmotic (EO) actuator offers a low-power, low-voltage alternative in a diaphragm-based periodic displacement micropump intended for an implantable drug delivery system. The actuator utilizes an electroosmosis mechanism to transport liquid across a membrane to deflect the pumping diaphragms in a reciprocating manner. In the study, the membrane made of porous nanocrystalline silicon (pnc-Si) tens of nanometers in thickness was used as the promising EO generator with low power consumption and small package size. This ultrathin membrane provides the opportunity for electrode integration such that the very high electric field can be generated across the membrane with the applied potential under 1 volt for low flow rate applications like drug delivery. Due to such a low applied voltage, the challenge, however, imposes on the capability of generating the pumping pressure high enough to deflect the pumping diaphragms and overcome the back pressure normally encountered in the biological tissue and organ. This research identified the cause of weak pumping pressure that the electric field inside the orifice-like nanopores of the ultrathin membrane is weaker than conventional theory would predict. It no longer scales uniformly with the thickness of membrane, but with the pore length-to-diameter aspect ratio for each nanopore. To enhance the pumping performance, the pnc-Si membrane was coated with an ultrathin Nafion film. As a result, the induced concentration difference across the Nafion film generates the osmotic pressure against the back pressure allowing the EO actuator to maintain the target pumping flow rate under 1 volt.

  9. Control system design for a dielectric elastomer actuator: the sensory subsystem

    Toth, Landy A.; Goldenberg, Andrew A.

    2002-07-01

    The development of a sensory subsystem for use in the position control of a dielectric elastomer transducer (DET) is reported. In this study, the dielectric elastomer serves as both a source of sensory feedback and as the primary actuator. Specifically, stretched film DETs are considered to test the sensory subsystem. The capacitance of the film is measured in real-time using a low-voltage carrier signal that is superimposed on the control signal for actuation of the film. The relationship between the capacitance of the DET and applied voltage is presented for operating conditions outside of the elastic-buckling mode. The inference of strain made by the sensory subsystem is compared to that measured from digital images of the DET taken during operation and close correlation between the two measurements is confirmed. The capacitance measured during operation within the elastic-buckling mode shows a surprising drop under conditions of low frequency excitation and aged carbon grease electrodes. The measured capacitance in the elastic-buckling mode shows a dramatic increase during high-frequency excitation and with newly fabricated carbon grease electrodes.

  10. Nature-inspired microfluidic manipulation using magnetic actuators

    Khaderi, S. N.; Ioan, D.; den Toonder, J.M.J.; Onck, P. R.; LaVan, D.; Spearing, M.; Vengallatore, S.; DaSilva, M.

    2008-01-01

    Magnetically actuated micro-actuators are proposed to propel and manipulate fluid in micro-channels. As the fluid flows at low Reynolds number in such systems, the actuator should move in an asymmetric manner. The proposed actuators are polymer films with embedded magnetic particles, which are actua

  11. A bidirectional shape memory alloy folding actuator

    This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso- and microscale systems. Despite the advantages of shape memory alloys—high strain, silent operation, and mechanical simplicity—their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180° motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin ( < 1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype. (paper)

  12. Rate dependent direct inverse hysteresis compensation of piezoelectric micro-actuator used in dual-stage hard disk drive head positioning system

    Rahman, Md. Arifur; Al Mamun, Abdullah; Yao, Kui

    2015-08-01

    The head positioning servo system in hard disk drive is implemented nowadays using a dual-stage actuator—the primary stage consisting of a voice coil motor actuator providing long range motion and the secondary stage controlling the position of the read/write head with fine resolution. Piezoelectric micro-actuator made of lead zirconate titanate (PZT) has been a popular choice for the secondary stage. However, PZT micro-actuator exhibits hysteresis—an inherent nonlinear characteristic of piezoelectric material. The advantage expected from using the secondary micro-actuator is somewhat lost by the hysteresis of the micro-actuator that contributes to tracking error. Hysteresis nonlinearity adversely affects the performance and, if not compensated, may cause inaccuracy and oscillation in the response. Compensation of hysteresis is therefore an important aspect for designing head-positioning servo system. This paper presents a new rate dependent model of hysteresis along with rigorous analysis and identification of the model. Parameters of the model are found using particle swarm optimization. Direct inverse of the proposed rate-dependent generalized Prandtl-Ishlinskii model is used as the hysteresis compensator. Effectiveness of the overall solution is underscored through experimental results.

  13. Gear-Driven Turnbuckle Actuator

    Rivera, Ricky N.

    2010-01-01

    This actuator design allows the extension and contraction of turnbuckle assemblies. It can be operated manually or remotely, and is extremely compact. It is ideal for turnbuckles that are hard to reach by conventional tools. The tool assembly design solves the problem of making accurate adjustments to the variable geometry guide vanes without having to remove and reinstall the actuator system back on the engine. The actuator does this easily by adjusting the length of the turnbuckles while they are still attached to the engine.

  14. T-Slide Linear Actuators

    Vranish, John

    2009-01-01

    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  15. FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS

    2000-01-01

    A piezoelectric actuator has the benefits of flexibility of its position, without time lag and wide bandpass characteristics. The early results of the wind tunnel flutter suppression test using the piezoeletric actuator were presented in Ref.[1]. A rigid rectangular wing model is constrained by a plunge spring and a pitch spring, and a pair of piezoelectric actuators is bonded on both sides of the plunge spring so as to carry out the active control. Refs.[2,3] reported two flutter suppression wind tunnel tests where the distributed piezoelectric actuators were used. In Ref.[2] low speed wind tunnel tests were conducted with aluminum and composite plate-like rectangular models fully covered by piezoelectric actuators. Flutter speed is increased by 11%. In Ref.[3] a composite plate-like swept back model with piezoceramic actuators bonded on the inboard surface was tested in a transonic wind tunnel and a 12% increment of flutter dynamic pressure was achieved.  In the present investigation, an aluminum plate-like rectangular model with inboard bonded piezoceramic actuators is adopted. Active flutter suppression control law has been designed. A series of analyses and ground tests and, finally, low-speed wind tunnel tests with the active control system opened and closed are conducted. Reasonable results have been obtained.

  16. Development of a micro-step voltage-fed actuator with a novel stepper motor for automobile AGS systems.

    Rhyu, Se-Hyun; Lee, Jeong-Jong; Gu, Bon-Gwan; Choi, Byung-Dae; Lim, Jung-Hyuk

    2014-01-01

    This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS) system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM) motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possesses the following advantages: simple structure, lighter weight, smaller volume, and less time consumption. The unique auxiliary poles in the stepper motor supply the flux path to increase the step resolution even without any coils. The characteristics of the proposed stepper motor were investigated using finite element analysis. In particular, the effect of the magnetization distribution of the PM on the motor performance was investigated during the analysis. Cogging torque, which causes noise and vibration issues, was minimized by the tooth-shape optimization. In addition, a micro-step voltage-fed algorithm was implemented for a high-resolution position control. By employing a current close to a sine wave using space vector pulse-width modulation, a high-quality current waveform with a high resolution was obtained. Finally, the proposed prototype was fabricated, and the cogging torque, back-electromotive force, and current characteristics were measured by mounting the prototype on the AGS system. Both the analysis and experimental results validate the performance improvement from the proposed motor and its possible application for the flap control of the AGS system. PMID:24803193

  17. Development of a Micro-Step Voltage-Fed Actuator with a Novel Stepper Motor for Automobile AGS Systems

    Se-Hyun Rhyu

    2014-05-01

    Full Text Available This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possesses the following advantages: simple structure, lighter weight, smaller volume, and less time consumption. The unique auxiliary poles in the stepper motor supply the flux path to increase the step resolution even without any coils. The characteristics of the proposed stepper motor were investigated using finite element analysis. In particular, the effect of the magnetization distribution of the PM on the motor performance was investigated during the analysis. Cogging torque, which causes noise and vibration issues, was minimized by the tooth-shape optimization. In addition, a micro-step voltage-fed algorithm was implemented for a high-resolution position control. By employing a current close to a sine wave using space vector pulse-width modulation, a high-quality current waveform with a high resolution was obtained. Finally, the proposed prototype was fabricated, and the cogging torque, back-electromotive force, and current characteristics were measured by mounting the prototype on the AGS system. Both the analysis and experimental results validate the performance improvement from the proposed motor and its possible application for the flap control of the AGS system.

  18. Miniature Phase-Transistion Actuators

    Klintberg, Lena

    2002-01-01

    Clearly, there is a need for simple, strong actuators capable of large strokes in miniaturized systems such as valves and optical shutters. The basis for this work is the microstructure technology with processing techniques adopted from the integrated circuit industry. In many cases alternative techniques have been developed to obtain features not achievable with conventional silicon technology. Techniques to fabricate thermally activated phase transition actuators capable of large strokes, a...

  19. Modeling and Control of Electromechanical Actuators for Heavy Vehicle Applications

    Pettersson, Alexander; Storm, Patrik

    2012-01-01

    The possibility to develop control systems for electromechanical actuators at Scania is studied, in particular the focus is on how to exchange the intelligent actuators used today with dumb ones. An intelligent actuator contains its own control electronics and computational power, bought as a unit from suppliers by Scania and controlled via the CAN bus. A dumb actuator contains no means of controlling itself and its I/O is the motor’s power pins. Intelligent actuators tend to have limited con...

  20. Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

    Hao-Ting Lin; Mao-Hsiung Chiang

    2011-01-01

    This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for ...

  1. Apu/hydraulic/actuator Subsystem Computer Simulation. Space Shuttle Engineering and Operation Support, Engineering Systems Analysis. [for the space shuttle

    1975-01-01

    Major developments are examined which have taken place to date in the analysis of the power and energy demands on the APU/Hydraulic/Actuator Subsystem for space shuttle during the entry-to-touchdown (not including rollout) flight regime. These developments are given in the form of two subroutines which were written for use with the Space Shuttle Functional Simulator. The first subroutine calculates the power and energy demand on each of the three hydraulic systems due to control surface (inboard/outboard elevons, rudder, speedbrake, and body flap) activity. The second subroutine incorporates the R. I. priority rate limiting logic which limits control surface deflection rates as a function of the number of failed hydraulic. Typical results of this analysis are included, and listings of the subroutines are presented in appendicies.

  2. Control of Adjustable Compliant Actuators

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  3. Metal hydride actuation device

    A self-recocking actuation device is disclosed. One possible use for it is in conjunction with a pneumatic fire protection system. This invention employs the process known as occlusion to store large amounts of gas in a small volume. Metal hydrides in a chamber are used to store hydrogen in the disclosed preferred embodiment. Upon the application of heat-from a heat source like a resistance heater-the charged metal hydride releases its hydrogen (H2) in a chamber having only one exit opening which empties into a sealed bellows. This bellows contacts a piston located in another chamber wherein a biased resetting spring is provided to normally maintain the piston in contact with the bellows. As the pressure from the H2 gas builds up, it overcomes the biased spring to move it and the piston along with an associated pin or other actuator. If used to actuate a pneumatic fire protection system, the pin or actuator at the downward side of its stroke in turn, may puncture a shearable diaphragm or in some other way releases the contents of a container containing a second gas, like nitrogen (N2), which is then released from a second exit port in a different chamber to charge the fire protection system. Recocking of the piston begins as the heating of the metal hydride ceases. As cooling takes place the hydrogen is absorbed to reenter the hydride to decrease the gas pressure supplied. The piston's biased resetting spring then recocks the piston to its original position

  4. Dielectric Actuation of Polymers

    Niu, Xiaofan

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy densities, high coupling efficiency, quiet operation, and light weight. One focus of this dissertation is on the design of DE materials with high performance and easy processing. UV radiation curing of reactive species is studied as a generic synthesis methodology to provide a platform for material scientists to customize their own DE materials. Oligomers/monomers, crosslinkers, and other additives are mixed and cured at appropriate ratios to control the stress-strain response, suppress electromechanical instability of the resulting polymers, and provide stable actuation strains larger than 100% and energy densities higher than 1 J/g. The processing is largely simplified in the new material system by removal of the prestretching step. Multilayer stack actuators with 11% linear strain are demonstrated in a procedure fully compatible with industrial production. A multifunctional DE derivative material, bistable electroactive polymer (BSEP), is invented enabling repeatable rigid-to-rigid deformation without bulky external structures. Bistable actuation allows the polymer actuator to have two distinct states that can support external load without device failure. Plasticizers are used to lower the glass transition temperature to 45 °C. Interpenetrating polymer network structure is established inside the BSEP to suppress electromechanical instability, providing a breakdown field of 194 MV/m and a stable bistable strain as large as 228% with a 97% strain fixity. The application of BSEP

  5. Design and Performance Evaluation of Sensors and Actuators for Advanced Optical Systems

    Clark, Natalie

    2011-01-01

    Current state-of-the-art commercial sensors and actuators do not meet many of NASA s next generation spacecraft and instrument needs. Nor do they satisfy the DoD needs for satellite missions, especially micro/nano satellite missions. In an effort to develop advanced optical devices and instruments that meet mission requirements, NASA Langley recently completed construction of a new cleanroom housing equipment capable of fabricating high performance active optic and adaptive optic technologies including deformable mirrors, reconfigurable lenses (both refractive and diffractive), spectrometers, spectro-polarimeters, tunable filters and many other active optic devices. In addition to performance, these advanced optic technologies offer advantages in speed, size, weight, power consumption, and radiation tolerance. The active optic devices described in this paper rely on birefringent liquid crystal materials to alter either the phase or the polarization of the incoming light. Design considerations and performance evaluation results for various NASA applications are presented. Applications presented will include large space telescopes, optical communications, spacecraft windows, coronagraphs, and star trackers. Keywords: Photonics, Adaptive Optics, Tunable Filters, MEMs., MOEMs, Coronagraph, Star Tracker

  6. Thermally actuated linkage arrangement

    A reusable thermally actuated linkage arrangement includes a first link member having a longitudinal bore therein adapted to receive at least a portion of a second link member therein, the first and second members being sized to effect an interference fit preventing relative movement there-between at a temperature below a predetermined temperature. The link members have different coefficients of thermal expansion so that when the linkage is selectively heated by heating element to a temperature above the predetermined temperature, relative longitudinal and/or rotational movement between the first and second link members is enabled. Two embodiments of a thermally activated linkage are disclosed which find particular application in actuators for a grapple head positioning arm in a nuclear reactor fuel handling mechanism to facilitate back-up safety retraction of the grapple head independently from the primary fuel handling mechanism drive system. (author)

  7. A Foldable Antagonistic Actuator

    Shintake, Jun; Rosset, Samuel; Schubert, Bryan Edward; Floreano, Dario; Shea, Herbert

    2015-01-01

    We report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept through a specific application test, a foldable elevon actuator with outline size of 70 mm × 130 m...

  8. Characterization of a smartphone size haptic rendering system based on thin-film AlN actuators on glass substrates

    Bernard, F.; Casset, F.; Danel, J. S.; Chappaz, C.; Basrour, S.

    2016-08-01

    This paper presents for the first time the characterization of a smartphone-size haptic rendering system based on the friction modulation effect. According to previous work and finite element modeling, the homogeneous flexural modes are needed to get the haptic feedback effect. The device studied consists of a thin film AlN transducers deposited on an 110  ×  65 mm2 glass substrate. The transducer’s localization on the glass plate allows a transparent central area of 90  ×  49 mm2. Electrical and mechanical parameters of the system are extracted from measurement. From this extraction, the electrical impedance matching reduced the applied voltage to 17.5 V AC and the power consumption to 1.53 W at the resonance frequency of the vibrating system to reach the haptic rendering specification. Transient characterizations of the actuation highlight a delay under the dynamic tactile detection. The characterization of the AlN transducers used as sensors, including the noise rejection, the delay or the output charge amplitude allows detections with high accuracy of any variation due to external influences. Those specifications are the first step to a low-power-consumption feedback-looped system.

  9. Smart Tendon Actuated Flexible Actuator

    Md. Masum Billah

    2015-01-01

    Full Text Available We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM or to one particular type of the incompletely restrained positioning mechanism (IRPM where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

  10. Signal processing for plane wave actuators

    T. Corbach; Holters, M.; U. Zölzer

    2010-01-01

    Plane wave actuators without an enclosure per se have a forward and backward radiation. The backward radiation is unwanted in many applications when a single direction radiation is desired. To avoid the disadvantages of an enclosure a system is proposed, which provides a high suppression of the unwanted backward radiation using a pair of plane wave actuators. This is achieved by adapted input signal filters. The influences of the second plane wave actuator to the forward rad...

  11. A bidirectional shape memory alloy folding actuator

    Paik, Jamie; Wood, Robert J.

    2012-01-01

    This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso-and microscale systems. Despite the advantages of shape memory alloys-high strain, silent operation, and mechanical simplicity-their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180 degrees motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the foldin...

  12. Design of DC Motor Driver as a Control System Actuator for Electron Source in Electron Beam Machine

    A DC motor driver has been contracted using chopper DC circuit. The DC motor driver consists of an inverting amplifier, a comparator, and a DC chopper unit. The DC chopper circuit is based on H hybrid circuit, so that the polarization and angular velocity of DC motor can be regulated similar with the polarization and value of input signal. The result showed, that the DC motor driver circuit can be used as actuator on the electron source of electron beam machine. The maximum (duty cycle value = 1/2) angular velocity has same value for 10-1 - 10-2 Hertz oscillator frequency range. The increase of angular velocity will be proportional to the oscillator frequency at the constant duty cycle. If this characteristic is related with respond time of the control system, so the control system respond time is dependence on oscillator frequency being used. The use of control system with PC can be realized, because the input signal use low voltage, where the measurement shows that it has 3 - 10 Volt voltage range. (author)

  13. Ageing study of the engineered safety features actuation system of the Loviisa NPP; Loviisan ydinvoimalaitoksen laitossuojausautomaation vanhenemistutkimus

    Simola, K.; Maskuniitty, M. [VTT Automation, Espoo (Finland)

    1995-06-01

    An ageing study of the engineered safety features actuation system of the Loviisa nuclear power plant has been performed. The operating experience, including failure and maintenance histories of analog measuring devices, logics for safety signal formation and individual control electronics of pumps and valves, has been collected and analysed. The safety importance of system components has been studied with a fault tree analysis of a selected safety function. Based on the results of the analysis of operating experiences and the fault tree analysis, some components were selected for deeper analyses. According to the operating experience, the amount of failures in the Loviisa plant safety system has been low and no increasing trend in the failure history can yet be observed. Only a few failures had prohibited the propagation of the safety signal, mostly the failures have caused a false alarm. The failures reported have concerned mainly limit signal units, transmitters, and priority units. According to the fault tree analysis of one safety function, the most important components of this subsystem are individual control units and pulse/DC converters. Failure modes and effect analyses were performed for priority and individual control unit, limit signal unit and comparator and pulse/DC converter in order to identify the critical failure modes of these devices. (orig.) (15 refs., 26 figs., 9 tabs.).

  14. Advanced Electroactive Single Crystal and Polymer Actuator Concepts for Passive Optics Project

    National Aeronautics and Space Administration — TRS Technologies proposes large stroke and high precision piezoelectric single crystal and electroactive polymer actuator concepts?HYBrid Actuation System (HYBAS)...

  15. Electromechanical actuator for thrust vector control

    Zubkow, Zygmunt

    Attention is given to the development and testing of electromechanical actuator (EMA) systems for use in first- and second-stage thrust vector control of rocket engines. An overview of the test program is also presented. Designs for both first- and second-stage actuators employ redundant dc brushless, three-phase rare-earth permanent magnet motors. The first-stage actuator is about 28 hp per motor and uses a roller screw. Second-stage thrust vector control is implemented with a much smaller actuator of about 1 hp per motor. This actuator uses a gear drive with a recycling ball screw mechanism. An operational EMA is presented. This 6.5-in. actuator is capable of a stall force of 1350 pounds per motor and a frequency response of about 5 HZ.

  16. Integrated Health Monitoring and Fast on-Line Actuator Reconfiguration Enhancement (IHM-FLARE) System for Air Vehicles Project

    National Aeronautics and Space Administration — SSCI proposes to develop innovative algorithms for the integration of Health Monitoring (HM) subsystem with the existing FLARE (Fast on-Line Actuator...

  17. Demonstration test of the holding stability of the self actuated shutdown system in the experimental fast reactor 'JOYO'

    Self actuated shutdown system (SASS) with a Curie point electromagnet (CPEM) has been developed for use in a large scale fast breeder reactor (FBR) in order to establish the passive shutdown capability against anticipated transient without scram (ATWS) events. The basic characteristics of SASS have already been investigated by various out-of-pile tests for material elements. As the final stage of the development, the stability of SASS needs to be confirmed under the actual reactor-operational environment with high temperature, high neutron flux, and flowing sodium in order to ensure the high plant availability factor. For this purpose, the demonstration test of holding stability using the reduced-scale experimental equipment of SASS was conducted in the 1st and 2nd operational cycles of the experimental fast reactor JOYO MK-III. As a result of this study, the rod-holding stability and the rod-recovering functions of the driving system to re-connect and pull out the separated control rod were fully confirmed. The results also indicate there is no essential problem for the practical use of SASS about its operational trouble involving the unexpected drop during reactor operation. (author)

  18. An Intelligent Sensor Array Distributed System for Vibration Analysis and Acoustic Noise Characterization of a Linear Switched Reluctance Actuator

    Maria Calado

    2012-06-01

    Full Text Available This paper proposes a distributed system for analysis and monitoring (DSAM of vibrations and acoustic noise, which consists of an array of intelligent modules, sensor modules, communication bus and a host PC acting as data center. The main advantages of the DSAM are its modularity, scalability, and flexibility for use of different type of sensors/transducers, with analog or digital outputs, and for signals of different nature. Its final cost is also significantly lower than other available commercial solutions. The system is reconfigurable, can operate either with synchronous or asynchronous modes, with programmable sampling frequencies, 8-bit or 12-bit resolution and a memory buffer of 15 kbyte. It allows real-time data-acquisition for signals of different nature, in applications that require a large number of sensors, thus it is suited for monitoring of vibrations in Linear Switched Reluctance Actuators (LSRAs. The acquired data allows the full characterization of the LSRA in terms of its response to vibrations of structural origins, and the vibrations and acoustic noise emitted under normal operation. The DSAM can also be used for electrical machine condition monitoring, machine fault diagnosis, structural characterization and monitoring, among other applications.

  19. Extended DNA Tile Actuators

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao;

    2012-01-01

    A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...

  20. Pyrotechnic actuator: a new generation of Si integrated actuator

    Rossi, C.; Esteve, D.; Mingues, C.

    1998-06-01

    Mechanical micro actuators on silicon is playing a major role in the development of micro-systems. In this context, many structures have been performed on electrostatic, piezo electric or pneumatic actuators. However, limitations are remaining when energetic micro actuations have to be created. We propose in this paper, a new original type of actuation based on the force generated by the combustion of an explosive. It consists of a micro-machined silicon micro-heater (3 mm x 3 mm x 0.3 mm) on which a thin film of propellant (2 mm x 2 mm x 0.2 mm) is deposited. Its functioning principle is based on a hot gas emitted by the auto combustion of the propellant when its temperature reaches 300 deg C locally. In this paper, we present the results of a study (by modelling and experimental) of the ignition and combustion of a very small quantity of explosive onto a Si-micro-machined micro-heater. We conclude by presenting two examples of applications showing the promising interest of this energetic actuator: the first application is the biomedical field. The second one is today for micro-spacecraft attitude control. (authors) 9 refs.

  1. Implantable centrifugal blood pump with dual impeller and double pivot bearing system: electromechanical actuator, prototyping, and anatomical studies.

    Bock, Eduardo; Antunes, Pedro; Leao, Tarcisio; Uebelhart, Beatriz; Fonseca, Jeison; Leme, Juliana; Utiyama, Bruno; da Silva, Cibele; Cavalheiro, Andre; Filho, Diolino Santos; Dinkhuysen, Jarbas; Biscegli, Jose; Andrade, Aron; Arruda, Celso

    2011-05-01

    An implantable centrifugal blood pump has been developed with original features for a left ventricular assist device. This pump is part of a multicenter and international study with the objective to offer simple, affordable, and reliable devices to developing countries. Previous computational fluid dynamics investigations and wear evaluation in bearing system were performed followed by prototyping and in vitro tests. In addition, previous blood tests for assessment of normalized index of hemolysis show results of 0.0054±2.46 × 10⁻³ mg/100 L. An electromechanical actuator was tested in order to define the best motor topology and controller configuration. Three different topologies of brushless direct current motor (BLDCM) were analyzed. An electronic driver was tested in different situations, and the BLDCM had its mechanical properties tested in a dynamometer. Prior to evaluation of performance during in vivo animal studies, anatomical studies were necessary to achieve the best configuration and cannulation for left ventricular assistance. The results were considered satisfactory, and the next step is to test the performance of the device in vivo. PMID:21595708

  2. Preliminary design and validation of a Real Time model for hardware in the loop testing of bypass valve actuation system

    Highlights: • A Real Time Model of a turbine bypass system is presented and validated. • An Hardware in the Loop rig is used for calibration of positioneers and turbine bypass regulators. • Testing activities on the proposed test rig, confirm the feasibility of the proposed approach. - Abstract: During the start-up and shut-down phases of steam power plants many components are subjected to pressure and temperature transients that have to be carefully regulated both for safety and reliability reasons. For this reason, there is a growing interest in the optimization of turbine bypass controllers and actuators which are mainly used to regulate the plant during this kind of operations. In this work, a numerically efficient model for Real Time (RT) simulation of a steam plant is presented. In particular, a modular Simulink™ library of components such as valves, turbines and heaters has been developed. In this way it is possible to easily assemble and customize models able to simulate different plants and operating scenarios. The code, which is implemented for a fixed, discrete step solver, can be easily compiled for a RT target (such as a Texas Instrument DSP) in order to be executed in Real Time on a low cost industrial hardware. The proposed model has been used for quite innovative applications such as the development of a Hardware In the Loop (HIL) test rig of turbine bypass controllers and valve positioners. Preliminary experimental activities and results of the proposed test rig developed for Velan ABV are introduced and discussed

  3. Control Reconfiguration of LPV Systems Using Virtual Sensor and Virtual Actuator

    Tabatabaeipour, Seyed Mojtaba; Stoustrup, Jakob; Bak, Thomas

    plant and the nominal controller such that the fault tolerant goal is achieved without re-designing the nominal controller. The role of the reconfiguration block is to transform the signals from the faulty system such that its behavior is similar to the nominal system from the point of view of the...

  4. Single-crystal-material-based induced-shear actuation for vibration reduction of helicopters with composite rotor system

    In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades

  5. Single-crystal-material-based induced-shear actuation for vibration reduction of helicopters with composite rotor system

    Pawar, Prashant M.; Jung, Sung Nam

    2008-12-01

    In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades.

  6. Cryogenic actuator for subnanometer positioning

    Bree, B. v.; Janssen, H.; Paalvast, S.; Albers, R.

    2012-09-01

    This paper discusses the development, realization, and qualification of a positioning actuator concept specifically for cryogenic environments. Originally developed for quantum physics research, the actuator also has many applications in astronomic cryogenic instruments to position optical elements with nanometer level accuracy and stability. Typical applications include the correction of thermally induced position errors of optical components after cooling down from ambient to cryogenic temperatures or sample positioning in microscopes. The actuator is nicknamed the ‘PiezoKnob’ because it is piezo based and it is compatible with the typical manipulator knob often found in standard systems for optical benches, such as linear stages or tip/tilt lens holders. Actuation with high stiffness piezo elements enables the Piezoknob to deliver forces up to 50 Newton which allows relatively stiff guiding mechanisms or large pre-loads. The PiezoKnob has been qualified at 77 Kelvin and was shown to work down to 2 Kelvin. As part of the qualification program, the custom developed driving electronics and set point profile have been fine-tuned, by combing measurements with predictions from a dynamic model, thus maximizing efficiency and minimizing power dissipation. Furthermore, the actuator holds its position without power and thanks to its mechanical layout it is absolutely insensitive to drift of the piezo elements or the driving electronics.

  7. New Sensing Application to Diagnose Power Semiconductor Aging in Actuator Power Drive Systems

    National Aeronautics and Space Administration — This paper presents a new sensing application to diagnose power semiconductor aging in power drive systems. It has been shown previously that device parasitic...

  8. On-orbit validation system for space structure composite actuators Project

    National Aeronautics and Space Administration — This SBIR project delivers an On-orbit Validation System (OVS) that provides performance and durability data for Macro Fiber Composite (MFC) active piezocomposite...

  9. A wirelessly programmable actuation and sensing system for structural health monitoring

    Long, James; Büyüköztürk, Oral

    2016-04-01

    Wireless sensor networks promise to deliver low cost, low power and massively distributed systems for structural health monitoring. A key component of these systems, particularly when sampling rates are high, is the capability to process data within the network. Although progress has been made towards this vision, it remains a difficult task to develop and program 'smart' wireless sensing applications. In this paper we present a system which allows data acquisition and computational tasks to be specified in Python, a high level programming language, and executed within the sensor network. Key features of this system include the ability to execute custom application code without firmware updates, to run multiple users' requests concurrently and to conserve power through adjustable sleep settings. Specific examples of sensor node tasks are given to demonstrate the features of this system in the context of structural health monitoring. The system comprises of individual firmware for nodes in the wireless sensor network, and a gateway server and web application through which users can remotely submit their requests.

  10. Design and Comparative Analysis of a Retrofitted Liquid Cooling System for High-Power Actuators

    Nicholas Paine; Luis Sentis

    2015-01-01

    This paper presents an in-depth system-level experimental analysis comparing air-cooled and liquid-cooled commercial off-the-shelf (COTS) electric motors. Typically, liquid-cooled electric motors are reserved for large, expensive, high-end applications where the design of the motor’s electromagnetic components are closely coupled to its cooling system. By applying liquid cooling to a pre-existing motor design, this work helps bring the performance advantages of liquid cooling to smaller scale...

  11. Out-of-Plane Translational PZT Bimorph Actuator with Archimedes’ Spiral Actuating Tethers

    Yang, Chenye; Liu, Sanwei; Livermore, Carol

    2015-12-01

    The design, finite element analysis (FEA), and experimental characterization of a MEMS out-of-plane (vertical) translational lead-zirconate-titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Two types of bimorph actuators with different electrode patterns (with spiral tethers half actuated or fully actuated) are designed and fabricated. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Finite element analysis (FEA) was used to analyze and predict the displacements of both types of actuators. The deflections of both fully- actuated and half-actuated devices were measured experimentally to validate the design. At an applied voltage of 110V, the out-of-plane deflections of the actuators with half-actuated and fully-actuated tethers were measured at about 17 μm and 29 μm respectively, in good agreement with FEA predictions of 17.1 μm and 25.8 μm. The corresponding blocking forces are predicted as 10 mN and 17 mN by FEA.

  12. Attitude Control of a Six-Legged Robot in Consideration of Actuator Dynamics by Optimal Servo Control System

    Uchida, H.; Nonami, K.

    2007-01-01

    In the present study, we examined the attitude control method considering the delay of the hydraulic actuator whereby the mine detection six-legged robot can realize stable walking on irregular terrain without to make an orbit of the foot for irregular terrain. The following results were obtained. (1) As an attitude control method considering the delay of the actuator of the thigh links, we derive a mathematical model in which the inputs are the driving torque of the thigh links in the suppor...

  13. Information retrieval and control system called Actuation Techniques of GNTh NIIAR

    A computer-aided data base on testing methods formed and applied in NIIAR when investigating reactor materials and components, as well as when controlling process parameters in nuclear reactors is discussed. The data base includes 496 testing methods. The system of classification characteristics developed, as well as the software used are described

  14. Design and Comparative Analysis of a Retrofitted Liquid Cooling System for High-Power Actuators

    Nicholas Paine

    2015-08-01

    Full Text Available This paper presents an in-depth system-level experimental analysis comparing air-cooled and liquid-cooled commercial off-the-shelf (COTS electric motors. Typically, liquid-cooled electric motors are reserved for large, expensive, high-end applications where the design of the motor’s electromagnetic components are closely coupled to its cooling system. By applying liquid cooling to a pre-existing motor design, this work helps bring the performance advantages of liquid cooling to smaller scale and lower cost applications. Prior work in this area gives little insight to designers of such systems. Conversely, this work aims to improve the understanding of liquid-cooled COTS motors by reporting empirically-observed factors of improvement for motor current, torque, output power and system efficiency. These measurements are obtained using a new liquid-cooled motor housing design that improves the ease of maintenance and component reuse compared to existing work. It is confirmed that datasheet motor thermal properties may serve as a reasonable guide for anticipating continuous torque performance, but may over-specify continuous power output. For the motor used in this test, continuous torque output is increased by a factor of 2.58, matching to within 9% of expected datasheet values. Continuous power output is increased by a factor of two with only 2.2% reduced efficiency compared to air-cooling.

  15. Mechatronic Design of an Electromagnetically Levitated Linear Positioning System using Novel Multi-DoF Actuators

    Laro, D.A.H.

    2009-01-01

    The development of contactless electromagnetically levitated positioning systems is stimulated by the demand for vacuum compatible production machines. These vacuum compatible machines are used e.g. in the development of faster semiconductor chips and optical discs with larger data capacity. A novel

  16. Development of the computer-actuator on-line testing system

    The pseudo-dynamic testing is an epoch-making experimental method, which can grasp the dynamic properties of structures during static loading experiment by linking a computer with an oscillator on-line, because the method compensates the shortcomings of both conventional static loading experiment using hydraulic jacks and dynamic vibration experiment at the same time. This method has already been implemented at a few places, and noticeable results have been obtained. The authors also have developed a system of this kind, completed the arrangements and applied the pseudo- dynamic testing to understand the seismic response properties of a steel frame of one story, one span gate form and the aseismic properties of a reinforced concrete reactor containment vessel model under thermal stress. In this report, first the outline of the on-line testing system is described, and the principle of pseudo-dynamic testing, its software programs and the above two examples are reported. In the gate form steel frame experiment, the results of the experimental and theoretical response analysis well agreed, thus it was confirmed that the system has sufficient performance to satisfy the fundamental system of pseudo-dynamic testing. In the containment vessel experiment, it was found that the damage was little even against the seismic force at maximum acceleration of 400 gal, and the maximum force in the subsequent static breaking experiment was seven times as large as the maximum horizontal load at 400 gal response, therefore the vessel had sufficient aseismic capability. (Wakatsuki, Y.)

  17. Application of shape memory alloy (SMA) as actuator

    Ľ. Miková; Medvecká - Beňová, S.; M. Kelemen; Trebuňa, F.; Virgala, I.

    2015-01-01

    This paper deals w ith actuators based on shape memory alloys. The testing device has been developed for experimental verification of shape memory alloy actuator testing. Static characteristic shows the hysteresis of this material. Also dynamic properties have been explored through the step response characteristic. Application of the material as actuator in engineering system is shown.

  18. Dynamic Actuator for Centrifuge Modeling of Soil-Structure Interaction

    CABRERA, Miguel Angel; Caicedo, Bernardo; THOREL, Luc

    2012-01-01

    This paper presents a new dynamic actuator useful to study soil-structure interactions in a centrifuge. This new dynamic apparatus is based on an amplified piezoelectric actuator. Using this device it is possible to create vibrations in the soil sample of different frequencies and amplitudes. The dynamic actuator consists of a set of weights in a single degree of freedom system plus a piezoelectric actuator and a piezoelectric load cell, which measures the dynamic load. A description of the d...

  19. Simultaneous anti-windup synthesis for linear systems subject to actuator saturation

    Maopeng Ran; Qing Wang; Chaoyang Dong; Maolin Ni

    2015-01-01

    A synthesis method for global stability and performance of input constrained linear systems, which uses a linear output-feedback control er and a static anti-windup compensator is inves-tigated. Different from the traditional two-step anti-windup design procedure, the proposed method synthesizes al control er para-meters simultaneously. Sufficient conditions for global stability and minimizing the induced L2 gain are formulated and solved as a linear matrix inequalities (LMIs) optimization problem, which also provides an opportunity to search for a better performance tradeoff between the linear control er and the anti-windup compensator. The wel-posedness of the close-loop system is also guaranteed. Simulation results show the effectiveness of the proposed method.

  20. Adaptive Robust Actuator Fault Accommodation for a Class of Uncertain Nonlinear Systems with Unknown Control Gains

    2014-01-01

    An adaptive robust fault tolerant control approach is proposed for a class of uncertain nonlinear systems with unknown signs of high-frequency gain and unmeasured states. In the recursive design, neural networks are employed to approximate the unknown nonlinear functions, K-filters are designed to estimate the unmeasured states, and a dynamical signal and Nussbaum gain functions are introduced to handle the unknown sign of the virtual control direction. By incorporating the switching function...

  1. Integration of multi-sensor manipulator actuator information for robust robot control systems

    Hashimoto, Minoru; PAUL, Richard P.; ハシモト, ミノル; 橋本, 稔

    1989-01-01

    Robot manipulator joints with only a single state sensor (either in position or in velocity) are limited in their ability to determine both state variables (in position and in velocity). Also, if the single sensor fails, the robot becomes uncontrollable. In the present paper, we propose a method which efficiently uses multi-sensor information to obtain a more precise description of joint position and velocity, and such a method allows for a robust control system free from the affects of spuri...

  2. Performance study of a hydrogen powered metal hydride actuator

    Mainul Hossain Bhuiya, Md; Kim, Kwang J.

    2016-04-01

    A thermally driven hydrogen powered actuator integrating metal hydride hydrogen storage reactor, which is compact, noiseless, and able to generate smooth actuation, is presented in this article. To test the plausibility of a thermally driven actuator, a conventional piston type actuator was integrated with LaNi5 based hydrogen storage system. Copper encapsulation followed by compaction of particles into pellets, were adopted to improve overall thermal conductivity of the reactor. The operation of the actuator was thoroughly investigated for an array of operating temperature ranges. Temperature swing of the hydride reactor triggering smooth and noiseless actuation over several operating temperature ranges were monitored for quantification of actuator efficiency. Overall, the actuator generated smooth and consistent strokes during repeated cycles of operation. The efficiency of the actuator was found to be as high as 13.36% for operating a temperature range of 20 °C-50 °C. Stress-strain characteristics, actuation hysteresis etc were studied experimentally. Comparison of stress-strain characteristics of the proposed actuator with traditional actuators, artificial muscles and so on was made. The study suggests that design modification and use of high pressure hydride may enhance the performance and broaden the application horizon of the proposed actuator in future.

  3. Motorized actuation system to perform droplet operations on printed plastic sheets.

    Kong, Taejoon; Brien, Riley; Njus, Zach; Kalwa, Upender; Pandey, Santosh

    2016-05-21

    We developed an open microfluidic system to dispense and manipulate discrete droplets on planar plastic sheets. Here, a superhydrophobic material is spray-coated on commercially-available plastic sheets followed by the printing of hydrophilic symbols using an inkjet printer. The patterned plastic sheets are taped to a two-axis tilting platform, powered by stepper motors, that provides mechanical agitation for droplet transport. We demonstrate the following droplet operations: transport of droplets of different sizes, parallel transport of multiple droplets, merging and mixing of multiple droplets, dispensing of smaller droplets from a large droplet or a fluid reservoir, and one-directional transport of droplets. As a proof-of-concept, a colorimetric assay is implemented to measure the glucose concentration in sheep serum. Compared to silicon-based digital microfluidic devices, we believe that the presented system is appealing for various biological experiments because of the ease of altering design layouts of hydrophilic symbols, relatively faster turnaround time in printing plastic sheets, larger area to accommodate more tests, and lower operational costs by using off-the-shelf products. PMID:27080172

  4. Design of a mechanically actuated RF grounding system for the ITER ICRH antenna

    Hancock, D; Beaumont, B; Dumortier, P; Durodie, F; Kyrytsya, V; Louche, F; McKinley, R; Nicholls, K

    2013-01-01

    In the ITER equatorial ports containing ICRH antennas, parasitic electrical resonances can be excited in the nominal 20 mm clearance gap between the port walls and the plug contained within it. RF calculations have established that these resonances can be effectively mitigated by a series of suitably located electrically conducting contacts between the port and plug. These contacts must allow installation and removal of the antenna but must also make reliable electrical contact during antenna operation. In addition, the contacts must be compliant enough to survive deflection of the port during seismic and disruption events without transmitting large forces to the vacuum vessel. The distance to be spanned is subject to significant uncertainty, due to the large manufacturing tolerances of the surrounding components, and this also must be considered during the design process. This paper outlines progress made in the design of the grounding system, as well as detailing a number of concepts which have been investi...

  5. An airjet actuator system for identification of the human arm joint mechanical properties.

    Xu YMj; Hunter, I W; Hollerbach, J M; Bennett, D J

    1991-11-01

    A system is described for determining the mechanical properties of the human arm during unconstrained posture and movement. An airjet perturbation device is attached to the wrist with a special cuff, and provides high-frequency stochastic perturbations in potentially three orthogonal directions. The airjet operates as a fluidic flip-flop utilizing the Coanda effect, and generates binary force sequences with a steady-state thrust of 4 N, a flat frequency response to 75 Hz, usable thrust to 150 Hz, and a rise time of 1 ms, when the static pressure at the nozzle inlet is 5.5 x 10(5) Pa (80 psi). These operating characteristics are adequate to identify the arm's mechanical properties efficiently and robustly. PMID:1748446

  6. Integrated piezoelectric actuators in deep drawing tools

    Neugebauer, R.; Mainda, P.; Drossel, W.-G.; Kerschner, M.; Wolf, K.

    2011-04-01

    The production of car body panels are defective in succession of process fluctuations. Thus the produced car body panel can be precise or damaged. To reduce the error rate, an intelligent deep drawing tool was developed at the Fraunhofer Institute for Machine Tools and Forming Technology IWU in cooperation with Audi and Volkswagen. Mechatronic components in a closed-loop control is the main differentiating factor between an intelligent and a conventional deep drawing tool. In correlation with sensors for process monitoring, the intelligent tool consists of piezoelectric actuators to actuate the deep drawing process. By enabling the usage of sensors and actuators at the die, the forming tool transform to a smart structure. The interface between sensors and actuators will be realized with a closed-loop control. The content of this research will present the experimental results with the piezoelectric actuator. For the analysis a production-oriented forming tool with all automotive requirements were used. The disposed actuators are monolithic multilayer actuators of the piezo injector system. In order to achieve required force, the actuators are combined in a cluster. The cluster is redundant and economical. In addition to the detailed assembly structures, this research will highlight intensive analysis with the intelligent deep drawing tool.

  7. Actuator system history of safety rod lower latch problems review of latch inspection video tapes

    Banks, J.J.

    1992-06-24

    During pre-restart testing the safety rod at position X26-YlO bound after being driven approximately two (2) feet out of the reactor. Subsequently, the rod was manually returned to it`s seated position. Inspection of the lower latch showed that the latch locking plunger button (screwed on to the bottom of the plunger shaft and retained by a pin through a hole drilled through the button and the plunger shaft) was missing. The shaft failed through the hole drilled for the retaining pin. The button, with the retaining pin intact, was found lodged between the safety rod upper adapter collar and the top of the safety rod thimble top fitting. Analysis of the safety rod latch and accompanying forest guide tube design provided assurance that this type of failure would not cause binding during the ``scramming`` of the safety rods. Inspection of all of the ``K`` safety rod lower latches revealed six other latches with missing plunger buttons, and nine with other non-conformances which required latch replacement. A history search conducted by Reactor Engineering Design, Components Handling Group, is included in this report. The history search shows that latch design modifications, as a part of initial development of the latch system and later to improve the delatching operation, were made from 1950 to 1960. These modifications created a condition where latch damage could occur. Video tapes were made during inspection of the safety rod latches in K area and control rod latches in L area. These tapes were reviewed by Reactor Engineering Design Components Handling engineers. The reviews were used for correlation of latch problems reported by the engineers/mechanics making the inspections. The K area tapes showed inspection of 65 of the 66 safety rod latches. The review of the tapes showed the plunger buttons to be missing from five latches. RED-CH reviewed the L Area video taped inspection of 35 control rod clusters (245 latches). No non-conformances were noted.

  8. MEMS fluidic actuator

    Kholwadwala, Deepesh K.; Johnston, Gabriel A.; Rohrer, Brandon R.; Galambos, Paul C.; Okandan, Murat

    2007-07-24

    The present invention comprises a novel, lightweight, massively parallel device comprising microelectromechanical (MEMS) fluidic actuators, to reconfigure the profile, of a surface. Each microfluidic actuator comprises an independent bladder that can act as both a sensor and an actuator. A MEMS sensor, and a MEMS valve within each microfluidic actuator, operate cooperatively to monitor the fluid within each bladder, and regulate the flow of the fluid entering and exiting each bladder. When adjacently spaced in a array, microfluidic actuators can create arbitrary surface profiles in response to a change in the operating environment of the surface. In an embodiment of the invention, the profile of an airfoil is controlled by independent extension and contraction of a plurality of actuators, that operate to displace a compliant cover.

  9. Actuator system history of safety rod lower latch problems review of latch inspection video tapes

    Banks, J.J.

    1992-06-24

    During pre-restart testing the safety rod at position X26-YlO bound after being driven approximately two (2) feet out of the reactor. Subsequently, the rod was manually returned to it's seated position. Inspection of the lower latch showed that the latch locking plunger button (screwed on to the bottom of the plunger shaft and retained by a pin through a hole drilled through the button and the plunger shaft) was missing. The shaft failed through the hole drilled for the retaining pin. The button, with the retaining pin intact, was found lodged between the safety rod upper adapter collar and the top of the safety rod thimble top fitting. Analysis of the safety rod latch and accompanying forest guide tube design provided assurance that this type of failure would not cause binding during the scramming'' of the safety rods. Inspection of all of the K'' safety rod lower latches revealed six other latches with missing plunger buttons, and nine with other non-conformances which required latch replacement. A history search conducted by Reactor Engineering Design, Components Handling Group, is included in this report. The history search shows that latch design modifications, as a part of initial development of the latch system and later to improve the delatching operation, were made from 1950 to 1960. These modifications created a condition where latch damage could occur. Video tapes were made during inspection of the safety rod latches in K area and control rod latches in L area. These tapes were reviewed by Reactor Engineering Design Components Handling engineers. The reviews were used for correlation of latch problems reported by the engineers/mechanics making the inspections. The K area tapes showed inspection of 65 of the 66 safety rod latches. The review of the tapes showed the plunger buttons to be missing from five latches. RED-CH reviewed the L Area video taped inspection of 35 control rod clusters (245 latches). No non-conformances were

  10. Thermostatic Valves Containing Silicone-Oil Actuators

    Bhandari, Pradeep; Birur, Gajanana C.; Bame, David P.; Karlmann, Paul B.; Prina, Mauro; Young, William; Fisher, Richard

    2009-01-01

    Flow-splitting and flow-mixing thermally actuated spool valves have been developed for controlling flows of a heat-transfer fluid in a temperature-regulation system aboard the Mars Science Laboratory (MSL) rover. Valves like these could also be useful in terrestrial temperature-regulation systems, including automobile air-conditioning systems and general refrigeration systems. These valves are required to provide smoother actuation over a wider temperature range than the flow-splitting, thermally actuated spool valves used in the Mars Explorer Rover (MER). Also, whereas the MER valves are unstable (tending to oscillate) in certain transition temperature ranges, these valves are required not to oscillate. The MER valves are actuated by thermal expansion of a wax against spring-loaded piston rods (as in common automotive thermostats). The MSL valves contain similar actuators that utilize thermal expansion of a silicone oil, because silicone-oil actuators were found to afford greater and more nearly linear displacements, needed for smoother actuation, over the required wider temperature range. The MSL valves also feature improved spool designs that reflect greater understanding of fluid dynamics, consideration of pressure drops in valves, and a requirement for balancing of pressures in different flow branches.

  11. AP1000TM Nuclear Power Plant - Passive Safety System Actuation using Explosively Opening 'Squib Valves'

    In the last decades the world demand for energy was growing rapidly and despite the economic crisis no basic change in this development can be expected for the future. Especially the developing countries with fast growing populations and economies will have an increasing need for energy in all forms while available resources are decreasing. The extreme volatility of energy prices in the last years has shown how dependent on cheap and reliable energy we are and how dangerous it is to focus only on few sources. On the other hand the excessive use of fossil fuel in the last century has led to a man made climate change by emission of greenhouse gases. The renaissance of nuclear power is one of the answers to these issues. Global warming cannot be avoided on a short but carbon free nuclear technology can help limiting the effects of climate change and provide billions of people with cheap and reliable energy at the same time. However, a worldwide 'nuclear renaissance' has some prerequisites. Beside economic competitiveness advanced nuclear safety based on proven, evolutionary technologies is the most important condition for the acceptance of new nuclear power plants. Half of the world's nuclear reactors are based on proven Westinghouse design. These plants have more than 10,000 years of operating experience. The AP1000TM plant is the result of an evolutionary development process where advanced, passive safety features have been combined with proven components from operating plants. Significant design simplifications together with the reduction of piping, cabling, pumps, valves and seismic grade building size have led to reduced investment costs. A consequent modularization enables the plant to be constructed within three years. Passive safety functions relying only on natural forces make the plant safer than any existing reactor. Because active decay heat removal systems do not have to be safety grade classified any more, construction, inspection and maintenance are

  12. AP1000TM Nuclear Power Plant Passive Safety System Actuation using Explosively Opening 'Squib Valves'

    In the last decades the world demand for energy was growing rapidly and despite the economic crisis no basic change in this development can be expected for the future. Especially the developing countries with fast growing populations and economies will have an increasing need for energy in all forms while available resources are decreasing. The extreme volatility of energy prices in the last years has shown how dependent on cheap and reliable energy we are and how dangerous it is to focus only on few sources. On the other hand the excessive use of fossil fuel in the last century has led to a man made climate change by emission of greenhouse gases. The renaissance of nuclear power is one of the answers to these issues. Global warming cannot be avoided on a short but carbon free nuclear technology can help limiting the effects of climate change and provide billions of people with cheap and reliable energy at the same time. However, a worldwide 'nuclear renaissance' has some prerequisites. Beside economic competitiveness advanced nuclear safety based on proven, evolutionary technologies is the most important condition for the acceptance of new nuclear power plants. Half of the world's nuclear reactors are based on proven Westinghouse design. These plants have more than 10,000 years of operating experience. The AP1000TM plant is the result of an evolutionary development process where advanced, passive safety features have been combined with proven components from operating plants. Significant design simplifications together with the reduction of piping, cabling, pumps, valves and seismic grade building size have led to reduced investment costs. A consequent modularization enables the plant to be constructed within three years. Passive safety functions relying only on natural forces make the plant safer than any existing reactor. Because active decay heat removal systems do not have to be safety grade classified any more, construction, inspection and maintenance are

  13. Mechatronics and Bioinspiration in Actuator Design and Control

    J. L. Pons

    2008-01-01

    Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.

  14. Linear electrochemical gel actuators

    Goswami, Shailesh; McAdam, C. John; Hanton, Lyall R.; Moratti, Stephen C.

    2012-04-01

    By using electroactive monomers it is possible to produce gels that respond to oxidation or reduction by swelling and deswelling in the presence of solvent. By the inclusion of an appropriate biasing element such as a spring, it is possible to produce linear, reversible actuation. The process can be driven electrochemically in a standard cell, with driving voltages under +/- 1 V. For many systems, the intrinsic conductivity of the gel, leading to poor or no performance. This can be overcome by blending conductive carbon nanotubes at 1% concentration, which give reasonable conductivity without affecting mechanical performance. Extensions of up to 40% are possible, against an external pressure of 30 kPa. The process is slow, taking up to 160 minutes per cycle due to slow ionic diffusion. The electrochemical cell can be cycled many times without degradation.

  15. System Modeling and Operational Characteristic Analysis for an Orbital Friction Vibration Actuator Used in Orbital Vibration Welding

    Xu, F; J. Hu; Li, Y.; Zou, J.; Xu, Y; Shang, J.

    2013-01-01

    Orbital Friction Vibration Actuator (OFVA) is a core component of Orbital Friction Welding (OFW), which is a novel apertureless welding technology utilizing friction heat to implement solid-state joining. In this paper, topology and operational principle of OFVA are introduced, the analytical formulas of the electromagnetic force for the x and y directions, which can drive the mover to generate a circular motion trajectory, are derived, and the characteristic of static electromagnetic fo...

  16. Multilayer Piezoelectric Stack Actuator Characterization

    Sherrit, Stewart; Jones, Christopher M.; Aldrich, Jack B.; Blodget, Chad; Bao, Xioaqi; Badescu, Mircea; Bar-Cohen, Yoseph

    2008-01-01

    Future NASA missions are increasingly seeking to use actuators for precision positioning to accuracies of the order of fractions of a nanometer. For this purpose, multilayer piezoelectric stacks are being considered as actuators for driving these precision mechanisms. In this study, sets of commercial PZT stacks were tested in various AC and DC conditions at both nominal and extreme temperatures and voltages. AC signal testing included impedance, capacitance and dielectric loss factor of each actuator as a function of the small-signal driving sinusoidal frequency, and the ambient temperature. DC signal testing includes leakage current and displacement as a function of the applied DC voltage. The applied DC voltage was increased to over eight times the manufacturers' specifications to investigate the correlation between leakage current and breakdown voltage. Resonance characterization as a function of temperature was done over a temperature range of -180C to +200C which generally exceeded the manufacturers' specifications. In order to study the lifetime performance of these stacks, five actuators from one manufacturer were driven by a 60volt, 2 kHz sine-wave for ten billion cycles. The tests were performed using a Lab-View controlled automated data acquisition system that monitored the waveform of the stack electrical current and voltage. The measurements included the displacement, impedance, capacitance and leakage current and the analysis of the experimental results will be presented.

  17. An electrochemical micro actuator

    Hamberg, M.W.; Neagu, C.R.; Gardeniers, J.G.E.; IJntema, D.J.; Elwenspoek, M.C.

    1995-01-01

    In this paper an investigation of the feasibility of a new electrochemical micro actuator is presented. The actuator is fabricated using silicon micro-machining techniques. A gas pressure is generated by electrolysis of an aqueous electrolyte solution. The build up pressure is used to change the def

  18. Sensors and actuators, Twente

    Bergveld, P.

    1989-01-01

    This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,

  19. Conjugated polymers as actuators: modes of actuation

    Skaarup, Steen

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  20. Conjugated Polymers as Actuators: Modes of Actuation

    Skaarup, Steen

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  1. Sensors and actuators inherent in biological species

    Taya, Minoru; Stahlberg, Rainer; Li, Fanghong; Zhao, Ying Joyce

    2007-04-01

    This paper addresses examples of sensing and active mechanisms inherent in some biological species where both plants and animals cases are discussed: mechanosensors and actuators in Venus Fly Trap and cucumber tendrils, chemosensors in insects, two cases of interactions between different kingdoms, (i) cotton plant smart defense system and (ii) bird-of-paradise flower and hamming bird interaction. All these cases lead us to recognize how energy-efficient and flexible the biological sensors and actuators are. This review reveals the importance of integration of sensing and actuation functions into an autonomous system if we make biomimetic design of a set of new autonomous systems which can sense and actuate under a number of different stimuli and threats.

  2. Analysis of a spherical permanent magnet actuator

    This paper describes a new form of actuator with a spherical permanent magnet rotor and a simple winding arrangement, which is capable of a high specific torque by utilizing a rare-earth permanent magnet. The magnetic-field distribution is established using an analytical technique formulated in spherical coordinates, and the results are validated by finite element analysis. The analytical field solution allows the prediction of the actuator torque and back emf in closed forms. In turn, these facilitate the characterization of the actuator and provide a firm basis for design optimization, system dynamic modeling, and closed-loop control law development. copyright 1997 American Institute of Physics

  3. Selecting Actuator Configuration for a Benson Boiler

    Kragelund, Martin Nygaard; Leth, John-Josef; Wisniewski, Rafal

    2009-01-01

    This paper addresses the problem of an optimal actuator configuration in an economic perspective. The objective is to minimize the economical cost of operating a given plant. Functionals encapsulating information of the business objectives given the different actuators has been established...... with particular focus on a boiler in a power plant operated by DONG Energy - a Danish energy supplier. The problem has been reformulated using mathematic notions from economics. The selection of actuator configuration has been limited to the fuel system which in the considered plant consists of three different...

  4. Improvement of the abnormal diagnosis technology by the development of an abnormal parts assignment system for the engineered safety features actuating system of the HTTR

    The safety protection sequence panel of HTTR is a control panel to actuate an engineering safety system for protecting the reactor core, reactor coolant pressure boundary, and containment vessel boundary at the time of an accident of the nuclear reactor facilities. The safety code stipulates that the control panel should receive safety check at a frequency of once a month during reactor operation. When abnormality has been found, it is required to eliminate its causes and restore normal operation as soon as possible. However, since this control panel is composed of a complex control circuit, the cause check during abnormality requires the confirmation by a knowledgeable person spending quite a lot of time for chart checking, which leads to a delay of restoration. To achieve a rapid restoration, the abnormal part assignment system (APAS), which can specify abnormality instantaneously even by a common operator, was developed. It has been confirmed that with this system, rapid initial response and prompt restoration can be effectively made. (A.O.)

  5. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation.

    Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman

    2011-01-01

    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654

  6. Elastomeric actuator devices for magnetic resonance imaging

    Dubowsky, Steven (Inventor); Hafez, Moustapha (Inventor); Jolesz, Ferenc A. (Inventor); Kacher, Daniel F. (Inventor); Lichter, Matthew (Inventor); Weiss, Peter (Inventor); Wingert, Andreas (Inventor)

    2008-01-01

    The present invention is directed to devices and systems used in magnetic imaging environments that include an actuator device having an elastomeric dielectric film with at least two electrodes, and a frame attached to the actuator device. The frame can have a plurality of configurations including, such as, for example, at least two members that can be, but not limited to, curved beams, rods, plates, or parallel beams. These rigid members can be coupled to flexible members such as, for example, links wherein the frame provides an elastic restoring force. The frame preferably provides a linear actuation force characteristic over a displacement range. The linear actuation force characteristic is defined as .+-.20% and preferably 10% over a displacement range. The actuator further includes a passive element disposed between the flexible members to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. The preferred embodiment actuator includes one or more layers of the elastomeric film integrated into the frame. The elastomeric film can be made of many elastomeric materials such as, for example, but not limited to, acrylic, silicone and latex.

  7. Enhanced Fault Detection and Isolation in Modern Flight Actuators

    Ossmann, Daniel

    2013-01-01

    Due to their central location in the control system, actuation systems of primary control surfaces in modern, augmented aircraft must show an increased reliability. A traditional approach is based on hardware redundancy. In this way, modern actuation systems of one single control surface consist of up to two actuators and three sensors. These different dynamic subsystems are all prone to faults themselves and can be monitored. This paper presents the setup of a fault detection and diagnosis (...

  8. Mechatronics and Bioinspiration in Actuator Design and Control

    J. L. Pons; A. Forner-Cordero; Rocon, E.; Moreno, J. C.

    2008-01-01

    Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration). Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechat...

  9. Nylon-muscle-actuated robotic finger

    Wu, Lianjun; Jung de Andrade, Monica; Rome, Richard S.; Haines, Carter; Lima, Marcio D.; Baughman, Ray H.; Tadesse, Yonas

    2015-04-01

    This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.

  10. Novel Actuation Methods for High Force Haptics

    Buerger, Stephen P.; Hogan, Neville

    2010-01-01

    This chapter presented and defined high force haptic systems, and articulated the specific constraints that make the selection of actuators for this application difficult. To provide context, the pioneering high force haptics application of therapeutic robotics, and the obstacles to continued advancement of the field, were discussed. We continue to develop therapeutic robots for human movement from lower body (including partial weight support) to fine finger motions, and the actuation problem...

  11. Energy Efficient Wireless Vehicular-Guided Actuator Network

    Boudellioua, Imene

    2013-06-09

    In this paper, we present an energy-efficient vehicular guided system for environmental disaster management using wireless sensor/actuator networks. Sensor nodes within clusters are controlled by a master node that is dynamically selected. Actuators support mobility for every sensor node in the area of interest. The system maintains energy efficiency using statistical, correlation, and confidence for determining actuator actions and implements an adaptive energy scheme to prolong the system lifespan. Experimental results show that the system is capable of saving up to 2.7Watt for every 28KByte of data exchanged. We also show that actuator actions are correct with a 90% confidence.

  12. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....

  13. Magnetically Actuated Seal Project

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  14. Active optics: deformable mirrors with a minimum number of actuators

    Laslandes, Marie; Ferrari, Marc; 10.2971/jeos.2012.12036

    2012-01-01

    We present two concepts of deformable mirror to compensate for first order optical aberrations. Deformation systems are designed using both elasticity theory and Finite Element Analysis in order to minimize the number of actuators. Starting from instrument specifications, we explain the methodology to design dedicated deformable mirrors. The work presented here leads to correcting devices optimized for specific functions. The Variable Off-Axis paraboLA concept is a 3-actuators, 3-modes system able to generate independently Focus, Astigmatism and Coma. The Correcting Optimized Mirror with a Single Actuator is a 1-actuator system able to generate a given combination of optical aberrations.

  15. Laser Initiated Actuator study

    Watson, B.

    1991-06-27

    The program task was to design and study a laser initiated actuator. The design of the actuator is described, it being comprised of the fiber and body subassemblies. The energy source for all experiments was a Spectra Diode 2200-H2 laser diode. The diode is directly coupled to a 100 micron core, 0.3 numerical aperture fiber optic terminated with an SMA connector. The successful testing results are described and recommendations are made.

  16. Combustion powered linear actuator

    Fischer, Gary J.

    2007-09-04

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  17. Dielectric Actuation of Polymers

    Niu, Xiaofan

    2013-01-01

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy den...

  18. Design and application of shape memory actuators

    Mertmann, M.; Vergani, G.

    2008-05-01

    The use of shape memory alloys in actuators allows the development of robust, simple and lightweight elements for application in a multitude of different industries. Over the years, the intermetallic compound Nickel-Titanium (NiTi or Nitinol) together with its ternary and quaternary derivates has gained general acceptance as a standard alloy. Even though as many as 99% of all shape memory actuator applications make use of Nitinol there are certain properties of this alloy system which require further research in order to find improvements and new markets: • Lack of higher transformation temperatures in the available alloys in order to open the field of automotive applications (Mf temperature > 80 °C) • Non-linearity in the electrical resistivity in order to improve the controllability of the actuator, • Wide hysteresis in the temperature-vs.-strain behaviour, which has a signi-ficant effect on both, the dynamics of the actuator and its controllability. Hence, there is a constant strive in the field towards an improvement of the related properties. However, these improvements are not always just alloy composition related. There is also a tremendous potential in the thermomechanical treatment of the material and in the design of the actuator. Significant improvement steps are already possible if the usage of the existent materials is optimized for the projected application and if the actuator system is designed in the most efficient way. This paper provides an overview about existent designs, applications and alloys for use in actuators, as well as examples of new shape memory actuator application with improved performance. It also gives an overview about general design rules and reflects about the strengths of the material and the related opportunities for its application.

  19. Efficient Hybrid Actuation Using Solid-State Actuators

    Leo, Donald J.; Cudney, Harley H.; Horner, Garnett (Technical Monitor)

    2001-01-01

    Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.

  20. System Modeling and Operational Characteristic Analysis for an Orbital Friction Vibration Actuator Used in Orbital Vibration Welding

    XU, F.

    2013-05-01

    Full Text Available Orbital Friction Vibration Actuator (OFVA is a core component of Orbital Friction Welding (OFW, which is a novel apertureless welding technology utilizing friction heat to implement solid-state joining. In this paper, topology and operational principle of OFVA are introduced, the analytical formulas of the electromagnetic force for the x and y directions, which can drive the mover to generate a circular motion trajectory, are derived, and the characteristic of static electromagnetic force is predicted by analytical method and 2-D (two-dimensional FEM (finite element method, 3-D and measurement. The coupled magnetic field-circuit-motion simulation models which are driven by current and voltage source are established, respectively, and some of its operational characteristics are analyzed. Simulation and experiment validate theoretical analysis and the feasibility of the fabricated prototype, demonstrate the good performance of the OFVA, and provide valuable reference for engineering applications.

  1. Fluid film force control in lubricated journal bearings by means of a travelling wave generated with a piezoelectric actuators' system

    Iula, Antonio; Lamberti, Nicola; Savoia, Alessandro; Caliano, Giosue

    2012-05-01

    In this work an experimental evaluation of the possiblity to influence and control the fluid film forces in the gap of a lubricated journal bearing by means of a rotating travelling wave is carried out. The travellig wave is generated by two power actuators opportunely positioned on the outer surface of the bearing and electrically driven with a phase shift of 90°. Each transducer is designed to work at the natural frequency of the radial nonaxisymmetrical mode 0-5 (23.6 kHz). Experimental results show that the travelling wave is capable to control the motion of an oil drop on the inner surface of the bearing and that it is capable to put in rotation a rotor layed on the drop oil via the viscous forces in the oil drop itself.

  2. Actuation and transduction of resonant vibrations in GaAs/AlGaAs-based nanoelectromechanical systems containing two-dimensional electron gas

    Driven vibrations of a nanoelectromechanical system based on GaAs/AlGaAs heterostructure containing two-dimensional electron gas are experimentally investigated. The system represents a conductive cantilever with the free end surrounded by a side gate. We show that out-of-plane flexural vibrations of the cantilever are driven when alternating signal biased by a dc voltage is applied to the in-plane side gate. We demonstrate that these vibrations can be on-chip linearly transduced into a low-frequency electrical signal using the heterodyne down-mixing method. The obtained data indicate that the dominant physical mechanism of the vibrations actuation is capacitive interaction between the cantilever and the gate

  3. Geographic information systems supporting the solution of emergencies and their connection to self-actuated notification systems

    Reil, Adam; Bureš, Luděk; Roub, Radek; Hejduk, Tomáš; Novák, Pavel

    2015-04-01

    Geographic information systems represent an important tool in supporting the operation and crisis management of Integrated Rescue System (IRS) branches. The technology of geographic information systems makes it possible to localize specific information directly in the concerned area. A basic pre-requisite for efficient IRS functioning is the identification of so-called critical points in the given territory. The next step is the identification of endangered persons and properties. In these issues, emphasis is put particularly on the time scale, which represents a key aspect of the crisis management. In case of flood danger, the Early Flood Warning Service would inform flood authorities responsible for warning the population, declaring flood activity degrees, IRS activation and organization. For their decision-making, the flood authorities need data on level heights, current discharge rates and inundation areas. The information about discharge rates and height levels can be obtained from the network of recording stream gauge stations operated by the Czech Hydrometeorological Institute. Inundation areas are plotted in the flood control plans of municipalities, which however contain default information about areas flooded at the N-year flood discharges Q5, Q20 and Q100. Because of large intervals, these three scenarios are insufficient for the crisis management of larger communities and towns. Therefore, a data store was suggested that would include maps showing flow rate fields and inundation areas for a finer scale of flood discharges at regular intervals. The scale should be based on the N-year flood discharges with a possibility of extension if required by flood authorities. The discharge interval size should be selected with regard to the dynamics of level height change in the given watercourse. The inundation areas will be then established by way of calculation using the MIKE 21C 2D hydrodynamic model. The novel approach was applied recently in the cadastral

  4. A design of winch actuator speed control actuator on the gamma detection device geophysics logging

    The detection device consists of a detection system, data acquisition system and winch control system actuators. The winch speed actuator controller is for controlling the speed of detector 6 meters/minute and capable of carrying 20 kg load as far as 500 meters into the under ground using an electric motor. The purpose of this design is to determine and to select the electric motor according to speed control of winch actuator desired. The method of the design is using these used data to determine the motor power, motor rotation, and speed winch actuator used. A DC series motor of 1/20 HP, 24 V, 1140 RPM is the motor is provided with settings to the motor power supply voltage from 12 V up to 24 V and resistance from 0 Ω up to 12 Ω. The resistance is connected in series with motor yoke. (author)

  5. Recent Advances in the Control of Piezoelectric Actuators

    Ziqiang Chi; Qingsong Xu

    2014-01-01

    The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable eff...

  6. Digital Actuator Technology

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

    2014-09-01

    There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator

  7. NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY

    KE Zunrong; ZHU Yuquan; LING Xuan

    2007-01-01

    A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.

  8. Effect of actuation sequence on flow rates of peristaltic micropumps with PZT actuators.

    Jang, Ling-Sheng; Shu, Kuan; Yu, Yung-Chiang; Li, Yuan-Jie; Chen, Chiun-Hsun

    2009-02-01

    Many biomedical applications require the administration of drugs at a precise and preferably programmable rate. The flow rate generated by the peristaltic micropumps used in such applications depends on the actuation sequence. Accordingly, the current study performs an analytical and experimental investigation to determine the correlation between the dynamic response of the diaphragms in the micropump and the actuation sequence. A simple analytical model of a peristaltic micropump is established to analyze the shift in the resonant frequency of the diaphragms caused by the viscous damping effect. The analytical results show that this damping effect increases as the oscillation frequency of the diaphragm increases. A peristaltic micropump with three piezoelectric actuators is fabricated on a silicon substrate and is actuated using 2-, 3-, 4- and 6-phase actuation sequences via a driving system comprising a microprocessor and a phase controller. A series of experiments is conducted using de-ionized water as the working fluid to determine the diaphragm displacement and the flow rates induced by each of the different actuation sequences under phase frequencies ranging from 50 Hz to 1 MHz. The results show that the damping effect of actuation sequences influences diaphragm resonant frequency, which in turn affects the profiles of flow rates. PMID:18821016

  9. Low-Stroke Actuation for a Serial Robot

    Gao, Dalong (Inventor); Ihrke, Chris A. (Inventor)

    2014-01-01

    A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

  10. Shape memory alloy actuated adaptive exhaust nozzle for jet engine

    Song, Gangbing (Inventor); Ma, Ning (Inventor)

    2009-01-01

    The proposed adaptive exhaust nozzle features an innovative use of the shape memory alloy (SMA) actuators for actively control of the opening area of the exhaust nozzle for jet engines. The SMA actuators remotely control the opening area of the exhaust nozzle through a set of mechanism. An important advantage of using SMA actuators is the reduction of weight of the actuator system for variable area exhaust nozzle. Another advantage is that the SMA actuator can be activated using the heat from the exhaust and eliminate the need of other energy source. A prototype has been designed and fabricated. The functionality of the proposed SMA actuated adaptive exhaust nozzle is verified in the open-loop tests.

  11. Smart multi-lane electromechanical actuators

    Recent development in brushless DC motors and their drives provided the technology to build electromechanically actuated primary controls, hence they were proposed for ground, aerospace and (recently) mercantile applications. This paper addresses the transfer of single type summing architectures (namely, velocity, Torque and electromagnetic summing) to marine technology. The paper will highlight the drawbacks in such architectures and will propose (as an alternative) a novel Electromagnetic Torque Summing technique and will address the possible application of a vibration control method to this type of architecture. The previously proposed Fault detection and Fault Isolation system (in the all-electric aircraft) will be recommended and description of suitable threshold setting techniques on the imbedded Monitoring Devices will be given. The paper will also show how stringent space and response requirements in aircraft actuation systems could be relaxed when actuation technology is transferred to propel marine systems

  12. Hydraulic involute cam actuator

    Love, Lonnie J.; Lind, Randall F.

    2011-11-01

    Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.

  13. The Actuated Guitar

    Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.

    2013-01-01

    Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand...... interaction with the guitar is immense. We therefore divided the right hand techniques into three main areas: Strumming, string picking / skipping, and string muting. This paper explores the first stage, strum- ming. We have developed an exploratory platform called the Actuated Guitar that utilizes a normal...

  14. Low-Shock Pyrotechnic Actuator

    Lucy, M. H.

    1984-01-01

    Miniature 1-ampere, 1-watt pyrotechnic actuator enclosed in flexible metal bellows. Bellows confines outgassing products, and pyrotechnic shock reduction achieved by action of bellows, gas cushion within device, and minimum use of pyrotechnic material. Actuator inexpensive, compact, and lightweight.

  15. Applications of dielectric elastomer actuators

    Pelrine, Ron; Sommer-Larsen, Peter; Kornbluh, Roy D.; Heydt, Richard; Kofod, Guggi; Pei, Qibing; Gravesen, Peter

    2001-07-01

    Dielectric elastomer actuators, based on the field-induced deformation of elastomeric polymers with compliant electrodes, can produce a large strain response, combined with a fast response time and high electromechanical efficiency. This unique performance, combined with other factors such as low cost, suggests many potential applications, a wide range of which are under investigation. Applications that effectively exploit the properties of dielectric elastomers include artificial muscle actuators for robots; low-cost, lightweight linear actuators; solid- state optical devices; diaphragm actuators for pumps and smart skins; acoustic actuators; and rotary motors. Issues that may ultimately determine the success or failure of the actuation technology for specific applications include the durability of the actuator, the performance of the actuator under load, operating voltage and power requirements, and electronic driving circuitry, to name a few.

  16. Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source

    Senzaki Shinji

    2016-01-01

    Full Text Available A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the proposed analytical model can predict the behaviour of the tested actuator.

  17. Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies.

    Veale, Allan Joshua; Xie, Shane Quan

    2016-04-01

    Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. However, current orthosis actuation systems use components designed for industrial applications, not specifically for interacting with humans. This can limit orthoses' capabilities and, if their users' needs are not adequately considered, contribute to their abandonment. Here, a user centered review is presented on: requirements for orthosis actuators; the electric, hydraulic, and pneumatic actuators currently used in orthoses and their advantages and limitations; the potential of new actuator technologies, including smart materials, to actuate orthoses; and the future of orthosis actuator research. PMID:26923385

  18. Shape memory polymer actuator and catheter

    Maitland, Duncan J. (Pleasant Hill, CA); Lee, Abraham P. (Walnut Creek, CA); Schumann, Daniel L. (Concord, CA); Matthews, Dennis L. (Moss Beach, CA); Decker, Derek E. (Byron, CA); Jungreis, Charles A. (Pittsburgh, PA)

    2007-11-06

    An actuator system is provided for acting upon a material in a vessel. The system includes an optical fiber and a shape memory polymer material operatively connected to the optical fiber. The shape memory polymer material is adapted to move from a first shape for moving through said vessel to a second shape where it can act upon said material.

  19. A Magnetic Bead Actuator

    Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.

    2006-01-01

    Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume surrou

  20. Shape Memory Alloy Actuator

    Baumbick, Robert J. (Inventor)

    2002-01-01

    The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.

  1. Thermally Actuated Hydraulic Pumps

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

    Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research

  2. Modeling Populations of Thermostatic Loads with Switching Rate Actuation

    Totu, Luminita Cristiana; Wisniewski, Rafal; Leth, John-Josef

    We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...... simulations. The actuation mechanism and subsequent modeling result are relevant for power system operation....

  3. New ankle actuation mechanism for a humanoid robot

    Oort, van Gijs; Reinink, Roelof; Stramigioli, Stefano

    2011-01-01

    In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and no

  4. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  5. Evolutionary flight and enabling smart actuator devices

    Manzo, Justin; Garcia, Ephrahim

    2007-04-01

    Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.

  6. Fabrication and reliable implementation of an ionic polymer-metal composite (IPMC) biaxial bending actuator

    Lee, Gil-Yong; Choi, Jung-Oh; Kim, Myeungseon; Ahn, Sung-Hoon

    2011-10-01

    Ionic polymer-metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle.

  7. Fabrication and reliable implementation of an ionic polymer–metal composite (IPMC) biaxial bending actuator

    Ionic polymer–metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle

  8. Anticipating electrical breakdown in dielectric elastomer actuators

    Muffoletto, Daniel P.; Burke, Kevin M.; Zirnheld, Jennifer L.

    2013-04-01

    The output strain of a dielectric elastomer actuator is directly proportional to the square of its applied electric field. However, since the likelihood of electric breakdown is elevated with an increased applied field, the maximum operating electric field of the dielectric elastomer is significantly derated in systems employing these actuators so that failure due to breakdown remains unlikely even as the material ages. In an effort to ascertain the dielectric strength so that stronger electric fields can be applied, partial discharge testing is used to assess the health of the actuator by detecting the charge that is released when localized instances of breakdown partially bridge the insulator. Pre-stretched and unstretched samples of VHB4910 tape were submerged in dielectric oil to remove external sources of partial discharges during testing, and the partial discharge patterns were recorded just before failure of the dielectric sample.

  9. Nonlinear vibration of an electrically actuated microresonator tuned by combined DC piezoelectric and electric actuations

    This paper studies the nonlinear vibration of a clamped–clamped microresonator under combined electric and piezoelectric actuations. The electric actuation is induced by applying an AC–DC voltage between the microbeam and the electrode plate that lies on opposite sides of the microbeam, and the piezoelectric actuation is induced by applying the DC voltage between upper and lower sides of the piezoelectric layer deposited on the microbeam length. It is assumed that the neutral axis of bending is stretched when the microbeam is deflected. The equations of motion are derived using Newton's second law, and are solved using the multiple-scale perturbation method. It is shown that, depending on the value of DC electric and piezoelectric actuations, geometry and the bending stiffness of the system. A softening or hardening behavior may be realized. It demonstrates that nonlinear behavior of an electrically actuated microresonator may be tuned to a linear behavior by applying a convenient DC electric voltage to the piezoelectric layer, and so an undesirable shift of resonance frequency may be removed. If one lets the applied voltage to the piezoelectric layer be equal to zero, this paper would be an effort to tailor the linear and nonlinear stiffness coefficients of two layered electrically actuated microresonators without the assumption that the lengths of the two layers are equal

  10. Optical nano and micro actuator technology

    Knopf, George K

    2012-01-01

    In Optical Nano and Micro Actuator Technology, leading engineers, material scientists, chemists, physicists, laser scientists, and manufacturing specialists offer an in-depth, wide-ranging look at the fundamental and unique characteristics of light-driven optical actuators. They discuss how light can initiate physical movement and control a variety of mechanisms that perform mechanical work at the micro- and nanoscale. The book begins with the scientific background necessary for understanding light-driven systems, discussing the nature of light and the interaction between light and NEMS/MEMS d

  11. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Anna Filasova

    2011-01-01

    Full Text Available Control reconfiguration changes the control structure in response to a fault detected in the plant. This becomes necessary, because a major fault like loss of an actuator breaks the corresponding control loop and therefore renders the whole system inoperable.  An important aim of control reconfiguration is to change the control structure as little as possible, since every change bears the potential of practical problems. The proposed solution is to keep the original controller in the loop and to add an extension called virtual actuator that implements the necessary changes of the control structure. The virtual actuator translates between the signals of the nominal controller and the signal of the faulty plants. This paper is concerned with the analysis of reconfigured loop with a virtual actuator for the system with the faulty actuator. The proposed analysis is illustrated on numerical example.

  12. Jet Vectoring Control Using a Novel Synthetic Jet Actuator

    2007-01-01

    A primary air jet vectoring control system with a novel synthetic jet actuator (SJA) is presented and simulated numerically. The results show that, in comparison with an existing traditional synthetic jet actuator, which is able to perform the duty of either "push" or "pull", one novel synthetic jet actuator can fulfill both "push" and "pull" functions to vector the primary jet by shifting a slide block inside it. Therefore, because the new actuator possesses greater efficiency, it has potentiality to replace the existing one in various applications, such as thrust vectoring and the reduction of thermal signature. Moreover, as the novel actuator can fulfill those functions that the existing one can not, it may well be expected to popularize it into more flow control systems.

  13. CAVIAR: A 45k neuron, 5M synapse, 12G connects/s AER hardware sensory-processing-learning-actuating system for high-speed visual object recognition and tracking

    Linares-Barranco, Alejandro; Paz-Vicente, R.; Camuñas-Mesa, L.; Delbruck, Tobi; Jimenez-Moreno, Gabriel; Civit-Balcells, Antón; Serrano-Gotarredona, Teresa; Acosta, Antonio José; Linares-Barranco, Bernabé

    2009-01-01

    This paper describes CAVIAR, a massively parallel hardware implementation of a spike-based sensing-processing-learning-actuating system inspired by the physiology of the nervous system. CAVIAR uses the asychronous address-event representation (AER) communication framework and was developed in the context of a European Union funded project. It has four custom mixed-signal AER chips, five custom digital AER interface components, 45k neurons (spiking cells), up to 5M synapses, performs 12G synap...

  14. Automatic rotary valve actuator

    This report describes the design, construction, and operation of a microcomputer-controlled valve actuator for operating test valves requiring rotary motion of the valve stem. An AIM 65 microcomputer, using a FORTH language program, controls an air motor and air clutch mounted within an oven to accomplish testing at elevated temperatures. The valve actuator closes the test valve until a preset torque is reached and then opens the valve to its initial starting point. The number of cycles and extremes of rotation are tallied and printed as the test progresses. Provisions are made to accept remote signals to stop the test and to indicate to a remote device when the test has been stopped

  15. Demonstration of control rod holding stability of the self actuated shutdown system in Joyo for enhancement of fast reactor inherent safety

    Self actuated shutdown system (SASS) with a Curie point electromagnet (CPEM) has been developed for use in a large-scale liquid metal cooled fast breeder reactor (LMFBR) in order to establish the passive shutdown capability against anticipated transient without scram (ATWS) events. The basic characteristics of SASS have already been investigated by various out-of-pile tests for material elements. As the final stage of the development, the stability of SASS needs to be confirmed under the actual reactor-operational environment with high temperature, high neutron flux, and flowing sodium to ensure the high plant availability factor. For this purpose, the demonstration test of holding stability using the reduced-scale experimental equipment of SASS was conducted in the 1st and 2nd operational cycles of the experimental fast reactor Joyo MK-III. The rod-holding stability and the rod-recovering functions of the driving system to re-connect and pull out the separated control rod were fully confirmed. The results also indicate there is no essential problem for the practical use of SASS about its operational trouble involving the unexpected drop during reactor operation. (author)

  16. Dual drive series actuator

    Janko, Balazs

    2015-01-01

    Industrial robotic manipulators can be found in most factories today. Their tasks are accomplished through actively moving, placing and assembling parts. This movement is facilitated by actuators that apply a torque in response to a command signal. The presence of friction and possibly backlash have instigated the development of sophisticated compensation and control methods in order to achieve the desired performance may that be accurate motion tracking, fast movement or in fa...

  17. Valve actuator motor degradation

    Valve actuator motor degradation and failure has been a significant, but little studied, problem in the nuclear industry. This study provides a discussion of the primary failure mode --thermal degradation-- and reviews the basis for the solution to thermal degradation -- thermal protection. The study also provides reviews of various industry data bases, discusses effects of other failure modes such as corrosion, and provides a review of other considerations the user should entertain when assessing thermal protection

  18. Stepper Motor Actuated Microvalve

    Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko

    2006-01-01

    We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized wi...

  19. Pulley With Active Antifriction Actuator And Control

    Ih, Che-Hang C.; Vivian, Howard C.

    1994-01-01

    Torque actuator and associated control system minimizes effective friction of rotary bearing. Motor exerts compensating torque in response to feedback from external optical sensor. Compensation torque nearly cancels frictional torque of shaft bearings. Also useful in reducing bearing friction in gyro-scopes, galvanometers, torquemeters, accelerometers, earth-motion detectors, and balances.

  20. Carbon nanotube based NEMS actuators and sensors

    Forney, Michael; Poler, Jordan

    2011-03-01

    Single-walled carbon nanotubes (SWNTs) have been widely studied due to superior mechanical and electrical properties. We have grown vertically aligned SWNTs (VA-SWNTs) onto microcantilever (MC) arrays, which provides an architecture for novel actuators and sensors. Raman spectroscopy confirms that the CVD-grown nanotubes are SWNTs and SEM confirms aligned growth. As an actuator, this hybrid MC/VA-SWNT system can be electrostatically modulated. SWNTs are excellent electron acceptors, so we can charge up the VA-SWNT array by applying a voltage. The electrostatic repulsion among the charged SWNTs provides a surface stress that induces MC deflection. Simulation results show that a few electrons per SWNT are needed for measureable deflections, and experimental actuators are being characterized by SEM, Raman, and an AFM optical lever system. The applied voltage is sinusoidally modulated, and deflection is measured with a lock-in amplifier. These actuators could be used for nano-manipulation, release of drugs from a capsule, or nano-valves. As a sensor, this MC/VA-SWNT system offers an improved sensitivity for chemical and bio-sensing compared to surface functionalized MC-based sensors. Those sensors only have a 2D sensing surface, but a MC/VA-SWNT system has significantly more sensing surface because the VA-SWNTs extend microns off the MC surface.

  1. Satellite Attitude Control Using Only Electromagnetic Actuation

    Wisniewski, Rafal

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the ...

  2. Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model

    Melton, LaTunia Pack; Koklu, Mehti

    2016-01-01

    Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.

  3. Development of electrothermal actuation based planar variable optical attenuators (VOAs)

    Several sorts of MEMS (Microelectromechanical Systems) based have been demonstrated by using electrostatic actuation scheme up to date. The comb drive and parallel plate are the two most common electrostatic actuators that have been well studied in variable optical attenuator (VOA) applications. In addition to the known retro-reflection type of optical attenuation being realized by our new devices driven by electrothermal actuators in present study, a novel planar tilted mirror with rotational and translation moving capability is proposed by using electrothermal actuators as well. Using electrothermal actuators to provide said planar tilted mirror with rotational and translational displacement has granted us a more efficient way to perform the light attenuation for in-plane structure. The static and transient characteristics of devices operated at ambient room temperature environment show good repeatability and stability

  4. A high resolution pneumatic stepping actuator for harsh reactor environments

    A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991)

  5. HEALTH MONITORING OF ELECTRICAL ACTUATORS FOR LANDING GEARS

    Phillips, Paul

    2012-01-01

    There are numerous benefits associated with replacing hydraulic actuators with electrical counterparts as part of an all electric landing gear including reduced consumption of non-propulsive engine power, reduced weight, reduced cost and the elimination of hydraulic systems. The development of health monitoring systems to support the introduction of electrical actuation systems into landing gears will aid in guaranteeing reliability and to optimise landing gear maintenance activ...

  6. Design, dynamics and control of an Adaptive Singularity-Free Control Moment Gyroscope actuator for microspacecraft Attitude Determination and Control System

    Viswanathan, Sasi Prabhakaran

    how they lead to CMG singularities, are described. General ideas on control of the angular momentum of the spacecraft using changes in the momentum variables of a finite number of ASCMGs, are provided. Control schemes for agile and precise attitude maneuvers using ASCMG cluster in the absence of external torques and when the total angular momentum of the spacecraft is zero, is presented for both constant speed and variable speed modes. A Geometric Variational Integrator (GVI) that preserves the geometry of the state space and the conserved norm of the total angular momentum is constructed for numerical simulation and microcontroller implementation of the control scheme. The GVI is obtained by discretizing the Lagrangian of the rnultibody systems, in which the rigid body attitude is globally represented on the Lie group of rigid body rotations. Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on commercial smartphones and a bare minimum hardware prototype of an ASCMG using low cost COTS components is also described. A lightweight, dynamics model-free Variational Attitude Estimator (VAE) suitable for smartphone implementation is employed for attitude determination and the attitude control is performed by ASCMG actuators. The VAE scheme presented here is implemented and validated onboard an Unmanned Aerial Vehicle (UAV) platform and the real time performance is analyzed. On-board sensing, data acquisition, data uplink/downlink, state estimation and real-time feedback control objectives can be performed using this novel spacecraft ADCS. The mechatronics realization of the attitude determination through variational attitude estimation scheme and control implementation using ASCMG actuators are presented here. Experimental results of the attitude estimation (filtering) scheme using smartphone sensors as an Inertial Measurement Unit (IMU) on the Hardware In the Loop (HIL) simulator testbed are given. These

  7. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s−1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ∼0.7% in water across a frequency range of 0.1–1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s−1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s−1 with a power consumption of 1.14 W. (paper)

  8. A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

    Nguyen, Canh Toan; Phung, Hoa; Dat Nguyen, Tien; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Nam, Jae-do; Ryeol Choi, Hyouk

    2014-06-01

    A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators.

  9. A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

    A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. (paper)

  10. Lead screw linear actuator

    Perkins, Gerald S. (Inventor)

    1980-01-01

    A linear actuator which can apply high forces is described, which includes a reciprocating rod having a threaded portion engaged by a nut that is directly coupled to the rotor of an electric motor. The nut is connected to the rotor in a manner that minimizes loading on the rotor, by the use of a coupling that transmits torque to the nut but permits it to shift axially and radially with respect to the rotor. The nut has a threaded hydrostatic bearing for engaging the threaded rod portion, with an oilcarrying groove in the nut being interrupted.

  11. Piezoelectric actuated gimbal

    Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard

    2011-09-13

    A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.

  12. Actuator technology and market outlook: where does the actuator move

    Aleksanin Sergei Andreevich

    2013-11-01

    There are made conclusions about the "migration" of demand from hydraulic and pneumatic solutions to electromechanical actuators in the aerospace and manufacturing industries. Identify advantages of electromechanics over more traditional actuators in terms of energy efficiency and reliability. Also identify the most promising areas of the drive technological development.

  13. Optimized calibration strategy for high order adaptive optics systems in closed-loop: the slope-oriented Hadamard actuation.

    Meimon, Serge; Petit, Cyril; Fusco, Thierry

    2015-10-19

    The accurate calibration of the interaction matrix affects the performance of an adaptive optics system. In the case of high-order systems, when the number of mirror modes is worth a few thousands, the calibration strategy is critical to reach the maximum interaction matrix quality in the minimum time. This is all the more true for the future European Extremely Large Telescope. Here, we propose a novel calibration scheme, the Slope-Oriented Hadamard strategy. We then build a tractable interaction matrix quality criterion, and show that our method tends to optimize it. We demonstrate that for a given level of quality, the calibration time needed using the Slope-Oriented Hadamard method is seven times less than with a classical Hadamard scheme. These analytic and simulation results are confirmed experimentally on the SPHERE XAO system (SAXO). PMID:26480374

  14. Application of Al techniques to a voice actuated computer system for reconstructing and displaying magnetic resonance imaging data

    This paper reports that to provide a means of rendering complex computer architectures, languages, and input/output modalities transparent to experienced and inexperienced users, research is being conducted to develop a voice driven/voice response computer graphics imaging system. The system will be used for reconstructing and displaying computed tomography and magnetic resonance imaging scan data. In conjunction with this study, an artificial intelligence (AI) control strategy was developed to interface the voice components and support software to the computer graphics functions implemented on the Sun Microsystems 4/280 color graphics workstation. Based on generated text and converted renditions of verbal utterances by the user, the AI control strategy determines the user's intent and develops and validates a plan. The program type and parameters within the plan are used as input to the graphics system for reconstructing and displaying medical image data corresponding to that perceived intent. If the plan is not valid, the control strategy queries the user for additional informaiton. The control strategy operates in a conversation mode and vocally provides system status reports. A detailed examination of the various AI techniques is presented with major emphasis being placed on their specific roles within the total control strategy structure

  15. A Sliding Mode LCO Regulation Strategy for Dual-Parallel Underactuated UAV Systems Using Synthetic Jet Actuators

    N. Ramos-Pedroza

    2015-01-01

    careful algebraic manipulation in the regulation error system development, along with innovative design of the sliding surface. A detailed model of the UAV LCO dynamics is utilized, and a rigorous analysis is provided to prove asymptotic regulation of the pitching and plunging displacements. Numerical simulation results are provided to demonstrate the performance of the control law.

  16. Development and testing of improved polyimide actuator rod seals at higher temperatures for use in advanced aircraft hydraulic systems

    Robinson, E. D.; Waterman, A. W.; Nelson, W. G.

    1972-01-01

    Polyimide second stage rod seals were evaluated to determine their suitability for application in advanced aircraft systems. The configurations of the seals are described. The conditions of the life cycle tests are provided. It was determined that external rod seal leakage was within prescribed limits and that the seals showed no signs of structural degradation.

  17. Sleeve Muscle Actuator: Concept and Prototype Demonstration

    Tad Driver; Xiangrong Shen

    2013-01-01

    This paper presents the concept and prototype demonstration results of a new sleeve muscle actuator,which provides a significantly improved performance through a fundamental structural change to the traditional pneumatic muscle.Specifically,the sleeve muscle incorporates a cylindrical insert to the center of the pneumatic muscle,and thus eliminates the central portion of the intemal volume.Through the analysis of the actuation mechanism,it is shown that the sleeve muscle is able to provide a consistent increase of force capacity over the entire range of motion.Furthermore,the sleeve muscle provides a significant energy saving effect,as a result of the reduced internal volume as well as the enhance force capacity.To demonstrate this new concept,a sleeve muscle prototype was designed and fabricated.Experiments conducted on the prototype verified the improvement in the force capacity and demonstrated a significant energy saving effect (20%-37%).Finally,as the future work on this new concept,the paper presents a new robotic elbow design actuated with the proposed sleeve muscle.This unique design is expected to provide a highly compact and powerful actuation approach for robotic systems.

  18. Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source

    Senzaki Shinji; Akagi Tetsuya; Dohta Shujiro; Fujiwara Yuto

    2016-01-01

    A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the propo...

  19. Transfer Function Identification of an Electro-Rheological Actuator

    Brookfield, D. J.; Dlodlo, Z. B.

    A fluid clutch utilising an Electro-Rheological (ER) suspension provides a controlled torque coupling between input and output through the control of the applied electric field. If the input is driven at constant speed the device can be considered as an ER torque actuator and thus be used to drive robot links or other mechanisms requiring precise positioning. Such an ER torque actuator can replace a DC servo-motor in robotic applications with the benefits of low time constant and smooth output torque unaffected by cogging (i.e. variation in torque of a DC motor as the magnetic reluctance of the armature-stator path changes with rotation). Although the ER actuator has many benefits, it suffers from a non-linear and time varying relationship between input voltage and output torque. These undesirable characteristics can be mitigated by providing a local closed loop controller around the system. The design of such a controller requires a knowledge of the relationship between the applied voltage and output torque; i.e. the transfer function of the actuator. This transfer function has been determined by observing the response of an ER torque actuator in the frequency domain. It is shown that a linear transfer function model reasonable represents the actuator behaviour, that the actuator is a stable second order system and that the time constant of the clutch studied is sufficiently short to hold considerable promise for robotic applications. Furthermore, the maximum torque capability is shown to be sufficient for many medium scale industrial robots.

  20. Fpga-based control of piezoelectric actuators

    Juhász László

    2011-01-01

    Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.

  1. Electrostatic microvalves utilizing conductive nanoparticles for improved speed, lower power, and higher force actuation.

    Ten Eyck, Gregory A.; Branson, Eric D.; Kenis, Paul J. A. (University of Illinois, Champaign Urbana); Desai, Amit (University of Illinois, Champaign Urbana); Schudel, Ben (University of Illinois, Champaign Urbana); Givler, Richard C.; Tice, Josh (University of Illinois, Champaign Urbana); Collord, Andrew; Apblett, Christopher Alan; Cook, Adam W.

    2009-09-01

    We have designed and built electrostatically actuated microvalves compatible with integration into a PDMS based microfluidic system. The key innovation for electrostatic actuation was the incorporation of carbon nanotubes into the PDMS valve membrane, allowing for electrostatic charging of the PDMS layer and subsequent discharging, while still allowing for significant distention of the valveseat for low voltage control of the system. Nanoparticles were applied to semi-cured PDMS using a stamp transfer method, and then cured fully to make the valve seats. DC actuation in air of these valves yielded operational voltages as low as 15V, by using a supporting structure above the valve seat that allowed sufficient restoring forces to be applied while not enhancing actuation forces to raise the valve actuation potential. Both actuate to open and actuate to close valves have been demonstrated, and integrated into a microfluidic platform, and demonstrated fluidic control using electrostatic valves.

  2. Development of optical sensing system for detection of Fe ions using conductive polymer actuator based microfluidic pump

    Kim, Jung Ho; Lau, King-Tong; Fay, Cormac; Diamond, Dermot

    2008-01-01

    In this paper, we present a novel microfluidic optical sensing system by combining a low-power conductive polymer -based microfluidic pump and a microfluidic chip integrated with an optical sensor. A self priming microfluidic pump is developed using a polypyrrole. A microfluidic chip- optical detector module that contained an optical cuvette with LED and photo-diode optical sensing module was fabricated. Integration of the micro pump and the microfluidic chips complete...

  3. A Complete Analysis for Pump Controlled Single Rod Actuators

    Çalışkan,Hakan; Balkan, Tuna; Platin, Bülent E.

    2016-01-01

    In the current study a variable speed pump controlled hydrostatic circuit where an underlapped shuttle valve is utilized to compensate the unequal flow rate of a single rod actuator is analyzed. Parameters of the shuttle valve are included in the system analysis, rather than treating it as an ideal switching element as handled in literature. A linearized model of the system is obtained. An inverse kinematic model, which calculates the required pump drive speed for a desired actuator speed and...

  4. Sensors and Actuators for the Advanced LIGO Mirror Suspensions

    Carbone, L.; Aston, S. M.; Cutler, R. M.; Freise, A.; Greenhalgh, J.; Heefner, J.; Hoyland, D.; Lockerbie, N. A.; Lodhia, D.; Robertson, N. A.; Speake, C. C.; Strain, K. A.; Vecchio, A.

    2012-01-01

    We have developed, produced and characterised integrated sensors, actuators and the related read-out and drive electronics that will be used for the control of the Advanced LIGO suspensions. The overall system consists of the BOSEMs (displacement sensor with integrated electro-magnetic actuator), the satellite boxes (BOSEM readout and interface electronics) and six different types of coil-driver units. In this paper we present the design of this read-out and control system, we discuss the rel...

  5. Satellite Attitude Control Using Only Electromagnetic Actuation

    Wisniewski, Rafal

    1997-01-01

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The con...

  6. Electromagnetic actuation in MEMS switches

    Oliveira Hansen, Roana Melina de; Mátéfi-Tempfli, Mária; Chemnitz, Steffen;

    . Electromagnetic actuation is a very promising approach to operate such MEMS and Power MEMS devices, due to the long range, reproducible and strong forces generated by this method, among other advantages. However, the use of electromagnetic actuation in such devices requires the use of thick magnetic films, which...

  7. Polypyrrole Actuators for Tremor Suppression

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse;

    2003-01-01

    exemplify 'soft actuator' technology that may be especially suitable for use in conjunction with human limbs. The electrochemical and mechanical properties of polypyrrole dodecyl benzene sulphonate actuator films have been studied with this application in mind. The results show that the time constants for...

  8. Precision design aspects for friction actuation with error compensation

    Some key aspects in the design of actuators for ultra precision systems will require particular attention as actuators have to comply with ultra precision positioning and related tight specifications. The actuation is an important sub-group within the overall system to be designed. Any design failure in this sub-group will degrade drastically the machine performance. An interface analysis with immediate surrounding sub-groups is important to secure better generation of motion. In this paper, a design procedure for an actuator dedicated to generate high precision motion is presented with a discussion of some important aspects encountered when designing a friction drive. The procedure encompasses design concepts, axis stiffness, control, system dynamics, and, error compensation using a dedicated control strategy compensating for errors. A case study is discussed

  9. Fault Diagnosis for Actuators in a Class of Nonlinear Systems Based on an Adaptive Fault Detection Observer

    Runxia Guo

    2016-01-01

    Full Text Available The problem of actuators’ fault diagnosis is pursued for a class of nonlinear control systems that are affected by bounded measurement noise and external disturbances. A novel fault diagnosis algorithm has been proposed by combining the idea of adaptive control theory and the approach of fault detection observer. The asymptotical stability of the fault detection observer is guaranteed by setting the adaptive adjusting law of the unknown fault vector. A theoretically rigorous proof of asymptotical stability has been given. Under the condition that random measurement noise generated by the sensors of control systems and external disturbances exist simultaneously, the designed fault diagnosis algorithm is able to successfully give specific estimated values of state variables and failures rather than just giving a simple fault warning. Moreover, the proposed algorithm is very simple and concise and is easy to be applied to practical engineering. Numerical experiments are carried out to evaluate the performance of the fault diagnosis algorithm. Experimental results show that the proposed diagnostic strategy has a satisfactory estimation effect.

  10. Magnetic cantilever actuator with sharpened magnetic thin film ellipses

    Huang, Chen-Yu; Ger, Tzong-Rong; Lai, Mei-Feng; Chen, We-Yun; Huang, Hao-Ting; Chen, Jiann-Yeu; Wang, Pei-Jen; Wei, Zung-Hang

    2015-05-01

    A SiO2 cantilever covered by elliptical magnetic thin films was designed as an actuator. Under magnetic field, the elliptical magnetic film with sharp ends would exhibit single-domain structures and generate torque to push or pull the two arms of the cantilever. The cantilever could then stretch or compress and the displacement could be controlled by adjusting the magnitude and direction of the external magnetic field. The combination between micromagnetism of patterned films and actuator was successfully demonstrated. The magnetic actuator can be applied for future application in the biological field and would be valuable for microelectromechanical systems (MEMS).

  11. Research on giant magnetostrictive micro-displacement actuator with self-adaptive control algorithm

    Giant magnetostrictive micro-displacement actuator has some unique characteristics, such as big output torque and high precision localization which can be in the nanometer scale. Because the relation between input magnetic field and output strain of giant magnetostrictive micro-displacement actuator exhibits hysteresis and eddy flow, the actuator has to be controlled and used in low input frequency mode or in static mode. When the actuator is controlled with a high input frequency (above 100 Hz), the output strain will exhibit strong nonlinearity. This paper found hysteresis and nonlinearity dynamic transfer function of the actuator based on Jiles-Atherton hysteresis model. The output strain of Jiles-Atherton hystersis model can reflect real output of actuator corresponding to the real input magnetic field, and this has been verified by experiment. Against the nonlinearity generated by hysteresis and eddy flow in this paper, the output strain of actuator is used for feedback to control system, and the control system adopted self-adaptive control algorithm, the ideal input and output model of actuator is used for a reference model and a hysteresis transfer function for the actuator real model. Through experiment, it has been verified that this algorithm can improve the dynamic frequency of the giant magnetostrictive micro-displacement actuator and guarantee high precision localization and linearity between the input magnetic field and output strain of the actuator at the same time

  12. Failure of cargo aileron’s actuator

    G. Zucca

    2014-10-01

    Full Text Available During a ferry flight, in a standard operation condition and at cruising level, a military cargo experienced a double hydraulic system failure due to a structural damage of the dual booster actuator. The booster actuator is the main component in mechanism of aileron’s deflection. The crew was able to arrange an emergency landing thanks to the spare oil onboard: load specialists refilled the hydraulic reservoirs. Due to safety concerns and in order to prevent the possibility of other similar incidents, a technical investigation took place. The study aimed to carry out the analysis of root causes of the actuator failure. The Booster actuator is composed mainly by the piston rod and its aluminum external case (AA7049. The assembly has two bronze caps on both ends. These are fixed in position by means of two retainers. At one end of the actuator case is placed a trunnion: a cylindrical protrusion used as a pivoting point on the aircraft. The fracture was located at one end of the case, on the trunnion side, in correspondence to the cap and over the retainer. One of the two fracture surfaces was found separated to the case and with the cap entangled inside. The fracture surfaces of the external case indicated fatigue crack growth followed by ductile separation. The failure analysis was performed by means of optical, metallographic, digital and electronic microscopy. The collected evidences showed a multiple initiation fracture mechanism. Moreover, 3D scanner reconstruction and numerical simulation demonstrated that dimensional non conformances and thermal loads caused an abnormal stress concentration. Stress concentration was located along the case assy outer surface where the fatigue crack originated. The progressive rupture mechanism grew under cyclical axial load due to the normal operations. Recommendations were issued in order to improve dimensional controls and assembly procedures during production and overhaul activities.

  13. Identification of micropositioning stage with piezoelectric actuators

    Dong, Ruili; Tan, Yonghong; Xie, Yangqiu

    2016-06-01

    In this paper, a two-step identification method for a micropositioning stage with piezoelectric actuator is proposed. It is noted that one of the difficulties encountered in identification is that both input and output of the actuator embedded in the stage cannot be measured directly. Moreover, hysteresis existing in piezoelectric actuators is a non-smooth complex nonlinearity. In the proposed modeling method, a sandwich model with hysteresis is used to describe the performance of the micropositioning stage with piezoelectric actuator. In this modeling architecture, the input linear submodel is utilized to describe the behavior of preceded amplifier with filtering circuit, which provides electrical voltage to the piezoactuator, and the output linear submodel is employed to depict the flexural hinge with load, respectively, while a Duhem function embedded in between the input and output linear submodels is employed to describe the hysteresis characteristic of piezoelectric actuator in the stage. At the first step of the identification procedure, a special excitation input is implemented to excite the stage to decompose the hysteresis into a monotonic polynomial within a certain region. Then, the parameters of linear submodels are separated and estimated. Subsequently, at the second step, an input signal that can fully excite the system within the operation region is implemented to excite the stage. Based on the previously estimated linear submodels, both input and output of the piezoactuator are estimated. Then, in terms of the estimated input and output of the piezoactuator, the parameters of the hysteresis submodel are estimated. Finally, experimental results are presented to verify the proposed method.

  14. Dielectric elastomer actuators for octopus inspired suction cups

    Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms. (paper)

  15. Recent Advances in the Control of Piezoelectric Actuators

    Ziqiang Chi

    2014-11-01

    Full Text Available The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable efforts have been made to compensate for the nonlinearity of piezoelectric actuation through the mathematical modelling and control approaches. This paper provides a review of recent advances on the control of piezoelectric actuators. After a brief introduction of basic components of typical piezoelectric micro/nano positioning platforms, the working principle and modelling of piezoelectric actuators are outlined in this paper. This is followed with the major control method and recent progress is presented in detail. Finally, some open issues and future work on the control of piezoelectric actuators are extensively discussed.

  16. Lightweight Exoskeletons with Controllable Actuators

    Bar-Cohen, Yoseph; Mavrodis, Constantinos; Melli-Huber, Juan; Fisch, Avi (Alan)

    2004-01-01

    A proposed class of lightweight exoskeletal electromechanical systems would include electrically controllable actuators that would generate torques and forces that, depending on specific applications, would resist and/or assist wearers movements. The proposed systems would be successors to relatively heavy, bulky, and less capable human-strength-amplifying exoskeletal electromechanical systems that have been subjects of research during the past four decades. The proposed systems could be useful in diverse applications in which there are needs for systems that could be donned or doffed easily, that would exert little effect when idle, and that could be activated on demand: examples of such applications include (1) providing controlled movement and/or resistance to movement for physical exercise and (2) augmenting wearers strengths in the performance of military, law-enforcement, and industrial tasks. An exoskeleton according to the proposal would include adjustable lightweight graphite/epoxy struts and would be attached to the wearer's body by belts made of hook-and-pile material. At selected rotary and linear joints, the exoskeleton would be fitted, variously, with lightweight, low-power-consumption rotary and linear brakes, clutches, and motors. The exoskeleton would also be equipped with electronic circuitry for monitoring, control, and possibly communication with external electronic circuits that would perform additional monitoring and control functions.

  17. The Actuated Guitar

    Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.

    2014-01-01

    functioning hands. In this study we try to enable people with Hemiplegia to play a real electrical guitar, by modifying it in a way that allows people with Hemiplegia able to actually use the instrument. We developed a guitar platform utilizing sensors to capture the rhythmic motion of alternate fully......, thereby making it easier to adapt to individual users. To validate and test the instrument platform we collaborated with the Helena Elsass Center in Copenhagen, Denmark during their 2013 Summer Camp, to see if we actually succeeded in creating an electrical guitar that children with Hemiplegia could play....... The initial user studies showed that children with Hemiplegia were able to play the actuated guitar by producing rhythmical movement across the strings, enabling them to enter a world of music they so often see as closed....

  18. Electromechanical actuation for thrust vector control applications

    Roth, Mary Ellen

    At present, actuation systems for the Thrust Vector Control (TVC) for launch vehicles are hydraulic systems. The Advanced Launch System (ALS), a joint initiative between NASA and the Air Force, is a launch vehicle that is designed to be cost effective, highly reliable and operationally efficient with a goal of reducing the cost per pound to orbit. As part of this initiative, an electromechanical actuation system is being developed as an attractive alternative to the hydraulic systems used today. NASA-Lewis is developing and demonstrating an Induction Motor Controller Actuation System with a 40 hp peak rating. The controller will integrate 20 kHz resonant link Power Management and Distribution (PMAD) technology and Pulse Population Modulation (PPM) techniques to implement Field Oriented Vector Control (FOVC) of a new advanced induction motor. Through PPM, multiphase variable frequency, variable voltage waveforms can be synthesized from the 20 kHz source. FOVC shows that varying both the voltage and frequency and their ratio (V/F), permits independent control of both torque and speed while operating at maximum efficiency at any point on the torque-speed curve. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a Built-in Test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA TVC system. The design and fabrication of the motor controller is being done by General Dynamics Space Systems Division. The University of Wisconsin-Madison will assist in the design of the advanced induction motor and in the implementation of the FOVC theory. A 75 hp electronically controlled dynamometer will be used to test the motor controller in all four quadrants of operation using flight type

  19. Optimal actuator placement on an active reflector using a modified simulated annealing technique

    Kuo, Chin-Po; Bruno, Robin

    1991-01-01

    The development of a lightweight actuation system for maintaining the surface accuracy of a composite honeycomb panel using piezoelectric actuators is discussed. A modified simulated annealing technique is used to optimize the problem with both combinatorial and continuous criteria and with inequality constraints. Near optimal solutions for the location of the actuators, using combinatorial optimization, and for the required actuator forces, employing continuous optimization, are sought by means of the modified simulated annealing technique. The actuator locations are determined by first seeking a near optimum solution using the modified simulated annealing technique. The final actuator configuration consists of an arrangement wherein the piezoelectric actuators are placed along six radial lines. Numerical results showing the achievable surface correction by means of this configuration are presented.

  20. Low Power DEAP Actuator Drive for Heating Valves

    Huang, Lina

    Modern heating systems play a key role in providing comfortable living environment and saving energy. The radiator heating valve and thermostat are essential elements to achieve the temperature control in the dwelling space. The existing actuator inside the thermostat either suffers from the...... performances of DEAP actuator, such as noise free operation, high energy density, quick response time, etc, make it a possible solution to replace the conventional actuators inside the thermostat. To operate the DEAP actuator in the heating system and considering its intrinsic properties, a driver featuring...... high output voltage and capacitive load charging ability has been investigated. High voltage flyback converter is proved to be an applicable solution in the heating valve application. The conventional flyback topology and the multiple transformers based primary parallel secondary series flyback...

  1. 饱和非线性时滞系统约束预测控制%Constrained model predictive control for nonlinear system subject to actuator saturation

    徐莉; 刘飞

    2011-01-01

    Aiming at a class of discrete-time nonlinear systems subject to actuator saturation and output constraint, a novel fuzzy predictive control method is proposed in this paper.Firstly,the approximation of a practical nonlinear system is realized by utilizing the T-S fuzzy model.Then,the above system is further converted into convex combinations of a series of linear subsystems by Parallel Distributed Compensation(PDC) scheme.Secondly,a state feedback predictive controller is obtained by optimizing an infinite time "min-max" performance index at each sampling instantA sufficient condition for the Lyapunov asymptotical stability is obtained and it is further transformed into positive Semi-definite Programming(SDP) which can be easily solved by means of Linear Matrix Inequality (LMI).Finally, the availability and feasibility of the proposed method are both verified by specific numerical examples,respectively.%针对一类具有执行器饱和与输出约束的离散非线性时滞系统,提出新的模糊预测控制方法.首先,采用T-S模糊模型来逼近实际非线性系统,运用平行分步补偿(PDC)原理将该系统转化为一系列线性系统的凸组合.其次,通过每个采样时刻优化无穷时域的“min-max”性能指标来求解状态反馈预测控制器,得到系统满足Lyapunov渐近稳定的充分条件,并进一步将该条件转化为基于线性矩阵不等式(LMI)技术的半正定规划(SDP)问题.最后,通过数值仿真验证该方法的有效性.

  2. Attitude control with active actuator saturation prevention

    Forbes, James Richard

    2015-02-01

    Spacecraft attitude control in the presence of actuator saturation is considered. The attitude controller developed has two components: a proportional component and an angular velocity component. The proportional control has a special form that depends on the attitude parameterization. The angular velocity control is realized by a strictly positive real system with its own input nonlinearity. The strictly positive real system can filter noise in the angular velocity measurement. With this control architecture the torques applied to the body are guaranteed to be below a predetermined value, thus preventing saturation of the actuators. The closed-loop equilibrium point corresponding to the desired attitude is shown to be asymptotically stable. Additionally, the control law does not require specific knowledge of the body's inertia properties, and is therefore robust to such modelling errors.

  3. Pneumatic actuator with hydraulic control

    Everett, Hobart R., Jr.

    1992-11-01

    The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston. The maximum translation of the piston within the bore of the second double-acting hydraulic actuator provides a volumetric displacement V2, where V2=V1. A pair of fluid ports in each of the first and second double-acting hydraulic cylinders are operably connected by fluid conduits, one of which includes a valve circuit which may be used to control the velocity of the output rod or to lock the output rod in a static position by regulating the flow of hydraulic fluid between the double-acting cylinders.

  4. CAVIAR: a 45k neuron, 5M synapse, 12G connects/s AER hardware sensory-processing- learning-actuating system for high-speed visual object recognition and tracking.

    Serrano-Gotarredona, Rafael; Oster, Matthias; Lichtsteiner, Patrick; Linares-Barranco, Alejandro; Paz-Vicente, Rafael; Gomez-Rodriguez, Francisco; Camunas-Mesa, Luis; Berner, Raphael; Rivas-Perez, Manuel; Delbruck, Tobi; Liu, Shih-Chii; Douglas, Rodney; Hafliger, Philipp; Jimenez-Moreno, Gabriel; Civit Ballcels, Anton; Serrano-Gotarredona, Teresa; Acosta-Jimenez, Antonio J; Linares-Barranco, Bernabé

    2009-09-01

    This paper describes CAVIAR, a massively parallel hardware implementation of a spike-based sensing-processing-learning-actuating system inspired by the physiology of the nervous system. CAVIAR uses the asychronous address-event representation (AER) communication framework and was developed in the context of a European Union funded project. It has four custom mixed-signal AER chips, five custom digital AER interface components, 45k neurons (spiking cells), up to 5M synapses, performs 12G synaptic operations per second, and achieves millisecond object recognition and tracking latencies. PMID:19635693

  5. Shape Memory Alloy Actuator forBio-medical application

    Prashin Sharma

    2016-02-01

    Full Text Available In this paper various applications of shape memory alloys (SMA in bio-medical field based upon their material properties are discussed, and a novel SMA spring actuator design for biopsy is proposed. Design parameters such as spring configuration, wire diameter required for designing the actuator were defined and obtained through experiments. Finally, itconcludeswith the possibility of using SMA spring for high force compact system.

  6. Missile autopilot design considering uncertainties in aerodynamics and actuator dynamics

    Song, Yong D.; Hou, J.; Fogson, F.

    2000-07-01

    This work presents a method for missile autopilot design in the presence of actuator and uncertain dynamics. Nonlinear control algorithms are derived based on both missile aerodynamics and actuator dynamics. To account for system nonlinearities and uncertainties due to varying flight conditions, a memory-based compensation unit is developed and integrated into the strategy. Simulation on EMRAAT missile validates the effectiveness of the proposed control method.

  7. Highly Adaptive Primary Mirror Having Embedded Actuators, Sensors, and Neural Control Project

    National Aeronautics and Space Administration — Xinetics has demonstrated the technology required to fabricate a self-compensating highly adaptive silicon carbide primary mirror system having embedded actuators,...

  8. The Overtone Fiddle: an Actuated Acoustic Instrument

    Overholt, Daniel

    2011-01-01

    The Overtone Fiddle is a new violin-family instrument that incorporates electronic sensors, integrated DSP, and physical actuation of the acoustic body. An embedded tactile sound transducer creates extra vibrations in the body of the Overtone Fiddle, allowing performer control and sensation via both traditional violin techniques, as well as extended playing techniques that incorporate shared man/machine control of the resulting sound. A magnetic pickup system is mounted to the end of the fidd...

  9. Research of Nuclear Power Plant Diverse Actuation System Overall Verification Method%核电厂多样化驱动系统整体验证方法研究

    严敏; 顾文革; 李树成; 林桦

    2015-01-01

    In order to achieve the overall verification of Nuclear Power Plant ( NPP) Diverse Actuation System, high accuracy process models and real-time instrumentation and control system models are established firstly by simulation technology.The interface communication software used for verifying the system is developed.The corresponding control and protection logic is produced by responding to these states and numerical signals from Diverse Actuation System.The adjustments and other process parameters are sent to the mathematical model of V&V Simulation Platform for calculation.A set of new parameters are available after that.Testers are able to determine the correctness of the Diverse Actuation System control logic and actions of protection system.The re-sults show that the overall verification method described is able to realize the Diverse Actuation System closed-loop response verification in steady-state and transient conditions.A good performance is achieved.%为了实现对核电厂多样化驱动系统的整体验证,通过仿真技术建立了核电厂高精度工艺模型和实时的仪控系统模型,开发了验证多样化驱动系统的接口通信软件。该多样化驱动系统通过对这些状态或数值信号的响应产生相应的控制或保护逻辑,输出调节量等各种过程参数送至验证平台工艺数学模型进行计算,进而得到被验证的多样化驱动系统接入后的电厂状态参数,测试人员可根据这些状态参数确定多样化驱动系统的控制逻辑和响应的正确性。实验结果表明,该整体验证方法能够实现对核电厂多样化驱动系统的在稳态和瞬态工况下的闭环响应验证,可获得较好的验证效果。

  10. Actuator System with Dual Chambers

    2015-01-01

    (8), the lid having a shaft opening (17) for a shaft (6) coupled to the magnetic rotor (5), wherein the magnetic rotor (5), when inserted in the translator cylinder (2), is arranged to translate a linear movement of the translator cylinder (2) into a rotational movement of the magnetic rotor by using...... magnetic flux (82) interacting between the magnetic stator and the magnetic rotor, said rotational movements is being transferred through a shaft (6), the lid (8) with a shaft opening (17) arranged for receiving the shaft (6), wherein the shaft is arranged to make both the linear and the rotational...... movement in the shaft opening (17), the lid (8) being arranged for confining the second end (15) of the translator cylinder (2), the translator cylinder confined by the lid (8) forms,when divided by the magnetic rotor (5), a first chamber (TC) with a first volume and a second chamber(BC) with a second...

  11. Novel compliant actuator for wearable robotics applications.

    Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

    2013-01-01

    In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature. PMID:24110322

  12. Energy-Efficient Variable Stiffness Actuators

    Visser, Ludo C.; Carloni, Raffaella; Stramigioli, Stefano

    2011-01-01

    Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated

  13. Multi-objective actuator placement optimization for local sound control evaluated in a stochastic domain

    Airaksinen, Tuomas; Aittokoski, Timo

    2012-01-01

    A method to find optimal locations and properties of anti-noise actuators in a local noise control system is considered. The local noise control performance is approximated by an approach based on a finite element method, attempting to estimate the average performance of an optimal active noise control (ANC) system. Local noise control uses a fixed number of circular actuators that are located on the boundary of a three-dimensional enclosed acoustic space. Actuator signals are used to minimiz...

  14. A self-test and dynamics characterization circuit for MEMS electrostatic actuators

    Fernández Martínez, Daniel; Madrenas Boadas, Jordi; Cosp Vilella, Jordi

    2011-01-01

    This paper presents a high-bandwidth capacitance estimation and driving circuit especially tailored for its use with MEMS electrostatic actuators. The circuit can be integrated as a part of a system comprising an electrostatic actuator to provide self-testing and failure prediction capabilities and also as a simple and low-cost actuator dynamics characterization system capable of measuring both periodic and nonperiodic movements. Peer Reviewed

  15. Optically triggered actuation in chitosan/reduced graphene oxide nanocomposites.

    M N, Muralidharan; K P, Shinu; A, Seema

    2016-06-25

    Bio-compatible actuators which can work under optical stimulus have great future in bio-medical applications. In this work, chitosan/reduced graphene oxide (RGO) nanocomposite optical actuators were developed through a simple solvent casting technique. The photomechanical actuation of the composites is demonstrated under IR illumination. All samples exhibited contraction in length when exposed to IR light. The photomechanical stress and strain were found to increase with increasing RGO concentration. Photomechanical stress as high as 695kPa was achieved with 4wt.% RGO loading. Contrary to some other reported systems, the photomechanical stress decreased with the applied pre-strain. The actuation behaviour can be tuned either by altering the RGO content or applied pre-strain. PMID:27083800

  16. Electrically Actuated Antiglare Rear-View Mirror Based on a Shape Memory Alloy Actuator

    Luchetti, T.; Zanella, A.; Biasiotto, M.; Saccagno, A.

    2009-08-01

    This article focuses on the experience of Centro Ricerche FIAT (CRF) regarding the development of shape memory alloy (SMA) actuators, and addressed some new design approaches which have been defined. Specific characteristics of shape memory materials, such as the efficiency of the transformation, have oriented the design of actuators toward occasionally used devices. The antiglare manual mechanism, incorporated in the internal rear-view mirror of a car, fits this new approach well. An antiglare rear-view mirror is a system capable of detecting a glare situation during night-time driving in order to automatically switch the mirror plane so as not to distract the driver. The low forces required, together with the silent, bi-stable movement are suitable for the use of a SMA actuator in this application. In the first part of the paper, the conceptual design is illustrated and a preliminary overview of the working principle is provided together with a series of considerations regarding the kinematics and the layout of electronic sensors in order to realize a fully controlled mechatronic prototype. Before concluding, the description of the realization of a working prototype is presented. The prototype of the EAGLE (Electrically Actuated antiGLare rEar-view mirror) system has provided experimental confirmation that such a device can satisfy fatigue and functional test requirements, thus offering the opportunity to spread the use of SMA devices in the automotive field.

  17. NEW PRECISION PIEZOELECTRIC STEP ACTUATOR

    LIU Jianfang; YANG Zhigang; FAN Zunqiang; CHENG Guangming

    2006-01-01

    A new precision piezoelectric actuator is proposed to improve its drive capabilities. The actuator is based on the piezoelectric technology. It adopts the principle of bionics and works with a new method of stator initiative anchoring/loosen and a distortion structure of double-side thin flexible hinge. It solves the problem of anchoring/loosen, frequency, journey, resolution and velocity. The experiment shows that the new linear piezoelectric actuator works with high frequency (100 Hz), high speed (502 μm/s), large travel (>10 mm), high resolution (0.05 μm) and high load (100 N). This kind of new piezoelectric actuator will be applied for large travel and high resolution driving device, optics engineering, precision positioning and some micromanipulation field.

  18. Novel Cryogenic Actuator Development Project

    National Aeronautics and Space Administration —  New thin film low friction coating technologies have recently been developed and matured to the point for use in this IRAD actuator work.The new novel...

  19. A Parylene Bellows Electrochemical Actuator

    Li, Po-Ying; Sheybani, Roya; Gutierrez, Christian A.; Kuo, Jonathan T. W.; Meng, Ellis

    2010-01-01

    We present the first electrochemical actuator with Parylene bellows for large-deflection operation. The bellows diaphragm was fabricated using a polyethylene-glycol-based sacrificial molding technique followed by coating in Parylene C. Bellows were mechanically characterized and integrated with a pair of interdigitated electrodes to form an electrochemical actuator that is suitable for low-power pumping of fluids. Pump performance (gas generation rate and pump efficiency) was optimized throug...

  20. Soft Pneumatic Actuators for Rehabilitation

    Guido Belforte

    2014-05-01

    Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments

  1. Modeling and control of precision actuators

    Kiong, Tan Kok

    2013-01-01

    IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

  2. Climbing robot actuated by meso-hydraulic artificial muscles

    Bryant, Matthew; Fitzgerald, Jason; Miller, Samuel; Saltzman, Jonah; Kim, Sangkyu; Lin, Yong; Garcia, Ephrahim

    2014-03-01

    This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

  3. Explosive actuated valve

    Byrne, Kenneth G.

    1983-01-01

    1. A device of the character described comprising the combination of a housing having an elongate bore and including a shoulder extending inwardly into said bore, a single elongate movable plunger disposed in said bore including an outwardly extending flange adjacent one end thereof overlying said shoulder, normally open conduit means having an inlet and an outlet perpendicularly piercing said housing intermediate said shoulder and said flange and including an intermediate portion intersecting and normally openly communicating with said bore at said shoulder, normally closed conduit means piercing said housing and intersecting said bore at a location spaced from said normally open conduit means, said elongate plunger including a shearing edge adjacent the other end thereof normally disposed intermediate both of said conduit means and overlying a portion of said normally closed conduit means, a deformable member carried by said plunger intermediate said flange and said shoulder and normally spaced from and overlying the intermediate portion of said normally open conduit means, and means on the housing communicating with the bore to retain an explosive actuator for moving said plunger to force the deformable member against the shoulder and extrude a portion of the deformable member out of said bore into portions of the normally open conduit means for plugging the same and to effect the opening of said normally closed conduit means by the plunger shearing edge substantially concomitantly with the plugging of the normally open conduit means.

  4. Italy: Analysis of Solutions for Passively Actuated Safety Shutdown Devices

    This article looks at different special shutdown systems specifically engineered for prevention of severe accidents, to be implemented on Fast Reactors, with main focus on the investigation of the performance of the self-actuated shutdown systems in Sodium Fast Reactors. The passive shut-down systems are designed to shut-down system only by inherent passive reactivity feedback mechanism, under unprotected accident conditions, implying failure of reactor protection system. They are conceived to be self-actuated without any signal elaboration, since the actuation of the system is triggered by the effects induced by the transient like material dilatation, in case of overheating of the coolant for instance, according to Fast Reactor design to meet the safety requirements

  5. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  6. DEAP actuator and its high voltage driver for heating valve application

    Huang, Lina; Nørmølle, L. F.; Sarban, R.; Christiansen, E. N.; Zhang, Zhe; Andersen, Michael A. E.

    2014-01-01

    Due to the advantages of DEAP (Dielectric Electro Active Polymer) material, such as light weight, noise free operation, high energy and power density and fast response speed, it can be applied in a variety of applications to replace the conventional transducers or actuators. This paper introduces...... DEAP actuator to the heating valve system and conducts a case study to discuss the feasible solution in designing DEAP actuator and its driver for heating valve application. First of all, the heating valves under study are briefly introduced. Then the design and the development for DEAP actuator is...... illustrated in detail, and followed by the detailed investigation of the HV driver for DEAP actuator. In order to verify the implementation, the experimental measurements are carried out for DEAP actuator, its HV driver as well as the entire heating valve system....

  7. Shape Control of Solar Collectors Using Shape Memory Alloy Actuators

    Lobitz, D. W.; Grossman, J. W.; Allen, J. J.; Rice, T. M.; Liang, C.; Davidson, F. M.

    1996-01-01

    Solar collectors that are focused on a central receiver are designed with a mechanism for defocusing the collector or disabling it by turning it out of the path of the sun's rays. This is required to avoid damaging the receiver during periods of inoperability. In either of these two cases a fail-safe operation is very desirable where during power outages the collector passively goes to its defocused or deactivated state. This paper is principally concerned with focusing and defocusing the collector in a fail-safe manner using shape memory alloy actuators. Shape memory alloys are well suited to this application in that once calibrated the actuators can be operated in an on/off mode using a minimal amount of electric power. Also, in contrast to other smart materials that were investigated for this application, shape memory alloys are capable of providing enough stroke at the appropriate force levels to focus the collector. Design and analysis details presented, along with comparisons to test data taken from an actual prototype, demonstrate that the collector can be repeatedly focused and defocused within accuracies required by typical solar energy systems. In this paper the design, analysis and testing of a solar collector which is deformed into its desired shape by shape memory alloy actuators is presented. Computations indicate collector shapes much closer to spherical and with smaller focal lengths can be achieved by moving the actuators inward to a radius of approximately 6 inches. This would require actuators with considerably more stroke and some alternate SMA actuators are currently under consideration. Whatever SMA actuator is finally chosen for this application, repeatability and fatigue tests will be required to investigate the long term performance of the actuator.

  8. A multi-electrode and pre-deformed bilayer spring structure electrostatic attractive MEMS actuator with large stroke at low actuation voltage

    This paper presents a multi-electrode and pre-deformed bilayer spring structure electrostatic attractive microelectromechanical systems (MEMS) actuator; it has large stroke at relatively low actuation voltage. Generally, electrostatic-attractive-force-based actuators have small stroke due to the instability resulted from the electrostatic ‘pull-in’ phenomenon. However, in many applications, the electrostatic micro-actuator with large stroke at low voltage is more preferred. By introducing a multi-electrode and a pre-deformed bilayer spring structure, an electrostatic attractive MEMS actuator with large stroke at very low actuation voltage has been successfully demonstrated in this paper. The actuator contains a central plate with a size of 300 µm × 300 µm × 1.5 µm and it is supported by four L-shaped bilayer springs which are pre-deformed due to residual stresses. Each bilayer spring is simultaneously attracted by three adjacent fixed electrodes, and the factors affecting the electrostatic attractive force are analyzed by a finite element analysis method. The prototype of the actuator is fabricated by poly-multi-user-MEMS-process (PolyMUMP) and the static performance is tested using a white light interferometer. The measured stroke of the actuator reaches 2 µm at 13 V dc, and it shows a good agreement with the simulation. (paper)

  9. Magnetically Actuated Cilia for Microfluidic Manipulation

    Hanasoge, Srinivas; Owen, Drew; Ballard, Matt; Hesketh, Peter J.; Alexeev, Alexander; Woodruff School of Mechanical Engineering Collaboration; Petit InstituteBioengineering; Biosciences Collaboration

    2015-11-01

    We demonstrate magnetic micro-cilia based microfluidic mixing and capture techniques. For this, we use a simple and easy to fabricate high aspect ratio cilia, which are actuated magnetically. These micro-features are fabricated by evaporating NiFe alloy at room temperature, on to patterned photoresist. The evaporated alloy curls upwards when the seed layer is removed to release the cilia, thus making a free standing `C' shaped magnetic microstructure. This is actuated using an external electromagnet or a rotating magnet. The artificial cilia can be actuated upto 20Hz. We demonstrate the active mixing these cilia can produce in the microchannel. Also, we demonstrate the capture of target species in a sample using these fast oscillating cilia. The surface of the cilia is functionalized by streptavidin which binds to biotin labelled fluorescent microspheres and mimic the capture of bacteria. We show very high capture efficiencies by using these methods. These simple to fabricate micro cilia can easily be incorporated into many microfluidic systems which require high mixing and capture efficiencies.

  10. Investigations on Actuator Dynamics through Theoretical and Finite Element Approach

    Somashekhar S. Hiremath

    2010-01-01

    Full Text Available This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interaction (FSI is established between the piston and the fluid cavities at the piston end. The fluid cavities were modeled with special purpose hydrostatic fluid elements while the piston is modeled with brick elements. The finite element method is used to simulate the variation of cavity pressure, cavity volume, mass flow rate, and the actuator velocity. The finite element analysis is extended to study the system's linearized response to harmonic excitation using direct solution steady-state dynamics. It was observed from the analysis that the natural frequency of the actuator depends upon the position of the piston in the cylinder. This is a close match with theoretical and simulation results. The effect of bulk modulus is also presented in the paper.

  11. Development of an Actuator for Flow Control Utilizing Detonation

    Lonneman, Patrick J.; Cutler, Andrew D.

    2004-01-01

    Active flow control devices including mass injection systems and zero-net-mass flux actuators (synthetic jets) have been employed to delay flow separation. These devices are capable of interacting with low-speed, subsonic flows, but situations exist where a stronger crossflow interaction is needed. Small actuators that utilize detonation of premixed fuel and oxidizer should be capable of producing supersonic exit jet velocities. An actuator producing exit velocities of this magnitude should provide a more significant interaction with transonic and supersonic crossflows. This concept would be applicable to airfoils on high-speed aircraft as well as inlet and diffuser flow control. The present work consists of the development of a detonation actuator capable of producing a detonation in a single shot (one cycle). Multiple actuator configurations, initial fill pressures, oxidizers, equivalence ratios, ignition energies, and the addition of a turbulence generating device were considered experimentally and computationally. It was found that increased initial fill pressures and the addition of a turbulence generator aided in the detonation process. The actuators successfully produced Chapman-Jouguet detonations and wave speeds on the order of 3000 m/s.

  12. A MEMS electrochemical bellows actuator for fluid metering applications.

    Sheybani, Roya; Gensler, Heidi; Meng, Ellis

    2013-02-01

    We present a high efficiency wireless MEMS electrochemical bellows actuator capable of rapid and repeatable delivery of boluses for fluid metering and drug delivery applications. Nafion®-coated Pt electrodes were combined with Parylene bellows filled with DI water to form the electrolysis-based actuator. The performance of actuators with several bellows configurations was compared for a range of applied currents (1-10 mA). Up to 75 boluses were delivered with an average pumping flow rate of 114.40 ± 1.63 μL/min. Recombination of gases into water, an important factor in repeatable and reliable actuation, was studied for uncoated and Nafion®-coated actuators. Real-time pressure measurements were conducted and the effects of temperature, physiological back pressure, and drug viscosity on delivery performance were investigated. Lastly, we present wireless powering of the actuator using a class D inductive powering system that allowed for repeatable delivery with less than 2 % variation in flow rate values. PMID:22833156

  13. Mathematical Modeling of Pneumatic Artificial Muscle Actuation via Hydrogen Driving Metal Hydride-LaNi5

    Thananchai Leephakpreeda

    2012-01-01

    Quantitative understanding of mechanical actuation of intricate Pneumatic Artificial Muscle (PAM) actuators is technically required in control system design for effective real-time implementation.This paper presents mathematical modeling of the PAM driven by hydrogen-gas pressure due to absorption and desorption of metal hydride.Empirical models of both mechanical actuation of industrial PAM and chemical reaction of the metal hydride-LaNi5 are derived systematically where their interactions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM actuator (PAM and hydriding/dehydriding-reaction bed).Simulation studies of mechanical actuation under various loads are conducted so as to present dynamic responses of the PAM actuators.From the promising results,it is intriguing that the heat input for the PAM actuator can be supplied to,or pumped from the reaction bed,in such a way that absorption and desorption of hydrogen gas take place,respectively,in controlling the pressure of hydrogen gas within the PAM actuator.Accordingly,this manipulation results in desired mechanical actuation of the PAM actuator in practical uses.

  14. Design, testing and control of a magnetorheological actuator for assistive knee braces

    Chen, J. Z.; Liao, W. H.

    2010-03-01

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system.

  15. Design, testing and control of a magnetorheological actuator for assistive knee braces

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system

  16. Electrically actuated multiple store launcher

    Marshall, Frank P.; Travor, Bruce W.

    1991-12-01

    This invention comprises a multi-store, electrical pulse initiated launcher that fits into, and is electrically connected with a transporting vehicle and that contains sequentially stacked assemblies. An electrical pulse from the transporting vehicle causes a resistor with the least value to transfer the electric sufficient gas pressure to force the store out of the launcher. The present invention discloses an electrically-actuated, multi-store dispenser wherein an initial electrical charge ignites gas cartridges causing sequential launching of stores from their tandem position inside a launch container. In some environments, it is desirable to dispense multiple stores from a launch vehicle, for instance sonobuoys, in dense patterns. Due to physical limitations of space in the dispensing vehicle, an effort was made to miniaturize the active components inside the store and therefore reduce the overall outer dimensions thereof. Once the size of the store was reduced, in order to meet the demands of the denser patterns, the inside of the individual launch containers were modified to allow each to hold and dispense more than one store. This new type of launch container, in addition to maintaining the size requirement dictated by the transporting vehicle, is operated by the vehicle's electrical system.

  17. Effect of the duty cycle on the spark-plug plasma synthetic jet actuator

    Seyhan Mehmet; Akansu Yahya Erkan; Karakaya Fuat; Yesildag Cihan; Akbıyık Hürrem

    2016-01-01

    A promising novel actuator called Spark-Plug Plasma Synthetic Jet (SPSJ) has been developed in Atmospheric Plasma Research Laboratory at Niğde University. It generates electrothermally high synthetic jet velocity by using high voltage. SPSJ actuator can be utilized to be an active flow control device having some advantages such as no moving parts, low energy consumption and easy to integrate the system. This actuator consists of two main components: semi-surface spark plug (NGK BUHW) as an an...

  18. Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

    Holschuh, Bradley T.; Obropta, Edward W.; Newman, Dava

    2014-01-01

    This paper describes the modeling, development, and testing of low spring index nickel titanium (NiTi) coil actuators designed for use in wearable compression garments, and presents a prototype tourniquet system using these actuators. NiTi coil actuators produce both large forces (>1 N) and large recoverable displacements (>100% length) that are well suited for compression garment design. Thermomechanical coil models are presented that describe temperature and force as a function of nondimens...

  19. Reliable Actuation in Sensor Networks

    Sean Rooney

    2007-12-01

    Full Text Available We present a protocol that uses a publish/subscribe approach to perform reliable but efficient actuation over a sensor network whose topology may change. Actuation on a given group of devices in the sensor network is achieved through a publish operation on the topic the devices in that group are subscribed to. The publication message contains the necessary data to successfully perform the actuation. We make the case for our design showing that: a suitable data distribution techniques and cross-layer optimizations can reduce transmissions within the messaging layer of the sensor-network b a soft-state approach can help with the frequent topology changes in wireless sensor networks caused by the transmission medium. We describe our protocol and compare its features and robustness to those of epidemic protocols through simulation. Our protocol is more efficient when the actuation is performed on selected groups of devices within the sensor network. In the general case, the efficiency of our proposal is similar to that of an epidemic model, plus feedback is given to the initiator of the actuation. Robustness remains close to the epidemic approach, even for moderate bit error rates.

  20. Modeling and development of a twisting wing using inductively heated shape memory alloy actuators

    Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.

    2015-04-01

    Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.

  1. Mechanical Performance of Actuators in an Active Orthosis for the Upper Extremities

    Roland Wiegand

    2011-01-01

    Full Text Available The aim of the project OrthoJacket is to develop a lightweight, portable, and active orthosis for the upper limps. The system consists of two special designed fluidic actuators which are used for supporting the elbow function and the internal rotation of the shoulder. A new design of flexible fluid actuator (FFA is presented that enables more design options of attaching parts, as it is allowed by conventional actuators with a stationary centre of rotation. This advantage and the inherent flexibility and the low weight of this kind of actuator predestined them for the use in exoskeletons, orthoses, and prostheses. The actuator for the elbow generates a maximum torque of 32 Nm; the internal rotation is supported with 7 Nm. Both actuators support the movement with up to 100% of the necessary power. The shells for the arm and forearm are made of carbon reinforced structures in combination with inflatable cushions.

  2. Optimal actuator location of minimum norm controls for heat equation with general controlled domain

    Guo, Bao-Zhu; Xu, Yashan; Yang, Dong-Hui

    2016-09-01

    In this paper, we study optimal actuator location of the minimum norm controls for a multi-dimensional heat equation with control defined in the space L2 (Ω × (0 , T)). The actuator domain is time-varying in the sense that it is only required to have a prescribed Lebesgue measure for any moment. We select an optimal actuator location so that the optimal control takes its minimal norm over all possible actuator domains. We build a framework of finding the Nash equilibrium so that we can develop a sufficient and necessary condition to characterize the optimal relaxed solutions for both actuator location and corresponding optimal control of the open-loop system. The existence and uniqueness of the optimal classical solutions are therefore concluded. As a result, we synthesize both optimal actuator location and corresponding optimal control into a time-varying feedbacks.

  3. APPLICATION OF FEA TO THE COLLOCATION OF ACTUATOR/SENSOR IN THE INTELLIGENT STRUCTURES

    2001-01-01

    The piezothermoelectric actuator/sensor collocation for advanced intelligent structure is studied. The quasi-static equations of piezothermoelasticity are used to analyze the coupling effects between the displacement, temperature and electric fields of piezothermoelasticity continua and the governing equations for piezothermoelectric continua are derived to discuss the effects of coupling factors on the control/sensing performance in intelligent structure. Based on those analyses,a finite element analysis model of distributed piezothermoelectric continua is developed later. The thermal stress and deformation of a beam are calculated by FEA method so as to determine the optimal actuator/sensor placement. Based on the results of the optimal analysis procedure of actuator/sensor placement, some conclusions of actuator/sensor placement are obtained. Thus, the optimal actuator/sensor placement for piezothermoelectric intelligent structure can be found from the actuator/sensor placements available so that intelligent system will have the best controllability and observability.

  4. Micro-opto-electro-mechanical systems mirror based on electrostatic repulsive circular rotation actuator%环形静电排斥旋转驱动器微光机电系统微镜

    马文英; 魏耀华; 汪为民; 王强

    2016-01-01

    The micro-opto-electro-mechanical systems (MOEMS)mirror is an important optical device in laser display, light beam scanning,and adaptive optics applications.MOEMS mirrors are mostly attractive electrostatically actuated in the re-ported literatures,which are troubled by the pull-in effect.Additionally,the mismatch of square actuators and circular mirror will make the fill factor much lower.A MOEMS mirror based on electrostatic repulsive circular actuator and surface fabrication process is proposed in this paper.Arranged like a ring around,the actuator matches well with the circular mirror.The designed MOEMS mirror has an aperture of 204 μm,and is fabricated by polycrystalline silicon multi-users-MEMS-processes (Poly-MUMPs)process.Simulation and experimental results show that the mirror has a maximum rotation angle of 0.62°,a response time of 494 μs and an operation bandwidth of 1.1 91 kHz,and is suitable for the common beam scanning applications.%微光机电系统(MOEMS)微镜在激光显示、光束扫描、自适应光学等领域都有重要应用。现有的 MOEMS 微镜驱动器一般为静电吸引型,难以克服其吸合效应造成的各种问题,同时,方形的驱动器难以与圆形的镜面形成良好匹配,填充比较低。提出了一种环形静电排斥驱动器的 MOEMS 微镜,该静电排斥驱动器以环形排列,并围绕在镜面的周围,达到了与圆形镜面的良好匹配。所设计的微镜口径为204μm,并利用PolyMUMPS 表面工艺进行加工。模拟仿真及实验测试结果显示,该微镜具有0.62°的最大旋转角,494μs 的响应时间和1.191 kHz 的工作带宽,适用于一般光束扫描等的应用需求。

  5. A Completely New Type of Actuator -or- This Ain't Your Grandfather's Internal Combustion Engine

    Gore, Brian W.; Hawkins, Gary F.; Hess, Peter A.; Moore, Teresa A.; Fournier, Eric W.

    2010-01-01

    A completely new type of actuator - one that is proposed for use in a variety of environments from sea to land to air to space - has been designed, patented, built, and tested. The actuator is loosely based on the principle of the internal combustion engine, except that it is a completely closed system, only requiring electrical input, and the working fuel is water. This paper outlines the theory behind the electrolysis- and ignition-based cycle upon which the actuator operates and describes the performance capability test apparatus and results for the actuator. A mechanism application that harnessed the unit s power to twist a scaled rotor blade is also highlighted.

  6. The Linear and Nonlinear Electro-MechanicalFin Actuator

    Zeina A. Abdul Redha

    2011-01-01

    Full Text Available Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spy-fly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (-3000 to 3000 and the damping ratio is varied from (0.4 to 0.8. The comparison between linear and nonlinear fin actuator response results shows that for linear model, the maximum overshoot is about 10%, rising time is 0.23 sec. and steady state occur at 0.51 sec., while For nonlinear model the maximum overshoot is about 5%, rising time is 0.26 sec. and steady state occurs at 2 sec.; i.e., the nonlinear fin actuator system gives faster and more accurate response than does the linear fin actuator system.

  7. Design of shape memory alloy actuators for direct power by an automotive battery

    Highlights: ► We model Ni–Ti SMA actuators directly powered by a standard automotive battery. ► Feasible permutations for direct power are identified and confirmed experimentally. ► 0.5 mm diameter SMA of 225 mm length or larger is feasible for direct power. ► The feasibility of 0.25 mm SMA is greater, although the actuation force is lower. ► Prototype actuators are developed for long-stroke and short-stroke applications. -- Abstract: Nickel–Titanium (Ni–Ti) Shape Memory Alloys (SMAs) are increasingly utilized as mechanical actuators due to high power-to-mass ratio, high fatigue life and low cost. The implementation of SMA actuators in an automotive environment is of particular interest due to the potential for lower end-user functional efforts, together with reduced component mass and cost within a limited packaging space. In applications of this kind, the actuators are powered by a standard automotive (six cell lead-acid) battery. Although resistors and electronic devices can be used to avoid overload of either the SMA or battery system, the feasibility of supplying power to the actuators directly from the battery becomes a key objective for reducing system cost and complexity. In this study, the electrical resistivity of a linear Ni–Ti SMA actuator was theoretically calculated and experimentally verified. Based on this developed knowledge, the resistance of various actuator permutations was calculated, and the feasibility of operating the actuators with a standard automotive battery was assessed. To confirm the feasibility of powering SMA actuators directly from the automotive battery, two SMA actuator concepts were developed and experimentally validated.

  8. Analysis of the giant magnetostrictive actuator with strong bias magnetic field

    Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically

  9. Electromechanical actuator concept for the controlled and direct actuation of a hydraulic main stage

    Ermert, Markus

    2016-01-01

    Hydraulic main stages for off highway machines have usually electromagnetic driven pilot valves. You rarely find stepper motor driven pilot systems that are directly positioning the main spool in the sectional control valve. The presented concept shows the development of an actuator in a unique setup to fulfill the requirements of most off- highway applications. Precise positioning, strength, speed and fail safe requirements were the main goals of the concept. The concept has a two phase BLDC...

  10. Modular Actuators for Space Applications Project

    National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...

  11. Distributed structural control using multilayered piezoelectric actuators

    Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov

    1990-01-01

    A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.

  12. Vibration control for precision manufacturing using piezoelectric actuators

    Martinez, D.R.; Hinnerichs, T.D.; Redmond, J.M.

    1995-12-31

    Piezoelectric actuators provide high frequency, force, and stiffness capabilities along with reasonable Stroke limits, all of which can be used to increase performance levels in precision manufacturing systems. This paper describes two examples of embedding piezoelectric actuators in structural components for vibration control. One example involves suppressing the self excited chatter phenomenon in the metal cutting process of a milling machine and the other involves damping vibrations induced by rigid body stepping of a photolithography platen. Finite element modeling and analyses are essential for locating and sizing the actuators and permit further simulation studies of the response of the dynamic system. Experimental results are given for embedding piezoelectric actuators in a cantilevered bar configuration, which was used as a surrogate machine tool structure. These results are incorporated into a previously developed milling process simulation and the effect of the control on the cutting process stability diagram is quantified. Experimental results are also given for embedding three piezoelectric actuators in a surrogate photolithography platen to suppress vibrations. These results demonstrate the potential benefit that can be realized by applying advances from the field of adaptive structures to problems in precision manufacturing.

  13. Adaptive Fuzzy Backstepping Control against Actuator Faults

    Fujiang Jin

    2011-01-01

    Full Text Available In this study, the problem of Fault-Tolerant Control (FTC for a class of uncertain nonlinear systems is studied. A novel FTC scheme is proposed to deal with both lock-in-place and loss of effectiveness faults of actuators. By employing fuzzy approximation and on-line adaptive updating, the proposed control scheme can tolerate the faults without detection and diagnosis mechanism. It is proved in theory that the FTC scheme can guarantee the closed-loop stability and desired output tracking performance in spite of all kinds of the faults and external disturbances. A simulation example is also included to show the effectiveness of the scheme.

  14. Hydraulically actuated micro-contact printing engines

    Micro-contact printing (μCP) is a rapid, simple and well-established method of microscale biochemical patterning. However, there is a lack of inexpensive and accessible tools for accurately controlling contact during the printing process. In this paper, controlled μCP using hydraulic actuation is demonstrated. Complete printing systems, including a substrate placed at a calibrated height above an elastic stamp attached to a hydraulic chuck, are constructed and characterized. The chucks are made from Perspex using precision machining while the stamp is made by casting against microfabricated silicon masters. The total patterned area is ∼25 mm2 and 10 µm wide features have been printed

  15. Conjugated Polymer Actuators for Articulating Neural Probes and Electrode Interfaces

    Daneshvar, Eugene Dariush

    This thesis investigated the potential use of polypyrrole (PPy) doped with dodecylbenzenesulfonate (DBS) to controllably articulate (bend or guide) flexible neural probes and electrodes. PPy(DBS) actuation performance was characterized in the ionic mixture and temperature found in the brain. Nearly all the ions in aCSF were exchanged into the PPy---the cations Na +, K+, Mg2+, Ca2+, as well as the anion PO43-; Cl- was not present. Nevertheless, deflections in aCSF were comparable to those in NaDBS and they were monotonic with oxidation level: strain increased upon reduction, with no reversal of motion despite the mixture of ionic charges and valences being exchanged. Actuation depended on temperature. Upon warming, the cyclic voltammograms showed additional peaks and an increase of 70% in the consumed charge. Actuation strain was monotonic under these conditions, demonstrating that conducting polymer actuators can indeed be used for neural interface and neural probe applications. In addition, a novel microelectro-mechanical system (MEMS) was developed to measure previously disregarded residual stress in a bilayer actuator. Residual stresses are a major concern for MEMS devices as that they can dramatically influence their yield and functionality. This device introduced a new technique to measure micro-scaled actuation forces that may be useful for characterization of other MEMS actuators. Finally, a functional movable parylene-based neural electrode prototype was developed. Employing PPy(DBS) actuators, electrode projections were successfully controlled to either remain flat or actuate out-of-plane and into a brain phantom during insertion. An electrode projection 800 microm long and 50 microm wide was able to deflect almost 800 microm away from the probe substrate. Applications that do not require insertion into tissue may also benefit from the electrode projections described here. Implantable neural interface devices are a critical component to a broad class of

  16. Active control of structural vibration by piezoelectric stack actuators

    NIU Jun-chuan; ZHAO Guo-qun; HU Xia-xia

    2005-01-01

    This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.

  17. Sensors and Actuators for the Advanced LIGO Mirror Suspensions

    Carbone, L; Cutler, R M; Freise, A; Greenhalgh, J; Heefner, J; Hoyland, D; Lockerbie, N A; Lodhia, D; Robertson, N A; Speake, C C; Strain, K A; Vecchio, A; 10.1088/0264-9381/29/11/115005

    2012-01-01

    We have developed, produced and characterised integrated sensors, actuators and the related read-out and drive electronics that will be used for the control of the Advanced LIGO suspensions. The overall system consists of the BOSEMs (displacement sensor with integrated electro-magnetic actuator), the satellite boxes (BOSEM readout and interface electronics) and six different types of coil-driver units. In this paper we present the design of this read-out and control system, we discuss the related performance relevant for the Advanced LIGO suspensions, and we report on the experimental activity finalised at the production of the instruments for the Advanced LIGO detectors.

  18. Carbon nanotube-polymer composite actuators

    Gennett, Thomas; Raffaelle, Ryne P.; Landi, Brian J.; Heben, Michael J.

    2008-04-22

    The present invention discloses a carbon nanotube (SWNT)-polymer composite actuator and method to make such actuator. A series of uniform composites was prepared by dispersing purified single wall nanotubes with varying weight percents into a polymer matrix, followed by solution casting. The resulting nanotube-polymer composite was then successfully used to form a nanotube polymer actuator.

  19. Ionic and viscoelastic mechanisms of a bucky-gel actuator

    Kruusamäe, Karl; Sugino, Takushi; Asaka, Kinji

    2015-07-01

    Ionic electromechanically active polymers (IEAPs) are considered attractive candidates for soft, miniature, and lightweight actuators. The bucky-gel actuator is a carbonaceous subtype of IEAP that due to its structure (i.e. two highly porous electrodes sandwiching a thin ion-permeable electrolyte layer) and composition (i.e. being composed of soft porous polymer, carbon nanotubes, and ionic liquid) is very similar to an electric double-layer capacitor. In response to the voltage applied between the electrodes of a bucky-gel actuator, the laminar structure bends. The time domain behavior exhibits, however, a phenomenon called the back-relaxation, i.e., after some time the direction of bending is reversed even though voltage remains constant. In spite of the working mechanism of IEAP actuators being generally attributed to the transport of ions within the soft multilayer system, the specific details remain unclear. A so-called two-carrier model proposes that the bending and subsequent back-relaxation are caused by the relocation of two ionic species having different mobilities as they enter and exit the electrode layers. By adopting the two-carrier model for bucky-gel actuators, we see very good agreement between the mathematical representation and the experimental data of the electromechanical behavior. Furthermore, since the bucky-gel actuator is viscoelastic, we propose to use the time domain response of a blocking force as the key parameter related to the inner ionic mechanism. We also introduce a method to estimate the viscoelastic creep compliance function from the time domain responses for curvature and blocking force. This analysis includes four types of bucky-gel actuators of varying composition and structure.

  20. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    Li, Donghai; Choi, Hyunchul; Cho, Sunghoon; Jeong, Semi; Jin, Zhen; Lee, Cheong; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2015-08-01

    In this paper, we propose a new concept for a hybrid actuated microrobot for tumor-targeting therapy. For drug delivery in tumor therapy, various electromagnetic actuated microrobot systems have been studied. In addition, bacteria-based microrobot (so-called bacteriobot), which use tumor targeting and the therapeutic function of the bacteria, has also been proposed for solid tumor therapy. Compared with bacteriobot, electromagnetic actuated microrobot has larger driving force and locomotive controllability due to their position recognition and magnetic field control. However, because electromagnetic actuated microrobot does not have self-tumor targeting, they need to be controlled by an external magnetic field. In contrast, the bacteriobot uses tumor targeting and the bacteria's own motility, and can exhibit self-targeting performance at solid tumors. However, because the propulsion forces of the bacteria are too small, it is very difficult for bacteriobot to track a tumor in a vessel with a large bloodstream. Therefore, we propose a hybrid actuated microrobot combined with electromagnetic actuation in large blood vessels with a macro range and bacterial actuation in small vessels with a micro range. In addition, the proposed microrobot consists of biodegradable and biocompatible microbeads in which the drugs and magnetic particles can be encapsulated; the bacteria can be attached to the surface of the microbeads and propel the microrobot. We carried out macro-manipulation of the hybrid actuated microrobot along a desired path through electromagnetic field control and the micro-manipulation of the hybrid actuated microrobot toward a chemical attractant through the chemotaxis of the bacteria. For the validation of the hybrid actuation of the microrobot, we fabricated a hydrogel microfluidic channel that can generate a chemical gradient. Finally, we evaluated the motility performance of the hybrid actuated microrobot in the hydrogel microfluidic channel. We expect

  1. Development of active rear steer actuator. Development of four wheel steer actuator for active safety; Active rear steer actuator no kaihatsu. Yobo anzen ni muketa 4WS actuator no kaihatsu

    Yamanaka, T. [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, ecology, energy saving and safety have become important issues. And Active Safety is spotlighted in vehicle control area. Many researches and developments on four wheel steer system have been done to improve vehicle stability. We have developed the Active Rear Steer system with electromechanical Actuator, which is mass-productive, compact, and high response and durable. 10 figs., 5 tabs.

  2. A planar nano-positioner driven by shear piezoelectric actuators

    Dong, W.; Li, H.; Du, Z.

    2016-08-01

    A planar nano-positioner driven by the shear piezoelectric actuators is proposed in this paper based on inertial sliding theory. The performance of the nano-positioner actuated by different driving signals is analyzed and discussed, e.g. the resolution and the average velocity which depend on the frequency, the amplitude and the wave form of the driving curves. Based on the proposed design, a prototype system of the nano-positioner is developed by using a capacitive sensor as the measurement device. The experiment results show that the proposed nano-positioner is capable of outputting two-dimensional motions within an area of 10 mm × 10 mm at a maximum speed of 0.25 mm/s. The corresponding resolution can be as small as 21 nm. The methodology outlined in this paper can be employed and extended to shear piezoelectric actuators involved in high precision positioning systems.

  3. Cellulose based soft gel like actuator for reconfigurable lens array

    Sadasivuni, Kishor Kumar; Yadav, Mithilesh; Gao, Xiaoyuan; Mun, Seongcheol; Kim, Jaehwan

    2014-04-01

    Reconfigurable lens is biomimetic as it mimics human eye and is a transparent actuating material that can change its curvature in the presence of external stimuli. Focus tunable, adaptive lenses provide several advantages over traditional lens assemblies in terms of compactness, cost, efficiency and flexibility. To further improve the simplicity and compact nature of adaptive lenses, we present lens system which makes use of an inline, transparent electro active polymer actuator. This paper reports the preliminary development we have achieved in reconfigurable lens systems made with cellulose nanocrystals (CNC) using the principle of Kerr effect. Preparation of the hydrophobic CNC solution as well as the optical properties of the lens has been discussed. This soft gel actuator was analyzed by measuring the electric birefringence in the pulse field of constant and sinusoidal voltage based on the use of modulation of elliptic light polarization.

  4. An electromechanical attenuator/actuator for Space Station docking

    Stokes, Lebarian; Glenn, Dean; Carroll, Monty B.

    1987-01-01

    The development of a docking system for aerospace vehicles has identified the need for reusable and variably controlled attenuators/actuators for energy absorption and compliance. One approach to providing both the attenuator and the actuator functions is by way of an electromechanical attenuator/actuator (EMAA) as opposed to a hydraulic system. The use of the electromechanical devices is considered to be more suitable for a space environment because of the absence of contamination from hydraulic fluid leaks and because of the cost effectiveness of maintenance. A smart EMAA that uses range/rate/attitude sensor information to preadjust a docking interface to eliminate misalignments and to minimize contact and stroking forces is described. A prototype EMAA was fabricated and is being tested and evaluated. Results of preliminary testing and analysis already performed have established confidence that this concept is feasible and will provide the desired reliability and low maintenance for repetitive long term operation typical of Space Station requirements.

  5. The actuated performance of multi-layer piezoelectric actuator in active vibration control of honeycomb sandwich panel

    Luo, Yajun; Xie, Shilin; Zhang, Xinong

    2008-11-01

    This paper discusses the use of the multi-layer piezoelectric actuator (MPA) in the active vibration control of the honeycomb sandwich panel (HSP). A literature overview of the available works is first presented. And the main motivation using the MPA in the AVC of HSP is discussed. Then, the honeycomb core is in advance treated as an orthotropic plate. The governing equations of the system are derived by the Hamilton principle on the basis of both displacement and transverse tress assumptions. The formulations of the actuation force/moment are obtained and indicate that the actuation force/moment are two four-order polynomial function of the piezoelectric layers number. Finally, active control experiments of a cantilever honeycomb sandwich panel (CHSP) are performed using the MPA. The control law of proportional velocity feedback is adopted in the experiments. These experiments include the resonant vibration control and the sinusoidal swept of the control system at the case of different piezoelectric layers number. The results show that the MPA can effectively control the vibration of the high damping HSP, and the control performance per voltage by the proposed actuator can be improved significantly through increasing the piezoelectric patch number. Consequently, the MPA exhibits better actuation capability than that with only single layer.

  6. Design and test of electromechanical actuators for thrust vector control

    Cowan, J. R.; Weir, Rae Ann

    1993-01-01

    New control mechanisms technologies are currently being explored to provide alternatives to hydraulic thrust vector control (TVC) actuation systems. For many years engineers have been encouraging the investigation of electromechanical actuators (EMA) to take the place of hydraulics for spacecraft control/gimballing systems. The rationale is to deliver a lighter, cleaner, safer, more easily maintained, as well as energy efficient space vehicle. In light of this continued concern to improve the TVC system, the Propulsion Laboratory at the NASA George C. Marshall Space Flight Center (MSFC) is involved in a program to develop electromechanical actuators for the purpose of testing and TVC system implementation. Through this effort, an electromechanical thrust vector control actuator has been designed and assembled. The design consists of the following major components: Two three-phase brushless dc motors, a two pass gear reduction system, and a roller screw, which converts rotational input into linear output. System control is provided by a solid-state electronic controller and power supply. A pair of resolvers and associated electronics deliver position feedback to the controller such that precise positioning is achieved. Testing and evaluation is currently in progress. Goals focus on performance comparisons between EMA's and similar hydraulic systems.

  7. Design and test of electromechanical actuators for thrust vector control

    Cowan, J. R.; Weir, Rae Ann

    1993-05-01

    New control mechanisms technologies are currently being explored to provide alternatives to hydraulic thrust vector control (TVC) actuation systems. For many years engineers have been encouraging the investigation of electromechanical actuators (EMA) to take the place of hydraulics for spacecraft control/gimballing systems. The rationale is to deliver a lighter, cleaner, safer, more easily maintained, as well as energy efficient space vehicle. In light of this continued concern to improve the TVC system, the Propulsion Laboratory at the NASA George C. Marshall Space Flight Center (MSFC) is involved in a program to develop electromechanical actuators for the purpose of testing and TVC system implementation. Through this effort, an electromechanical thrust vector control actuator has been designed and assembled. The design consists of the following major components: Two three-phase brushless dc motors, a two pass gear reduction system, and a roller screw, which converts rotational input into linear output. System control is provided by a solid-state electronic controller and power supply. A pair of resolvers and associated electronics deliver position feedback to the controller such that precise positioning is achieved. Testing and evaluation is currently in progress. Goals focus on performance comparisons between EMA's and similar hydraulic systems.

  8. Development of a shape memory alloy actuator for a robotic eye prosthesis

    Bunton, T. B. Wolfe; Faulkner, M. G.; Wolfaardt, J.

    2005-08-01

    The quality of life of patients who wear an orbital prosthesis would be vastly improved if their prostheses were also able to execute vertical and horizontal motion. This requires appropriate actuation and control systems to create an intelligent prosthesis. A method of actuation that meets the demanding design criteria is currently not available. The present work considers an activation system that follows a design philosophy of biomimicry, simplicity and space optimization. While several methods of actuation were considered, shape memory alloys were chosen for their high power density, high actuation forces and high displacements. The behaviour of specific shape memory alloys as an actuator was investigated to determine the force obtained, the transformation temperatures and details of the material processing. In addition, a large-scale prototype was constructed to validate the response of the proposed system.

  9. Actuation development and evaluation for INSTAR: inertially stabilized rifle

    Brei, Diann E.; Vendlinski, James; Frecker, Mary I.; Bharti, Smita

    2003-08-01

    In the use of piezoelectric actuators, it is a clear choice to use stack (or d33 mode) architectures when very high force is required or benders (or d31 mode) architectures when very high displacements are needed. However, the choice isn't as clear for applications that need simultaneously a moderate force and displacement. This paper presents one such application, INSTAR that is posed with this dilemma. INSTAR is a novel rifle system that has an inertially stabilized barrel via an active suspension based on piezoelectric actuation. While the frequency required for this application was low (~10Hz), the displacement (+/- 200 to 400 microns) and the force (22-45 N) are moderate. Two very different actuation approaches were developed, modeled, fabricated and experimentally validated within the INSTAR demonstration platform: 1) a d31 approach based on the Recurve architecture with focus on generating higher forces than is common for d31 actuators and 2) a d33 approach based upon a compliant mechanism designed using topology optimization with focus on providing more amplified strain than is common for d33 actuators. Both approaches were successful in meeting the INSTAR requirements, but each had its on advantages and disadvantages.

  10. Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

    Zhou, Zhiqiang

    2012-01-01

    A paper describes attitude-control algorithms using the combination of magnetic actuators with reaction wheel assemblies (RWAs) or other types of actuators such as thrusters. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for nadir-pointing, pitch, and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude- control accuracy is comparable with RWA-based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude-control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode, and the control accuracy can be maintained. The attitude-control algorithms of the combined actuators are derived, which can guarantee the spacecraft attitude and rates to track the commanded values precisely. Results show that precise attitude tracking can be reached, and the attitude-control accuracy is comparable with 3-axis wheel control.

  11. Dynamic modeling of brushless dc motors for aerospace actuation

    Demerdash, N. A.; Nehl, T. W.

    1980-01-01

    A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.

  12. Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

    Tim Giffney

    2016-02-01

    Full Text Available The excellent compliance and large range of motion of soft actuators controlled by fluid pressure has lead to strong interest in applying devices of this type for biomimetic and human-robot interaction applications. However, in contrast to soft actuators fabricated from stretchable silicone materials, conventional technologies for position sensing are typically rigid or bulky and are not ideal for integration into soft robotic devices. Therefore, in order to facilitate the use of soft pneumatic actuators in applications where position sensing or closed loop control is required, a soft pneumatic bending actuator with an integrated carbon nanotube position sensor has been developed. The integrated carbon nanotube position sensor presented in this work is flexible and well suited to measuring the large displacements frequently encountered in soft robotics. The sensor is produced by a simple soft lithography process during the fabrication of the soft pneumatic actuator, with a greater than 30% resistance change between the relaxed state and the maximum displacement position. It is anticipated that integrated resistive position sensors using a similar design will be useful in a wide range of soft robotic systems.

  13. Biodegradable and edible gelatine actuators for use as artificial muscles

    Chambers, L. D.; Winfield, J.; Ieropoulos, I.; Rossiter, J.

    2014-03-01

    The expense and use of non-recyclable materials often requires the retrieval and recovery of exploratory robots. Therefore, conventional materials such as plastics and metals in robotics can be limiting. For applications such as environmental monitoring, a fully biodegradable or edible robot may provide the optimum solution. Materials that provide power and actuation as well as biodegradability provide a compelling dimension to future robotic systems. To highlight the potential of novel biodegradable and edible materials as artificial muscles, the actuation of a biodegradable hydrogel was investigated. The fabricated gelatine based polymer gel was inexpensive, easy to handle, biodegradable and edible. The electro-mechanical performance was assessed using two contactless, parallel stainless steel electrodes immersed in 0.1M NaOH solution and fixed 40 mm apart with the strip actuator pinned directly between the electrodes. The actuation displacement in response to a bias voltage was measured over hydration/de-hydration cycles. Long term (11 days) and short term (1 hour) investigations demonstrated the bending behaviour of the swollen material in response to an electric field. Actuation voltage was low (robotics.

  14. Remote actuated valve implant

    McKnight, Timothy E.; Johnson, Anthony; Moise, Kenneth J.; Ericson, Milton Nance; Baba, Justin S.; Wilgen, John B.; Evans, Boyd Mccutchen

    2016-05-10

    Valve implant systems positionable within a flow passage, the systems having an inlet, an outlet, and a remotely activatable valve between the inlet and outlet, with the valves being operable to provide intermittent occlusion of the flow path. A remote field is applied to provide thermal or magnetic activation of the valves.

  15. Remote actuated valve implant

    McKnight, Timothy E; Johnson, Anthony; Moise, Jr., Kenneth J; Ericson, Milton Nance; Baba, Justin S; Wilgen, John B; Evans, III, Boyd McCutchen

    2014-02-25

    Valve implant systems positionable within a flow passage, the systems having an inlet, an outlet, and a remotely activatable valve between the inlet and outlet, with the valves being operable to provide intermittent occlusion of the flow path. A remote field is applied to provide thermal or magnetic activation of the valves.

  16. Long working range mercury droplet actuation

    This paper reports novel mercury droplet actuators with a long working range. The actuators were designed so that they can be used as thermal switches. Two types of actuation electrode were investigated: electrowetting type and electrostatic type. It was confirmed that the actuation of a mercury droplet was possible with each electrode. In addition, two types of actuator surface were investigated: flat surface and surface with micropillars. The micropillars showed considerable mobility enhancement of the droplet, but were found to be useful only with an appropriate electrode design. When the mercury droplet was actuated by 100–300 Vp-p, the observed maximum working range was about 200 µm, which is much longer than the values reported previously. Poor repeatability of droplet motion due to the charge-up of the actuator surface was revealed as a problem

  17. Design and Study of Dual-Redundancy Brushless DC Motor for Actuator Servo System%舵机用双余度无刷直流电动机设计研究

    高金行; 戴志勇; 全兴源; 艾于琛

    2011-01-01

    以舵机用双余度无刷直流电动机为研究对象,通过数学建模,对无刷直流电动机进行性能仿真,重点介绍样机被测波形及性能数据列表,分析余度换向性能的关键技术,以实现性能调试最优.%A study of dual redundant brushless DC motor for actuator servo system was given. With the mathematical model of brushless DC motor, the simulation performance was shown. The waveforms of BLDC motor were introduced. The performance data of motor was listed. The key technology of commutation was analyzed. The performance was made perfectly.

  18. Thrust vector control using electric actuation

    Bechtel, Robert T.; Hall, David K.

    1995-01-01

    Presently, gimbaling of launch vehicle engines for thrust vector control is generally accomplished using a hydraulic system. In the case of the space shuttle solid rocket boosters and main engines, these systems are powered by hydrazine auxiliary power units. Use of electromechanical actuators would provide significant advantages in cost and maintenance. However, present energy source technologies such as batteries are heavy to the point of causing significant weight penalties. Utilizing capacitor technology developed by the Auburn University Space Power Institute in collaboration with the Auburn CCDS, Marshall Space Flight Center (MSFC) and Auburn are developing EMA system components with emphasis on high discharge rate energy sources compatible with space shuttle type thrust vector control requirements. Testing has been done at MSFC as part of EMA system tests with loads up to 66000 newtons for pulse times of several seconds. Results show such an approach to be feasible providing a potential for reduced weight and operations costs for new launch vehicles.

  19. Series elastic actuator control of a powered exoskeleton.

    Ragonesi, Daniel; Agrawal, Sunil; Sample, Whitney; Rahman, Tariq

    2011-01-01

    A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy. Previous work determined that actuation in parallel with gravity balancing springs required less torque than actuation in series. Compliance is achieved by using a series elastic actuator (SEA) by placing torsional springs between the motors and the WREX. A torque control was implemented on the SEA at the joint level. The response of the control law was characterized without disturbances. The SEAs were then attached to the orthosis to test the response with disturbances, and the control provided accurate joint torques. PMID:22255098

  20. Magnetic Actuators and Suspension for Space Vibration Control

    Knospe, Carl R.; Allaire, Paul E.; Lewis, David W.

    1993-01-01

    The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals.

  1. A parallel leaf spring structure driven by piezoelectric bimorph actuators

    Seki, Hiroya; Gohda, Tomio; Shimokohbe, Akira

    A parallel leaf spring structure driven by piezoelectric bimorph actuator is modelled using a Rayleigh-Ritz formulation and model truncation is done for feedback controller design. Using a strain gauge sensor, a precise positioning of the end point mass is realized. The position of the strain gauge sensor is found to be an important factor in achieving a stable response with an estimator based feedback control system. Also excitation of higher structural modes, which becomes an obstacle to a wide servo bandwidth actuator, is discussed. Using multi electrodes arranged on the bimorph actuator and appropriately tuning the voltage ratio applied to them, pole-zero cancellation of the higher modes is experimentally demonstrated.

  2. Robot Arm with Tendon Connector Plate and Linear Actuator

    Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Nguyen, Vienny (Inventor); Millerman, Alexander (Inventor)

    2014-01-01

    A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

  3. A Sensorless Method for Detecting Spool Position in Solenoid Actuators

    I. Dülk

    2013-06-01

    Full Text Available A method is developed to estimate the position of the moving part in a solenoid actuator. We superpose a sinusoidal component onto the base duty ratio of the drive PWM (Pulse Width Modulation, thus, a scan signal is generated which is used to first identify, then to “measure” the system during actuation. A model of the actuator device is derived from experimental analyses and the effects of e.g. scan signal frequency and supply voltage are studied. External force disturbances, which may be present in flow control applications, are also considered and an algorithm is provided for its compensation in position estimation, thus, force estimation is realized as well. The hardware requirements are low which makes the presented method suitable for cost effective embedded applications. Experimental results are also provided.

  4. Novel applications of plasma actuators

    Ozturk, Arzu Ceren

    The current study investigates the effectiveness of two different dielectric barrier discharge plasma actuator configurations, a 3-D annular geometry for use in micro thrusters and internal duct aerodynamics and a jet vectoring actuator that acts as a vortex generator and flow control device. The first configuration consists of a closed circumferential arrangement which yields a body force when a voltage difference is applied across the inner and outer electrodes separated by a dielectric. The primary flow is driven by this zero-net mass flux jet at the wall that then entrains fluid in the core of the duct. PIV experiments in both quiescent flow and freestream are conducted on tubes of different diameters while varying parameters such as the modulation frequency, duty cycle and tunnel speed. The values of the induced velocities increase with the forcing frequency and duty cycle although there is a peak value for the forcing frequency after which the velocity and thrust decrease for each thruster. The velocities and thrust increase as the inner diameter of the tubes are increased while the velocity profiles show a great difference with the (l/di) ratio; recirculation occurs after going below a critical value. Experiments in the wind tunnel illustrate that the jet exit characteristics significantly change upon actuation in freestream flow but the effect tends to diminish with increasing inner diameters and tunnel speeds. Using staged arrays of these thrusters result in higher velocities while operating at both in phase and out of phase. The jet vectoring configuration consists of a single embedded electrode separated from two exposed electrodes on either side by the dielectric. The embedded electrode is grounded while the exposed electrodes are driven with a high frequency high voltage input signal. PIV measurements of the actuator in a freestream show that vectoring the jet yields stronger vortices than a linear configuration and increasing the difference between

  5. Regulatory control of nuclear facility valves and their actuators

    The methods and procedures by which the Finnish Centre for Radiation and Nuclear Safety (STUK) regulates valves and their actuators in nuclear power plants and in other nuclear facilities are specified in the guide. The scope of regulation depends on the Safety Class of the valve and the actuator in question. The Safety Classification principles for the systems, structures and components of the nuclear power plants are described in the guide YVL 2.1 and the regulatory control of the nuclear facility safety valves is described in the guide YVL 5.4

  6. Design and development of multi-lane smart electromechanical actuators

    Annaz, Fawaz Yahya

    2014-01-01

    Design and Development of Multi-Lane Smart Electromechanical Actuators presents the design of electromechanical actuators in two types of architectures, namely, Torque Summed Architecture (TSA) and Velocity Summed Architecture, (VSA). It examines them in: * Hardware redundancy, where the architecture is made up of 3 or 4 lanes. * Digital Math Model redundancy, where a more compact two lanes architectures will be presented. The book starts with the very basic concepts and introduces the design process logically so that an understanding of the smart multi-lane systems that drive an aileron

  7. Magnetically actuated micropumps

    Yamahata, Christophe

    2005-01-01

    "Lab-On-a-Chip" (LOC) systems are intended to transpose complete laboratory instrumentations on the few square centimetres of a single microfluidic chip. With such devices the objective is to minimize the time and cost associated with routine biological analysis while improving reproducibility. At the heart of these systems, a fluid delivery unit controls and transfers tiny quantities of liquids enabling the biological assays. This explains the need for robust integrated micropumps as a preco...

  8. Magnetically actuated micropumps

    Yamahata, Christophe; Gijs, Martin

    2007-01-01

    "Lab-On-a-Chip" (LOC) systems are intended to transpose complete laboratory instrumentations on the few square centimetres of a single microfluidic chip. With such devices the objective is to minimize the time and cost associated with routine biological analysis while improving reproducibility. At the heart of these systems, a fluid delivery unit controls and transfers tiny quantities of liquids enabling the biological assays. This explains the need for robust integrated micropumps as a preco...

  9. Hydrodynamic analysis, performance assessment, and actuator design of a flexible tail propulsor in an artificial alligator

    The overall objective of this research is to develop analysis tools for determining actuator requirements and assessing viable actuator technology for design of a flexible tail propulsor in an artificial alligator. A simple hydrodynamic model that includes both reactive and resistive forces along the tail is proposed and the calculated mean thrust agrees well with conventional estimates of drag. Using the hydrodynamic model forces as an input, studies are performed for an alligator ranging in size from 1 cm to 2 m at swimming speeds of 0.3–1.8 body lengths per second containing five antagonistic pairs of actuators distributed along the length of the tail. Several smart materials are considered for the actuation system, and preliminary analysis results indicate that the acrylic electroactive polymer and the flexible matrix composite actuators are potential artificial muscle technologies for the system

  10. Development of highly integrated magetically and electrostatically actuated micropumps : LDRD 64709 final report.

    Sosnowchik, Brian D. (Pennsylvania State University, University Park, PA); Galambos, Paul C.; Hendrix, Jason R. (Florida State University, Tallahassee, FL); Zwolinski, Andrew (Florida State University, Tallahassee, FL)

    2003-12-01

    The pump and actuator systems designed and built in the SUMMiT{trademark} process, Sandia's surface micromachining polysilicon MEMS (Micro-Electro-Mechanical Systems) fabrication technology, on the previous campus executive program LDRD (SAND2002-0704P) with FSU/FAMU (Florida State University/Florida Agricultural and Mechanical University) were characterized in this LDRD. These results demonstrated that the device would pump liquid against the flow resistance of a microfabricated channel, but the devices were determined to be underpowered for reliable pumping. As a result a new set of SUMMiT{trademark} pumps with actuators that generate greater torque will be designed and submitted for fabrication. In this document we will report details of dry actuator/pump assembly testing, wet actuator/pump testing, channel resistance characterization, and new pump/actuator design recommendations.

  11. On the nature of the interaction between structures and actuators in vibration suppression

    Inman, Daniel J.; Garcia, Ephrahim; Umland, Jeff

    1990-01-01

    This lecture presents a summary of work on the analysis of the interaction between a structure, an actuator used to suppress the vibration of the structure, and the control law implemented by the actuator. Two control applications are considered. First, a proof-mass actuator with experimentally verified dynamics, capable of being used in a space structure configuration is examined. This is connected to a cantilevered beam modeled as a single degree of freedom system. Secondly, an electric motor, again with experimentally verified dynamics, is used to slew a beam modeled by a partial differential equation. Both the experimental and numerical configuration predict the presence of potential instabilities in system performance if proper consideration is not given to interactions between the control law, the structure and the actuator. In addition, an understanding of the interaction is shown to greatly effect performance. In particular it is shown that judicious choice of actuator parameters greatly improves closed loop performance.

  12. Electro-Mechanical Actuator. DC Resonant Link Controller

    Schreiner, Kenneth E.

    1996-01-01

    This report summarizes the work performed on the 68 HP electro-mechanical actuator (EMA) system developed on NASA contract for the Electrical Actuation (ELA) Technology Bridging Program. The system was designed to demonstrate the capability of large, high power linear ELAs for applications such as Thrust Vector Control (TVC) on rocket engines. It consists of a motor controller, drive electronics and a linear actuator capable of up to 32,00 lbs loading at 7.4 inches/second. The drive electronics are based on the Resonant DC link concept and operate at a nominal frequency of 55 kHz. The induction motor is a specially designed high speed, low inertia motor capable of a 68 peak HP. The actuator was originally designed by MOOG Aerospace under an internal R & D program to meet Space Shuttle Main Engine (SSME) TVC requirements. The design was modified to meet this programs linear rate specification of 7.4 inches/second. The motor and driver were tested on a dynamometer at the Martin Marietta Space Systems facility. System frequency response, step response and force-velocity tests were conducted at the MOOG Aerospace facility. A complete description of the system and all test results can be found in the body of the report.

  13. Kinematics of the wire-driven parallel robot MARIONET using linear actuators

    Merlet, Jean-Pierre

    2007-01-01

    Wire-driven parallel robots are special types of Gough-Stewart platform in which the rigid extensible legs are substituted by extensible wires. Usually wire length change is obtained by coiling the wire on a drum actuated by a rotary motor. We present here a robot using linear actuator and a pulley system allowing a higher modularity of the actuation system. The kinematics of this redundant system (the system has 7 wires), taking into account the elasticity of the wires, is presented. Inverse...

  14. Performance of Cableless Magnetic In-Piping Actuator Capable of High-Speed Movement by Means of Inertial Force

    Hiroyuki Yaguchi; Tomohiro Izumikawa

    2011-01-01

    The present paper proposes a novel cableless magnetic actuator with a new propulsion module that exhibits a very high thrusting force. This actuator contains an electrical inverter that directly transforms DC from button batteries into AC. The electrical DC-AC inverter incorporates a mass-spring system, a reed switch, and a curved permanent magnet that switches under an electromagnetic force. The actuator is moved by the inertial force of the mass-spring system due to mechanical resonance ene...

  15. A Millimetre-sized Robot Realized by a Piezoelectric Impact-type Rotary Actuator and a Hardware Neuron Model

    Minami Takato; Masaki Tatani; Hirozumi Oku; Yuki Okane; Junichi Tanida; Shinpei Yamasaki; Ken Saito; Fumio Uchikoba

    2014-01-01

    Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS) technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to th...

  16. Development of a novel actuator concept for position control of segmented mirrors of ELT

    Janssen, H.; Geurink, R.; Teuwen, M.; v. Bree, B.

    2008-07-01

    Currently, a number of astrophysical institutes all over the world are working on the design of Extremely Large Telescopes (ELT). Due to the enormous size of the primary mirror these telescopes make use of segmented mirrors. These segments have to be positioned with respect to each other with nanometer accuracy in spite of all kind of external disturbances such as wind loads, thermal loads, deformation of the base frame, varying orientation with respect to the field of gravity, etc. Janssen Precision Engineering (JPE) developed a revolutionary position actuator called the HiPAC which is able to fulfill the demanding requirements for this kind of actuators. The actuator is based on an integrated system of a pneumatic actuator, an electric voice coil and smart control strategy and has the following features: high positioning accuracy performance due to play-free and frictionless actuation; high reliability and maintenance free operation due to flexure-based frictionless guiding; system behavior is constant in time, because no parts affected by wear are used in the actuator; low cost, because no highly accurate machined parts required to reach high end performance; the position actuator acts as an integrated vibration isolator which isolates the segmented mirrors from external vibrations induced in the telescope frame; In this paper the design, simulation and measurements of the HiPAC actuator will be presented.

  17. Piezoelectric step-motion actuator

    Mentesana; Charles P.

    2006-10-10

    A step-motion actuator using piezoelectric material to launch a flight mass which, in turn, actuates a drive pawl to progressively engage and drive a toothed wheel or rod to accomplish stepped motion. Thus, the piezoelectric material converts electrical energy into kinetic energy of the mass, and the drive pawl and toothed wheel or rod convert the kinetic energy of the mass into the desired rotary or linear stepped motion. A compression frame may be secured about the piezoelectric element and adapted to pre-compress the piezoelectric material so as to reduce tensile loads thereon. A return spring may be used to return the mass to its resting position against the compression frame or piezoelectric material following launch. Alternative embodiment are possible, including an alternative first embodiment wherein two masses are launched in substantially different directions, and an alternative second embodiment wherein the mass is eliminated in favor of the piezoelectric material launching itself.

  18. Testing of improved polyimide actuator rod seals at high temperature and under vacuum conditions for use in advanced aircraft hydraulic systems

    Sellereite, B. K.; Waterman, A. W.; Nelson, W. G.

    1974-01-01

    Polyimide second-stage rod seals were evaluated to determine their suitability for applications in space station environments. The 6.35-cm (2.5-in.)K-section seal was verified for thermal cycling operation between room temperature and 478 K (400 F) and for operation in a 133 micron PA(0.000001 mm Hg) vacuum environment. The test seal completed the scheduled 96 thermal cycles and 1438 hr in vacuum with external rod seal leakage well within the maximum allowable of two drops per 25 actuation cycles. At program completion, the seals showed no signs of structural degradation. Posttest inspection showed the seals retained a snug fit against the shaft and housing walls, indicating additional wear life capability. Evaluation of a molecular flow section during vacuum testing, to inhibit fluid loss through vaporization, showed it to be beneficial with MIL-H-5606, a petroleum-base fluid, in comparison with MIL-H-83282, a synthetic hydrocarbon-base fluid.

  19. Design of Autonomous Gel Actuators

    Shuji Hashimoto; Shingo Maeda; Yusuke Hara; Satoshi Nakamaru

    2011-01-01

    In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ) reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the c...

  20. Design of Autonomous Gel Actuators

    Shuji Hashimoto

    2011-01-01

    Full Text Available In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the chemical robot.