WorldWideScience

Sample records for actuating systems

  1. Laser Actuated Presentation System

    CERN Document Server

    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

    OpenAIRE

    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. Sensors and actuators engineering system instrumentation

    CERN Document Server

    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

  4. A porous actuator for an Isfet-based coulometric sensor-actuator system

    NARCIS (Netherlands)

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

    1991-01-01

    The previously developed prototype ISFET (ion-sensitive field effect transistor)-based coulometric sensor-actuator system suffers from delay in response due to the nonzero distance between the sensor and actuator. The authors describe a novel configuration of a sensor-actuator device which employs a

  5. A wireless actuating drug delivery system

    Science.gov (United States)

    Jo, Won-Jun; Baek, Seung-Ki; Park, Jung-Hwan

    2015-04-01

    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.

  6. A wireless actuating drug delivery system

    International Nuclear Information System (INIS)

    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)

  7. 14 CFR 33.72 - Hydraulic actuating systems.

    Science.gov (United States)

    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...

  8. Bioinspired pressure actuated adhesive system

    NARCIS (Netherlands)

    Paretkar, D.R.; Kamperman, M.M.G.; Schneider, A.S.; Martina, D.; Creton, C.; Arzt, E.

    2011-01-01

    We developed a dry synthetic adhesive system inspired by gecko feet adhesion that can switch reversibly from adhesion to non-adhesion with applied pressure as external stimulus. Micropatterned polydimethylsiloxane (PDMS) surfaces with pillars of 30 µm length and 10 µm diameter were fabricated using

  9. Actuator development for the Instrument Pointing System (IPS)

    Science.gov (United States)

    Suttner, K.

    1984-01-01

    The mechanisms of the instrument pointing system (IPS) are described. Particular emphasis is placed on the actuators which are necessary for operating the IPS. The actuators are described as follows: (1) two linear actuators that clamp the gimbals down during ascent and descent; (2) two linear actuators that attach the payload to the IPS during the mission, and release it into the payload clamps; (3) one rotational actuator that opens and closes the payload clamps; and (4) three identical drive units that represent the three orthogonal gimbal axes and are the prime movers for pointing. Design features, manufacturing problems, test performance, and results are presented.

  10. Microelectromechanical systems integrating molecular spin crossover actuators

    Science.gov (United States)

    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.

  11. Design and performances of JPCam actuator system

    Science.gov (United States)

    Casalta, Joan Manel; Canchado, Manuel; Molins, Albert; Redondo, Miguel; Tomàs, Albert; Catalan, Albert

    2014-07-01

    JPCam is designed to perform the Javalambre-PAU Astrophysical Survey (J-PAS), a photometric survey of the northern sky with the new JST telescope being constructed in the Observatorio Astrofísico of Javalambre in Spain by CEFCA (Centro de Estudios de Física del Cosmos de Aragón). SENER has been responsible for the design, manufacturing, verification and delivery of the JPCam Actuator System that will be installed between the Telescope and the cryogenic Camera Subsystem. The main function is to control the instrument position to guarantee the image quality required during observations in all field of view and compensate deformations produced by gravity and temperature changes. The paper summarizes the main aspects of the hexapod design and earliest information related of integration and performances tests results.

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

    NARCIS (Netherlands)

    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)

  13. Stability and stabilization of linear systems with saturating actuators

    CERN Document Server

    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.

  14. Architecture Optimization of More Electric Aircraft Actuation System

    Institute of Scientific and Technical Information of China (English)

    QI Haitao; FU Yongling; QI Xiaoye; LANG Yan

    2011-01-01

    The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology,which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system.The traditional “trial and error” method cannot satisfy the design demands.In this paper,firstly,the composition of more electric aircraft(MEA) flight control actuation system(FCAS) is introduced,and the possible architecture quantity is calculated.Secondly,the evaluation criteria of FCAS architecture with respect to safe reliability,weight and efficiency are proposed,and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration.Finally,the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm(GA).Compared to the traditional actuation system architecture,which only adopts servo valve controlled hydraulic actuators,the weight of the optimized more electric actuation system architecture can be reduced by 6%,and the efficiency can be improved by 30% based on the safe reliability requirements.

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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)

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

    OpenAIRE

    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...

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

    Science.gov (United States)

    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.

  19. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    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)....

  20. Benefits and Challenges of Over-Actuated Excitation Systems

    OpenAIRE

    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...

  1. Output constrained IMC controllers in control systems of electromechanical actuators

    Institute of Scientific and Technical Information of China (English)

    Piotr M MARUSAK; Suwat KUNTANAPREEDA

    2015-01-01

    Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator.

  2. Stabilization of Neutral Systems with Saturating Actuators

    Directory of Open Access Journals (Sweden)

    F. El Haoussi

    2012-01-01

    to determine stabilizing state-feedback controllers with large domain of attraction, expressed as linear matrix inequalities, readily implementable using available numerical tools and with tuning parameters that make possible to select the most adequate solution. These conditions are derived by using a Lyapunov-Krasovskii functional on the vertices of the polytopic description of the actuator saturations. Numerical examples demonstrate the effectiveness of the proposed technique.

  3. Bumpless switching control for switched systems with partial actuator failures

    Science.gov (United States)

    Qi, Yiwen; Bao, Wen; Zhang, Qingxin; Chang, Juntao

    2016-11-01

    This study is concerned with the bumpless transfer problem for switched systems with partial actuator failures, in order to obtain smooth system performance output transition. Taking into account that the system requires a controller switching from current sub-controller to a fault-tolerant sub-controller after actuator fault. And bumpless transfer for control input cannot be traditionally designed when the actuator fault occurs, while performance smoothing can be considered and it is actually the ultimate goal of bumpless transfer. Specifically, the actuator fault model is firstly established and partial actuator fault is considered. Then, the system performance output signal is deemed as the main design variable of bumpless transfer, and closed-loop control systems both previous and after controller switching are constructed. Moreover, by using model matching thought and the adaptive sliding mode control technique, a bumpless transfer compensator design strategy is given to drive the performance output variable (after controller switching) to track the one of reference model. At last, simulation results of numeric and application examples demonstrate the effectiveness of the proposed bumpless transfer strategy.

  4. Microseconds-scale magnetic actuators system for plasma feedback stabilization

    Science.gov (United States)

    Kogan, K.; Be'ery, I.; Seemann, O.

    2016-10-01

    Many magnetic confinement machines use active feedback stabilization with magnetic actuators. We present a novel magnetic actuators system with a response time much faster than previous ones, making it capable of coping with the fast plasma instabilities. The system achieved a response time of 3 μs with maximal current of 500 A in a coil with inductance of 5.2 μH. The system is based on commercial solid-state switches and FPGA state machine, making it easily scalable to higher currents or higher inductivity.

  5. Design of Transputer Controllers for Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...

  6. Optimal Sensor and Actuator Location for Unstable Systems

    DEFF Research Database (Denmark)

    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...

  7. Actuator prototype system by voice commands using free software

    Directory of Open Access Journals (Sweden)

    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.

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

    OpenAIRE

    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...

  9. Reconfigurability of Piecewise Affine Systems Against Actuator Faults

    DEFF Research Database (Denmark)

    Tabatabaeipour, Seyed Mojtaba; Gholami, Mehdi; Bak, Thomas;

    2011-01-01

    In this paper, we consider the problem of recongurability of peicewise ane (PWA) systems. Actuator faults are considered. A system subject to a fault is considered as recongurable if it can be stabilized by a state feedback controller and the optimal cost of the performance of the systems is admi...... is admissible. Sucient conditions for recongurability are derived in terms of feasibility of a set of Linear Matrix Inequalities (LMIs). The method is implemented on a large scale livestock hybrid ventilation model which was obtained during previous research......In this paper, we consider the problem of recongurability of peicewise ane (PWA) systems. Actuator faults are considered. A system subject to a fault is considered as recongurable if it can be stabilized by a state feedback controller and the optimal cost of the performance of the systems...

  10. Structural/control system optimization with variable actuator masses

    Science.gov (United States)

    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.

  11. Conducting IPN actuator/sensor for biomimetic vibrissa system

    Science.gov (United States)

    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.

  12. Control of a perturbed under-actuated mechanical system

    KAUST Repository

    Zayane, Chadia

    2015-11-05

    In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

  13. 30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

    Science.gov (United States)

    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...

  14. Casimir and hydrodynamic force influence on microelectromechanical system actuation in ambient conditions

    NARCIS (Netherlands)

    Sedighi Ghozotkhar, Mehdi; Palasantzas, Georgios

    2014-01-01

    Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating

  15. Biomimetic Control of Mechanical Systems Equipped with Musculotendon Actuators

    Institute of Scientific and Technical Information of China (English)

    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.

  16. Pneumatic Muscle Actuated Compliant Gripper Systems

    Directory of Open Access Journals (Sweden)

    Deaconescu Andrea

    2016-01-01

    Full Text Available The paper presents the stages of developing new, light, eco-friendly and bionic gripper systems. Gripping is achieved by means of original, self adaptive, bio-inspired systems, with a pneumatic muscle as motion generator. The method underlying the development of these new gripping systems is based on the creation of concepts by analogy, an instrument aimed at widening the inspiration horizon in designing by using models from nature.

  17. Experimental analysis of chaos in under actuated electromechanical systems

    Energy Technology Data Exchange (ETDEWEB)

    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.

  18. Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training

    NARCIS (Netherlands)

    Veneman, J.F.; Ekkelenkamp, R.; Kruidhof, R.; Helm, van der F.C.T.; Kooij, van der H.

    2005-01-01

    Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque sou

  19. Magnetohydrodynamic actuation of droplets for millimetric planar fluidic systems

    Energy Technology Data Exchange (ETDEWEB)

    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.

  20. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    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...

  1. Integrating Sensory/Actuation Systems in Agricultural Vehicles

    Directory of Open Access Journals (Sweden)

    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.

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

    Data.gov (United States)

    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...

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

    Science.gov (United States)

    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.

  4. Prognostic Health-Management System Development for Electromechanical Actuators

    Data.gov (United States)

    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. OMS engine shutoff valve and actuation system design and evaluation. [for space shuttles

    Science.gov (United States)

    Wichmann, H.

    1974-01-01

    Shutoff valve and actuation system concepts that are most suitable for the Orbital Maneuvering Systems engine application were determined. Emphasis was placed on the ten year and 100 mission life requirement, propellant and propellant residue compatibility and weight. It was found that poppet or ball valves utilizing electric or electropneumatic actuation were most applicable. Preliminary design layouts of a number of valve and actuation concepts were prepared and analyzed to make the optimum concept selection. Pneumatic actuation systems were required to feature their own pneumatic supply so that for the quad redundant valve, it was necessary to include two pneumatic supply systems, one for each of the series legs of the quad redundant package. The requirement for the pneumatic package placed heavy reliability, weight, and maintenance penalties upon electropneumatic actuation systems. The two valve and actuation systems concepts selected featured electric torque motor operation and a poppet as well as a ball valve concept with a retractable seal.

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

    Science.gov (United States)

    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.

  7. Modelling of coulometric sensor-actuator systems based on ISFETs with a porous actuator covering the gate

    NARCIS (Netherlands)

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

    1993-01-01

    The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed ISFET-base

  8. Electromagnetic variable degrees of freedom actuator systems and methods

    Science.gov (United States)

    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.

  9. Iridium oxide as actuator material for the ISFET-based sensor-actuator system

    NARCIS (Netherlands)

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

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with Coulometrically generated OH- or H+ ions at a noble-metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. The ISFET is used as the indicator electrode to detect the equivalence point i

  10. Robust reliable H∞ control for discrete-time Markov jump linear systems with actuator failures

    Institute of Scientific and Technical Information of China (English)

    Chen Jiaorong; Liu Fei

    2008-01-01

    The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied.A more practical model of actuator failures than outage is considered.Based on the state feedback method,the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of Hex disturbance attenuation not only when all actuators are operational,but also in case of some actuator failures.The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities (LMIs).A numerical example is also given to illustrate the design procedures and their effectiveness.

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

    Energy Technology Data Exchange (ETDEWEB)

    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

  12. Actuation and system design and evaluation OMS engine shutoff valve, Volume 1. [space shuttles

    Science.gov (United States)

    Dunn, V. B.

    1975-01-01

    A technology program was conducted to identify and verify the optimum valve and actuation system concept for the Space Shuttle Orbit Maneuvering System engine. Of major importance to the valve and actuation system selection was the ten-year, 100-mission, 10,000-cycle life requirement, while maintaining high reliability, low leakage, and low weight. Valve and actuation system concepts were comparatively evaluated against past valve failure reports and potential failure modes due to the shuttle mission profile to aid in the selection of the most optimum concept for design, manufacture and verification testing. Two valve concepts were considered during the preliminary design stage; i.e., the moving seat and lifting ball. Two actuation systems were manufactured and tested. Test results demonstrate the viability of a lifting ball concept as well as the applicability of an ac motor actuation system to best meet the requirements of the shuttle mission.

  13. Developing Spring-Roll Dielectric Elastomer Actuator System Based on Optimal Design Parameters

    Directory of Open Access Journals (Sweden)

    Besada Adeeb Anees

    2011-09-01

    Full Text Available To develop a well designed practical spring-roll dielectric elastomer actuator system, we have to optimize the design parameters of spring-roll dielectric elastomer and develop a voltage supply that is able to pump enough controlled charges and provide a wide range of controlled voltages to the actuator. In this paper, switched based multistage charge pump driven by a controlled low voltage switching power supply and a voltage driver is proposed as a wide range output voltage supply. In this paper, based on the equations of state, new approaches for designing a spring-roll dielectric elastomer actuator have been developed. The key issue of the actuation range depends upon weather the actuator has a fixed load or variable multi-load. The achieved results based on the proposed approaches show that the applied voltage has been reduced and the design of the actuator is getting simpler.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  15. Shape memory system with integrated actuation using embedded particles

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    OpenAIRE

    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...

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

    Institute of Scientific and Technical Information of China (English)

    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.

  19. System Compliant Actuation for Structural Engine Noise Remission Project

    Data.gov (United States)

    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...

  20. NanoDrill: 1 Actuator Core Acquisition System Project

    Data.gov (United States)

    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...

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

    OpenAIRE

    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...

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

    Science.gov (United States)

    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.

  3. Demonstration of Vibrational Braille Code Display Using Large Displacement Micro-Electro-Mechanical Systems Actuators

    Science.gov (United States)

    Watanabe, Junpei; Ishikawa, Hiroaki; Arouette, Xavier; Matsumoto, Yasuaki; Miki, Norihisa

    2012-06-01

    In this paper, we present a vibrational Braille code display with large-displacement micro-electro-mechanical systems (MEMS) actuator arrays. Tactile receptors are more sensitive to vibrational stimuli than to static ones. Therefore, when each cell of the Braille code vibrates at optimal frequencies, subjects can recognize the codes more efficiently. We fabricated a vibrational Braille code display that used actuators consisting of piezoelectric actuators and a hydraulic displacement amplification mechanism (HDAM) as cells. The HDAM that encapsulated incompressible liquids in microchambers with two flexible polymer membranes could amplify the displacement of the MEMS actuator. We investigated the voltage required for subjects to recognize Braille codes when each cell, i.e., the large-displacement MEMS actuator, vibrated at various frequencies. Lower voltages were required at vibration frequencies higher than 50 Hz than at vibration frequencies lower than 50 Hz, which verified that the proposed vibrational Braille code display is efficient by successfully exploiting the characteristics of human tactile receptors.

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

    Science.gov (United States)

    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

  5. Actuator Fault Detection for Sampled-Data Systems in H∞ Setting

    Institute of Scientific and Technical Information of China (English)

    YANG Xiao-jun; WENG Zheng-xin; TIAN Zuo-hua

    2005-01-01

    Actuator fault detection for sampled-data systems was investigated from the viewpoint of jump systems.With the aid of a prior frequency information on fault, such a problem is converted to an augmented H∞ filtering problem. A simple state-space approach is then proposed todeal with sampled-data actuator fault detection problem. Compared with the existed approaches, the proposed approach allows parameters of the sampled-data system being time-varying with consideration of measurement noise.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    DEFF Research Database (Denmark)

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

    2014-01-01

    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....... 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...

  8. Casimir and hydrodynamic force influence on microelectromechanical system actuation in ambient conditions

    Science.gov (United States)

    Sedighi, Mehdi; Palasantzas, George

    2014-02-01

    Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating components. Using phase change materials the Casimir force magnitude can be modulated via amorphous-crystalline phase transitions. The dissipative motion between amorphous coated phase change material components can be changed towards stiction upon crystallization and suitable choice of restoring spring constants. By contrast, amorphization can augment switching from stiction to dissipative dynamics.

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

    Data.gov (United States)

    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...

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

    OpenAIRE

    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.

  11. Hybrid microcircuit metallization system for the SLL micro actuator

    Energy Technology Data Exchange (ETDEWEB)

    Hampy, R. E.; Knauss, G. L.; Komarek, E. E.; Kramer, D. K.; Villaueva, J.

    1976-03-01

    A thin film technique developed for the SLL Micro Actuator in which both gold and aluminum can be incorporated on sapphire or fine grained alumina substrates in a two-level metallization system is described. Tungsten is used as a lateral transition metal permitting electrical contact between the gold and aluminum without the two metals coming in physical contact. Silicon dioxide serves as an insulator between the tungsten and aluminum for crossover purposes, and vias through the silicon dioxide permit interconnections where desired. Tungsten-gold is the first level conductor except at crossovers where tungsten only is used and aluminum is the second level conductor. Sheet resistances of the two levels can be as low as 0.01 ohm/square. Line widths and spaces as small as 0.025 mm can be attained. A second layer of silicon dioxide is deposited over the metallization and opened for all gold and aluminum bonding areas. The metallization system permits effective interconnection of a mixture of devices having both gold and aluminum terminations without creating undesirable gold-aluminum interfaces. Processing temperatures up to 400/sup 0/C can be tolerated for short times without effect on bondability, conductor, and insulator characteristics, thus permitting silicon-gold eutectic die attachment, component soldering, and higher temperatures during gold lead bonding. Tests conducted on special test pattern circuits indicate good stability over the temperature range -55 to +150/sup 0/C. Aging studies indicate no degradation in characteristics in tests of 500 h duration at 150/sup 0/C.

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

    OpenAIRE

    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...

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

    DEFF Research Database (Denmark)

    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....

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

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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. Worcester 1 Inch Solenoid Actuated Gas Operated SCHe System Valves

    Energy Technology Data Exchange (ETDEWEB)

    MISKA, C.R.

    2000-09-03

    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.

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

    International Nuclear Information System (INIS)

    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

  18. Tungsten trioxide (WO3) as an actuator electrode material for ISFET-based coulometric sensor-actuator systems

    NARCIS (Netherlands)

    Kerkhof, van J.C.; Olthuis, W.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with OH− or H+ ions, coulometrically generated by the electrolysis of water at a noble metal actuator electrode. This can be done very rapidly if the actuator electrode is in close proximity to an ISFET which is used

  19. Fault-tolerant Control of Discrete-time LPV systems using Virtual Actuators and Sensors

    DEFF Research Database (Denmark)

    Tabatabaeipour, Mojtaba; Stoustrup, Jakob; Bak, Thomas

    2015-01-01

    , it transforms the output of the controller for the faulty system such that the stability and performance goals are preserved. Input-to-state stabilizing LPV gains of the virtual actuator and sensor are obtained by solving linear matrix inequalities (LMIs). We show that separate design of these gains guarantees...... the plant and the nominal controller. The reconfiguration block is realized by an LPV virtual actuator and an LPV virtual sensor. Its goal is to transform the signals from the faulty system such that its behavior is similar to that of the nominal system from the viewpoint of the controller. Furthermore...... the input-to-state stability (ISS) of the closed-loop reconfigured system. Moreover, we obtain performances in terms of the ISS gains for the virtual actuator, the virtual sensor and their interconnection. Minimizing these performances is formulated as convex optimization problems subject to LMI constraints...

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

    DEFF Research Database (Denmark)

    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...

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  3. Bioinspired Soft Actuation System Using Shape Memory Alloys

    Directory of Open Access Journals (Sweden)

    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.

  4. Ferromagnetic shape memory flapper for remotely actuated propulsion systems

    Science.gov (United States)

    Kanner, Oren Y.; Shilo, Doron; Sheng, Jian; James, Richard D.; Ganor, Yaniv

    2013-08-01

    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.

  5. Distributed electromechanical actuation system design for a morphing trailing edge wing

    Science.gov (United States)

    Dimino, I.; Diodati, G.; Concilio, A.; Volovick, A.; Zivan, L.

    2016-04-01

    Next-generation flight control actuation technology will be based on "more electric" concepts to ensure benefits in terms of efficiency, weight and maintenance. This paper is concerned with the design of an un-shafted distributed servo-electromechanical actuation system, suited for morphing trailing edge wings of large commercial aircraft. It aims at producing small wing camber variations in the range between -5° and +5° in cruise, to enable aerodynamic efficiency improvements. The deployment kinematics is based on multiple "direct-drive" actuation, each made of light-weight compact lever mechanisms, rigidly connected to compliant ribs and sustained by load-bearing motors. Navier-Stokes computations are performed to estimate the pressure distribution over the interested wing region and the resulting hinge moments. These transfer to the primary structure via the driving mechanism. An electro-mechanical Matlab/Simulink model of the distributed actuation architecture is developed and used as a design tool, to preliminary evaluate the complete system performance. Implementing a multi-shaft strategy, each actuator is sized for the torque acting on the respective adaptive rib, following the effect of both the aerodynamic pressure and the morphing skin stiffness. Elastic trailing edge rotations and power needs are evaluated in operative conditions. Focus is finally given to the key challenges of the proposed concept: targeting quantifiable performance improvements while being compliant to the demanding requirements in terms of reliability and safety.

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

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  9. Model of magnetostrictive actuator

    Institute of Scientific and Technical Information of China (English)

    LI Lin; ZHANG Yuan-yuan

    2005-01-01

    The hysteresis of the magnetostrictive actuator was studied. A mathematical model of the hysteresis loop was obtained on the basis of experiment. This model depends on the frequency and the amplitude of the alternating current inputted to the magnetostrictive actuator. Based on the model, the effect of hysteresis on dynamic output of the magnetostrictive actuator was investigated. Then how to consider hysteresis and establish a dynamic model of a magnetostrictive actuator system is discussed when a practical system was designed and applied.

  10. Hydraulic engine valve actuation system including independent feedback control

    Science.gov (United States)

    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.

  11. Modeling of reliability and performance assessment of a dissimilar redundancy actuation system with failure monitoring

    Institute of Scientific and Technical Information of China (English)

    Wang Shaoping; Cui Xiaoyu; Shi Jian; Mileta M. Tomovic; Jiao Zongxia

    2016-01-01

    Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple-mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec-trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli-ability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards.

  12. Prototyping a compact system for active vibration isolation using piezoelectric sensors and actuators

    Science.gov (United States)

    Shen, Hui; Wang, Chun; Li, Liufeng; Chen, Lisheng

    2013-05-01

    Being small in size and weight, piezoelectric transducers hold unique positions in vibration sensing and control. Here, we explore the possibility of building a compact vibration isolation system using piezoelectric sensors and actuators. The mechanical resonances of a piezoelectric actuator around a few kHz are suppressed by an order of magnitude via electrical damping, which improves the high-frequency response. Working with a strain gauge located on the piezoelectric actuator, an auxiliary control loop eliminates the drift associated with a large servo gain at dc. Following this approach, we design, optimize, and experimentally verify the loop responses using frequency domain analysis. The vibration isolation between 1 Hz and 200 Hz is achieved and the attenuation peaks at 60 near vibration frequency of 20 Hz. Restrictions and potentials for extending the isolation to lower vibration frequencies are discussed.

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

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    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...

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  19. Simplified design of the coulometric sensor-actuator system by the application of a time-dependent actuator current

    NARCIS (Netherlands)

    Olthuis, W.; Bergveld, P.

    1992-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with coulometrically generated OH¿ or H+ ions at a noble metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. It is shown, both theoretically and experimentally, that the relation between

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

    Directory of Open Access Journals (Sweden)

    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.

  1. Remaining Useful Lifetime Prognosis of Controlled Systems: A Case of Stochastically Deteriorating Actuator

    Directory of Open Access Journals (Sweden)

    Danh Ngoc Nguyen

    2015-01-01

    Full Text Available This paper addresses the case of automatic controlled system which deteriorates during its operation because of components’ wear or deterioration. Depending on its specific closed-loop structure, the controlled system has the ability to compensate for disturbances affecting the actuators which can remain partially hidden. The deterioration modeling and the Remaining Useful Lifetime (RUL estimation for such closed-loop dynamic system have not been addressed extensively. In this paper, we consider a controlled system with Proportional-Integral-Derivative controller. It is assumed that the actuator is subject to shocks that occur randomly in time. An integrated model is proposed to jointly describe the state of the controlled process and the actuator deterioration. Only the output of the controlled system is available to assess its health condition. By considering a Piecewise Deterministic Markov Process, the RUL of the system can be estimated by a two-step approach. In the first step referred as the “Diagnosis” step, the system state is estimated online from the available monitoring observations by using a particle filtering method. In the second step referred as the “Prognosis” step, the RUL is estimated as a conditional reliability by Monte Carlo simulation. To illustrate the approach, a simulated tank level control system is used.

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

    OpenAIRE

    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...

  3. STABILITY ANALYSIS OF DECENTRALIZED ADAPTIVE BACKSTEPPING CONTROL SYSTEMS WITH ACTUATOR FAILURES

    Institute of Scientific and Technical Information of China (English)

    Wei WANG; Changyun WEN; Guanghong YANG

    2009-01-01

    In this paper, the authors analyze the stability of a class of interconnected systems with subsystem unmodeled dynamics and dynamic interactions employing decentralized adaptive controllers designed by Wen, Zhou, and Wang (2008) in the presence of actuator failures. It will be shown that the global stability of the remaining closed-loop system is still ensured and the outputs are also regulated to zero when some subsystems break down.

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

    International Nuclear Information System (INIS)

    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

  5. Delay and Its Time-derivative Dependent Robust Stability of Uncertain Neutral Systems with Saturating Actuators

    Institute of Scientific and Technical Information of China (English)

    Fatima El Haoussi; El Houssaine Tissir

    2010-01-01

    This note concerns the problem of the robust stability of uncertain neutral systems with time-varying delay and saturating actuators. The system considered is continuous in time with norm bounded parametric uncertainties. By incorporating the free weighing matrix approach developed recently, some new delay-dependent stability conditions in terms of linear matrix inequalities (LMIs) with some tuning parameters are obtained. An estimate of the domain of attraction of the closed-loop system under a priori designed controller is proposed. The approach is based on a polytopic description of the actuator saturation nonlinearities and the Lyapunov-Krasovskii method. Numerical examples are used to demonstrate the effectiveness of the proposed design method.

  6. Satisfactory fault-tolerant controller design for uncertain systems subject to actuator faults

    Institute of Scientific and Technical Information of China (English)

    Zhang Dengfeng; Su Hongye; Wang Zhiquan

    2008-01-01

    Based on satisfactory control strategy, a new method for robust passive fault tolerant controller is proposed for a class of uncertain discrete-time systems subject to actuator faults. The state-feedback gain matrix is calculated by linear matrix inequality (LMI) technique. The designed controller guarantees that the closed-loop system meets the pre-specified consistent constraints on circular pole index and steady-state variance index simultaneously for normal case and possible actuator fault case. The consistency of the performance indices is discussed. Furthermore, with the mentioned indices constraints, a solution is obtained by convex optimal technique for the robust satisfactory fault-tolerant controller with optimal control-cost.

  7. Adaptive control for a class of MIMO nonlinear time delay systems against time varying actuator failures.

    Science.gov (United States)

    Hashemi, Mahnaz; Ghaisari, Jafar; Askari, Javad

    2015-07-01

    This paper investigates an adaptive controller for a class of Multi Input Multi Output (MIMO) nonlinear systems with unknown parameters, bounded time delays and in the presence of unknown time varying actuator failures. The type of considered actuator failure is one in which some inputs may be stuck at some time varying values where the values, times and patterns of the failures are unknown. The proposed approach is constructed based on a backstepping design method. The boundedness of all the closed-loop signals is guaranteed and the tracking errors are proved to converge to a small neighborhood of the origin. The proposed approach is employed for a double inverted pendulums benchmark and a chemical reactor system. The simulation results show the effectiveness of the proposed method.

  8. Non-contacting actuation by radiation powered telemetry system

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

  10. High Resolution Actuators

    Directory of Open Access Journals (Sweden)

    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.[...

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

    Science.gov (United States)

    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.

  12. Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

    Directory of Open Access Journals (Sweden)

    Ye HUANG

    2014-09-01

    Full Text Available Hydraulic control systems of butterfly valves are presently valve-controlled and pump-controlled. Valve-controlled hydraulic systems have serious power loss and generate much heat during throttling. Pump-controlled hydraulic systems have no overflow or throttling losses but are limited in the speed adjustment of the variable-displacement pump, generate much noise, pollute the environment, and have motor power that does not match load requirements, resulting in low efficiency under light loads and wearing of the variable-displacement pump. To overcome these shortcomings, this article designs a closed hydraulic control system in which an AC servo motor drives a quantitative pump that controls a spiral swinging hydraulic cylinder, and analyzes and calculates the structure and parameters of a spiral swinging hydraulic cylinder. The hydraulic system adjusts the servo motor’s speed according to the requirements of the control system, and the motor power matches the power provided to components, thus eliminating the throttling loss of hydraulic circuits. The system is compact, produces a large output force, provides stable transmission, has a quick response, and is suitable as a hydraulic control system of a large butterfly valve.

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

    Directory of Open Access Journals (Sweden)

    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.

  14. Strategic avionics technology definition studies. Subtask 3-1A: Electrical Actuation (ELA) systems

    Science.gov (United States)

    Lum, Ben T. F.; Pond, Charles; Dermott, William

    1993-01-01

    This interim report presents the preliminary results of an electrical actuation (ELA) system study (subtask TA3-1A) to support the NASA strategic avionics technology definition studies. The final report of this ELA study is scheduled for September 30, 1993. The topics are presented in viewgraph form and include the following ELA technology demonstration testing; ELA system baseline; power and energy requirements for shuttle effector systems; power efficiency and losses of ELA effector systems; and power and energy requirements for ELA power sources.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    OpenAIRE

    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...

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

    DEFF Research Database (Denmark)

    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...

  19. Longitudinal Absolute Stability of a BWB Aircraft-Pilot System with Saturated Actuator Model

    Directory of Open Access Journals (Sweden)

    Claudia Alice STATE

    2013-09-01

    Full Text Available This paper deals with the analysis of the P(ilot I(n-the-Loop O(scillations of the second category (with rate and position liming in the closed loop pilot-vehicle system, caused by the dynamic coupling between the human pilot and the aircraft. The analysis is made in the context of the longitudinal motion and the theoretical model of the airplane presented in this article is a (Blended(Wing (Body tailless configuration. In what concerns the human operator, this is expressed by the Synchronous Pilot Model, which is represented by a simple gain, without a specific delay. The Routh-Hurwitz criterion is used in order to analyze the longitudinal stability of the low-order pilot-airplane system without the influence of actuator nonlinearity (this means that the unsaturated actuator model is employed for the mentioned algebraic criterion. Most emphasis is put on the frequency Popov criterion, which is used to investigate the absolute stability property of the short-period model in the presence of the actuator rate saturation, in the condition of the Lurie problem. The transfer function of the longitudinal BWB model, obtained from open-loop analysis, has a double pole at the origin and, for the absolute stability feedback structure that contains the nonlinearity of the saturation type, the Popov frequency-domain inequalities are applied to the PIO II problem in this critical case.

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

    DEFF Research Database (Denmark)

    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...

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

    CERN Document Server

    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 ...

  2. Adaptive fault-tolerant control of linear time-invariant systems in the presence of actuator saturation

    Institute of Scientific and Technical Information of China (English)

    Wei GUAN; Guanghong YANG

    2009-01-01

    This paper studies the problem of designing adaptive fault-tolerant controllers for linear time-invariant systems with actuator saturation.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 updating automatically to compensate the fault effects on systems.The designs are developed in the framework of linear matrix inequality (LMI) approach,which can enlarge the domain of attraction of closed-loop systems in the cases of actuator saturation and actuator failures.Two examples are given to illustrate the effectiveness of the design method.

  3. Structural integrated sensor and actuator systems for active flow control

    Science.gov (United States)

    Behr, Christian; Schwerter, Martin; Leester-Schädel, Monika; Wierach, Peter; Dietzel, Andreas; Sinapius, Michael

    2016-04-01

    An adaptive flow separation control system is designed and implemented as an essential part of a novel high-lift device for future aircraft. The system consists of MEMS pressure sensors to determine the flow conditions and adaptive lips to regulate the mass flow and the velocity of a wall near stream over the internally blown Coanda flap. By the oscillating lip the mass flow in the blowing slot changes dynamically, consequently the momentum exchange of the boundary layer over a high lift flap required mass flow can be reduced. These new compact and highly integrated systems provide a real-time monitoring and manipulation of the flow conditions. In this context the integration of pressure sensors into flow sensing airfoils of composite material is investigated. Mechanical and electrical properties of the integrated sensors are investigated under mechanical loads during tensile tests. The sensors contain a reference pressure chamber isolated to the ambient by a deformable membrane with integrated piezoresistors connected as a Wheatstone bridge, which outputs voltage signals depending on the ambient pressure. The composite material in which the sensors are embedded consists of 22 individual layers of unidirectional glass fiber reinforced plastic (GFRP) prepreg. The results of the experiments are used for adapting the design of the sensors and the layout of the laminate to ensure an optimized flux of force in highly loaded structures primarily for future aeronautical applications. It can be shown that the pressure sensor withstands the embedding process into fiber composites with full functional capability and predictable behavior under stress.

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

    Institute of Scientific and Technical Information of China (English)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  6. Magnetically-Actuated Escherichia coli System for Micro Lithography

    Science.gov (United States)

    Lauback, S.; Brown, E.; Pérez-Guzman, L.; Peace, C.; Pierce, C.; Lower, B. H.; Lower, S. K.; Sooryakumar, R.

    2015-03-01

    Technologies that control matter at the nano- and micro-scale are crucial for developing new engineered materials and devices. While the more traditional approaches for such manipulations often depend on lithographic fabrication, they can be expanded upon by taking advantage of the biological systems within a living cell which also operate on the nano- and micro- scale. In this study, a system is being developed to functionalize a targeted location on the surface of a chip with the protein AmCyan from transformed Escherichia coli cells. Using established methods in molecular biology where a plasmid with the amcyan gene sequence is inserted into the cell, E. coli are engineered to express the AmCyan protein on their outer surface. In order to transport the cells to the targeted location, the transformed E. coli are labeled with superparamagnetic micro-beads which exert directed forces on the cells in an external field. Preliminary results of the protein expression on E. coli, the transport of the cell through weak magnetic fields to targeted locations and the potential to transfer protein from the cell to the chip surface will be presented.

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

    Energy Technology Data Exchange (ETDEWEB)

    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

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

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

  10. Thermo-actuated migration in a micro-system

    Science.gov (United States)

    Jullien, Marie-Caroline; Selva, Bertrand; Cantat, Isabelle

    2012-02-01

    Digital microfluidics require element displacement by simple means featuring high integration rates. Within this context, the transport and handling of elements constitutes a problem [Squires and Quake, 2005]. This context has rekindled interest in the Marangoni surface effect, which refers to tangential stresses along an interface. Producing a surface tension gradient by imposing a temperature gradient is especially efficient and easy to control. In a recent paper, we have shown [Selva et al., Phys. Fluids (2011)] that a bubble undergoing a constant temperature gradient is indeed set into motion. However, the direction of motion (toward the cooler side) is in contradiction with experiments performed at the millimetre scale in which bubble migration is driven towards hoter regions. We believe this observation is due to the PDMS deformability. Indeed, PDMS expands when the temperature increases. A temperature gradient inside a microsystem results in a cavity thickness gradient, and thus leads to the bubble travelling towards the thicker part of the cavity. The physical phenomena involved in such a system are multifaceted (PDMS dilation, thermocapillarity, solutocapillarity) and may have either complementary or opposite effects depending on the experimental conditions.

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

    Energy Technology Data Exchange (ETDEWEB)

    Sturzebecher, D.; Nitsche, W

    2003-08-01

    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.

  12. Magnetic actuators and sensors

    CERN Document Server

    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

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

    Science.gov (United States)

    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

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  15. Robust stabilisation and L2 -gain analysis for switched systems with actuator saturation under asynchronous switching

    Science.gov (United States)

    Wang, Juan; Zhao, Jun

    2016-09-01

    Robust stabilisation and L2-gain analysis for a class of switched systems with actuator saturation are studied in this paper. The switching signal of the controllers lags behind that of the system modes, which leads to the asynchronous switching between the candidate controllers and the subsystems. By combining the piecewise Lyapunov function method with the convex hull technique, sufficient conditions in terms of LMIs for the solvability of the robust stabilisation and weighted L2-gain problems are presented respectively under the dwell time scheme. Finally, a numerical example is given to demonstrate the feasibility and effectiveness of the proposed results.

  16. Simultaneous state and actuator fault estimation for satellite attitude control systems

    Institute of Scientific and Technical Information of China (English)

    Cheng Yao; Wang Rixin; Xu Minqiang; Li Yuqing

    2016-01-01

    In this paper, a new nonlinear augmented observer is proposed and applied to satellite attitude control systems. The observer can estimate system state and actuator fault simultaneously. It can enhance the performances of rapidly-varying faults estimation. Only original system matrices are adopted in the parameter design. The considered faults can be unbounded, and the proposed augmented observer can estimate a large class of faults. Systems without disturbances and the fault whose finite times derivatives are zero piecewise are initially considered, followed by a discussion of a general situation where the system is subject to disturbances and the finite times derivatives of the faults are not null but bounded. For the considered nonlinear system, convergence conditions of the observer are provided and the stability analysis is performed using Lyapunov direct method. Then a feasible algorithm is explored to compute the observer parameters using linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed approach is illustrated by considering an example of a closed-loop satellite attitude control system. The simulation results show satisfactory perfor-mance in estimating states and actuator faults. It also shows that multiple faults can be estimated successfully.

  17. Progress on femtosecond laser-based system-materials: three-dimensional monolithic electrostatic micro-actuator for optomechanics

    Science.gov (United States)

    Yang, Tao; Bellouard, Yves

    2016-03-01

    Femtosecond laser-dielectric interaction in a three-dimensional (3D) manner defines a capable platform for integrated 3D micro-devices fabricated out of a single piece of system-material. Here, we add a new function to femtosecond laserbased single monolith in amorphous fused silica by demonstrating a transparent 3D micro-actuator using non-ablative femtosecond laser micromachining with subsequent chemical etching. The actuation principle is based on dielectrophoresis (DEP), defined as the unbalanced electrostatic action on dielectrics, due to an induced dipole moment under a non-uniform electric field. An analytical model of this actuation scheme is proposed, which is capable of performance prediction, design parameter optimization and motion instability analysis. Furthermore, the static and dynamic performances are experimentally characterized using optical measurement methods. An actuation range of 30 μm is well attainable; resonances and the settling time in transient responses are measured; the quality factor and the bandwidth for the primary vertical resonance are also evaluated. Experimental results are in good consistence with theoretical analyses. The proposed actuation principle suppresses the need for electrodes on the mobile, non-conductive component and is particularly interesting for moving transparent elements. Thanks to the flexibility of femtosecond laser manufacturing process, this actuation scheme can be integrated in other functionalities within monolithic transparent Micro-Electro-Mechanical Systems (MEMS) for applications like resonators, adaptive lenses and integrated photonics circuits.

  18. Self-powered sensory nerve system for civil structures using hybrid forisome actuators

    Science.gov (United States)

    Shoureshi, Rahmat A.; Shen, Amy

    2006-03-01

    In order to provide a true distributed sensor and control system for civil structures, we have developed a Structural Nervous System that mimics key attributes of a human nervous system. This nervous system is made up of building blocks that are designed based on mechanoreceptors as a fundamentally new approach for the development of a structural health monitoring and diagnostic system that utilizes the recently discovered plant-protein forisomes, a novel non-living biological material capable of sensing and actuation. In particular, our research has been focused on producing a sensory nervous system for civil structures by using forisomes as the mechanoreceptors, nerve fibers, neuronal pools, and spinocervical tract to the nodal and central processing units. This paper will present up to date results of our research, including the design and analysis of the structural nervous system.

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

    CERN Document Server

    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...

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

    International Nuclear Information System (INIS)

    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.

  1. Robust Predictive Control for Polytopic Uncertain Systems with Time-delay Subjected to Actuator Saturation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Robust predictive control algorithms were presented for polytopic uncertain linear discrete systems with time-delay subjected to actuator saturation. In the first algorithm, the parameter dependent state feedback model predictive control (MPC) law was obtained from minimizing the upper bound of the cost function subjected to several linear matrix inequality constraints. In order to reduce computation burden, a second robust MPC algorithm based on nominal performance cost was presented. The feasibility of the optimization problems guarantees that the algorithms are robustly stable. The simulation results verify the effectiveness of the proposed algorithms.

  2. Multi-objective H ∞ control for vehicle active suspension systems with random actuator delay

    Science.gov (United States)

    Li, Hongyi; Liu, Honghai; Hand, Steve; Hilton, Chris

    2012-12-01

    This article is concerned with the problem of multi-objective H ∞ control for vehicle active suspension systems with random actuator delay, which can be represented by signal probability distribution. First, the dynamical equations of a quarter-car suspension model are established for the control design purpose. Secondly, when taking into account vehicle performance requirements, namely, ride comfort, suspension deflection and the probability distributed actuator delay, we present the corresponding dynamic system, which will be transformed to the stochastic system for the problem of multi-objective H ∞ controller design. Third, based on the stochastic stability theory, the state feedback controller is proposed to render that the closed-loop system is exponentially stable in mean-square while simultaneously satisfying H ∞ performance and the output constraint requirement. The presented condition is expressed in the form of convex optimisation problems so that it can be efficiently solved via standard numerical software. Finally, a practical design example is given to demonstrate the effectiveness of the proposed method.

  3. Numerical simulation of the actuation system for the ALDF's propulsion control valve. [Aircraft Landing Dynamics Facility

    Science.gov (United States)

    Korte, John J.

    1990-01-01

    A numerical simulation of the actuation system for the propulsion control valve (PCV) of the NASA Langley Aircraft Landing Dynamics Facility was developed during the preliminary design of the PCV and used throughout the entire project. The simulation is based on a predictive model of the PCV which is used to evaluate and design the actuation system. The PCV controls a 1.7 million-pound thrust water jet used in propelling a 108,000-pound test carriage. The PCV can open and close in 0.300 second and deliver over 9,000 gallons of water per sec at pressures up to 3150 psi. The numerical simulation results are used to predict transient performance and valve opening characteristics, specify the hydraulic control system, define transient loadings on components, and evaluate failure modes. The mathematical model used for numerically simulating the mechanical fluid power system is described, and numerical results are demonstrated for a typical opening and closing cycle of the PCV. A summary is then given on how the model is used in the design process.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  6. Robust Output Feedback Control for Active Seat Suspension Systems with Actuator Time Delay Using µ-Synthesis Approach

    Directory of Open Access Journals (Sweden)

    Mohammad Gudarzi

    2013-10-01

    Full Text Available This study presents a robust output feedback optimal H&infin control synthesis for a class of uncertain seat suspension systems with actuator saturation and an uncertain actuator time delay. A vertical vibration model of human body is added in order to make the modeling of seat suspension systems more accurate. A dynamic controller is considered by using of two measurable states of the model, by real sensors, as output feedback. Moreover, uncertain actuator time delay is considered to guarantee robust performance of the closed-loop system. The controller is derived by using D-K iteration algorithm for constrained systems with norm-bounded uncertainties. The corresponding closed-loop system is asymptotically stable with a guaranteed H&infin performance. Finally, a design example is presented to show the performance and robustness of the developed theoretical results.

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

    DEFF Research Database (Denmark)

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

    2012-01-01

    of the controller and to transform the output of the controller for the faulty system such that the stability and performance goals are preserved. In this paper, we consider the weak fault-hiding goal and stability of the closed loop system. Input to state stabilizing LPV gains of the virtual actuator and sensor...... the 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...... are found by solving linear matrix inequalities (LMIs). We show that separate design of these gains guarantees the closed loop input to state stability of the closed loop reconfigured system....

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

    Science.gov (United States)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  11. Dynamic characteristics of a hydraulic amplification mechanism for large displacement actuators systems.

    Science.gov (United States)

    Arouette, Xavier; Matsumoto, Yasuaki; Ninomiya, Takeshi; Okayama, Yoshiyuki; Miki, Norihisa

    2010-01-01

    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. PMID:22319281

  12. Neural network-based robust actuator fault diagnosis for a non-linear multi-tank system.

    Science.gov (United States)

    Mrugalski, Marcin; Luzar, Marcel; Pazera, Marcin; Witczak, Marcin; Aubrun, Christophe

    2016-03-01

    The paper is devoted to the problem of the robust actuator fault diagnosis of the dynamic non-linear systems. In the proposed method, it is assumed that the diagnosed system can be modelled by the recurrent neural network, which can be transformed into the linear parameter varying form. Such a system description allows developing the designing scheme of the robust unknown input observer within H∞ framework for a class of non-linear systems. The proposed approach is designed in such a way that a prescribed disturbance attenuation level is achieved with respect to the actuator fault estimation error, while guaranteeing the convergence of the observer. The application of the robust unknown input observer enables actuator fault estimation, which allows applying the developed approach to the fault tolerant control tasks.

  13. Robust H∞ stabilization of a hard disk drive system with a single-stage actuator

    Science.gov (United States)

    Harno, Hendra G.; Kiin Woon, Raymond Song

    2015-04-01

    This paper considers a robust H∞ control problem for a hard disk drive system with a single stage actuator. The hard disk drive system is modeled as a linear time-invariant uncertain system where its uncertain parameters and high-order dynamics are considered as uncertainties satisfying integral quadratic constraints. The robust H∞ control problem is transformed into a nonlinear optimization problem with a pair of parameterized algebraic Riccati equations as nonconvex constraints. The nonlinear optimization problem is then solved using a differential evolution algorithm to find stabilizing solutions to the Riccati equations. These solutions are used for synthesizing an output feedback robust H∞ controller to stabilize the hard disk drive system with a specified disturbance attenuation level.

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

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

  4. Design of a Magnetostrictive-Hydraulic Actuator Considering Nonlinear System Dynamics and Fluid-Structure Coupling

    Science.gov (United States)

    Larson, John Philip

    Smart material electro-hydraulic actuators (EHAs) utilize fluid rectification via one-way check valves to amplify the small, high-frequency vibrations of certain smart materials into large motions of a hydraulic cylinder. Although the concept has been demonstrated in previously, the operating frequency of smart material EHA systems has been limited to a small fraction of the available bandwidth of the driver materials. The focus of this work is to characterize and model the mechanical performance of a magnetostrictive EHA considering key system components: rectification valves, smart material driver, and fluid-system components, leading to an improved actuator design relative to prior work. The one-way valves were modeled using 3-D finite element analysis, and their behavior was characterized experimentally by static and dynamic experimental measurement. Taking into account the effect of the fluid and mechanical conditions applied to the valves within the pump, the dynamic response of the valve was quantified and applied to determine rectification bandwidth of different valve configurations. A novel miniature reed valve, designed for a frequency response above 10~kHz, was fabricated and tested within a magnetostrictive EHA. The nonlinear response of the magnetostrictive driver, including saturation and hysteresis effects, was modeled using the Jiles-Atherton approach to calculate the magnetization and the resulting magnetostriction based on the applied field calculated within the rod from Maxwell's equations. The dynamic pressure response of the fluid system components (pumping chamber, hydraulic cylinder, and connecting passages) was measured over a range of input frequencies. For the magnetostrictive EHA tested, the peak performance frequency was found to be limited by the fluid resonances within the system. A lumped-parameter modeling approach was applied to model the overall behavior of a magnetostrictive EHA, incorporating models for the reed valve response

  5. Actuator Saturation and Control Design for Buildings Structural Systems with Improved Uncertainty Description

    Directory of Open Access Journals (Sweden)

    Y.C. Ding

    2013-01-01

    Full Text Available The problem of robustly active vibration control for a class of earthquake-excited structural systems with time-delay and saturation in the control input channel and parameter uncertainties appearing in all the mass, damping and stiffness matrices is concerned in this paper. The objective of the designing controllers is to guarantee the robust stability of the closed-loop system and attenuate the disturbance from earthquake excitation. Firstly, by using the linear combination of some matrices to deal with the system's uncertainties, a new system uncertainties description, namely rank-1 uncertainty description, is presented. Then, by introducing a linear varying parameter, the input saturation model is described as a linear parameter varying model. Furthermore, based on parameter-dependent Lyapunov theory and linear matrix inequality (LMI technique, the LMIs-based conditions for the closed-loop system to be stable are deduced. By solving those conditions, the controller, considering the actuator saturation, input delay and parameters uncertainties, is obtained. Finally, a three-storey linear building structure under earthquake excitation is considered and simulation results are given to show the effectiveness of the proposed controllers.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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)

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

    OpenAIRE

    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 ...

  10. Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery.

    Science.gov (United States)

    Sun, Zhenglong; Wang, Zheng; Phee, Soo Jay

    2015-04-01

    Recent study shows that tendon-sheath system (TSS) has great potential in the development of surgical robots for endoscopic surgery. It is able to deliver adequate power in a light-weight and compact package. And the flexibility and compliance of the tendon-sheath system make it capable of adapting to the long and winding path in the flexible endoscope. However, the main difficulties in precise control of such system fall on the nonlinearities of the system behavior and absence of necessary sensory feedback at the surgical end-effectors. Since accurate position control of the tool is a prerequisite for efficacy, safety and intuitive user-experience in robotic surgery, in this paper we propose a system modeling approach for motion compensation. Based on a bidirectional actuated system using two separate tendon-sheaths, motion transmission is firstly characterized. Two types of positional errors due to system backlash and environment loading are defined and modeled. Then a model-based feedforward compensation method is proposed for open-loop control, giving the system abilities to adjust according to changes in the transmission route configuration without any information feedback from the distal end. A dedicated experimental platform emulating a bidirectional TSS robotic system for endoscopic surgery is built for testing. Proposed positional errors are identified and verified. The performance of the proposed motion compensation is evaluated by trajectory tracking under different environment loading conditions. And the results demonstrate that accurate position control can be achieved even if the transmission route configuration is updated. PMID:25819033

  11. Observer-based reliable stabilization of uncertain linear systems subject to actuator faults, saturation, and bounded system disturbances.

    Science.gov (United States)

    Fan, Jinhua; Zhang, Youmin; Zheng, Zhiqiang

    2013-11-01

    A matrix inequality approach is proposed to reliably stabilize a class of uncertain linear systems subject to actuator faults, saturation, and bounded system disturbances. The system states are assumed immeasurable, and a classical observer is incorporated for observation to enable state-based feedback control. Both the stability and stabilization of the closed-loop system are discussed and the closed-loop domain of attraction is estimated by an ellipsoidal invariant set. The resultant stabilization conditions in the form of matrix inequalities enable simultaneous optimization of both the observer gain and the feedback controller gain, which is realized by converting the non-convex optimization problem to an unconstrained nonlinear programming problem. The effectiveness of proposed design techniques is demonstrated through a linearized model of F-18 HARV around an operating point.

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

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    Data.gov (United States)

    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...

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

    Science.gov (United States)

    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.

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

    Data.gov (United States)

    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...

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

    Data.gov (United States)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  1. Muscle Motion Solenoid Actuator

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    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....

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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)

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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)

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

    International Nuclear Information System (INIS)

    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)

  8. Actuation of polypyrrole nanowires

    Science.gov (United States)

    Lee, Alexander S.; Peteu, Serban F.; Ly, James V.; Requicha, Aristides A. G.; Thompson, Mark E.; Zhou, Chongwu

    2008-04-01

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  9. Actuation of polypyrrole nanowires

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou Chongwu [Laboratory for Molecular Robotics, University of Southern California, Los Angeles, CA 90089 (United States)], E-mail: requicha@usc.edu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 {mu}m, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  10. Actuation of polypyrrole nanowires.

    Science.gov (United States)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou, Chongwu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

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

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    Khare, S. M.; Venkataraman, V.

    2016-01-01

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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

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

    KAUST Repository

    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.

  16. Towards Sensor-Actuator Coupling in an Automated Order Picking System by Detecting Sealed Seams on Pouch Packed Goods

    Directory of Open Access Journals (Sweden)

    Frank Weichert

    2014-10-01

    Full Text Available In this paper, a novel concept of coupling the actuators of an automated order picking system for pouch packed goods with an embedded CCD camera sensor by means of image processing and machine learning is presented. The picking system mechanically combines the conveyance and singularization of a still-connected chain of pouch packed goods in a single machinery. The proposed algorithms perform a per-frame processing of the captured images in real-time to detect the sealed seams of the ongoing pouches. The detections are used to deduce cutting decisions in order to control the system’s actuators, namely the drive pulley for conveyance and the cutting device for the separation. Within this context, two controlling strategies are presented as well which specify the interaction of the sensor and the actuators. The detection is carried out by two different marker detection strategies: enhanced Template Matching as a heuristic and Support Vector Machines as a supervised classification based concept. Depending on the employed marker, detection rates of almost 100% with a calculation time of less than 40 ms are possible. From a logistic point of view, sealed seam widths of 20 mm prove feasible.

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

    Science.gov (United States)

    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.

  18. More Electric Landing Gear Actuation Study

    OpenAIRE

    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...

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

    NARCIS (Netherlands)

    Bijster, R.J.F.; Vreugd, J. de; Sadeghian Marnani, H.

    2014-01-01

    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 int

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

    NARCIS (Netherlands)

    Sedighi Ghozotkhar, Mehdi; Palasantzas, Georgios

    2015-01-01

    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 usi

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

    International Nuclear Information System (INIS)

    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

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

    Indian Academy of Sciences (India)

    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%.

  3. Electrostatic actuators fabricated by surface micromachining techniques

    OpenAIRE

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  6. Nature-inspired microfluidic manipulation using magnetic actuators

    NARCIS (Netherlands)

    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

  7. System and method for controlling hydraulic pressure in electro-hydraulic valve actuation systems

    Science.gov (United States)

    Brennan, Daniel G; Marriott, Craig D; Cowgill, Joel; Wiles, Matthew A; Patton, Kenneth James

    2014-09-23

    A control system for an engine includes a first lift control module and a second lift control module. The first lift control module increases lift of M valves of the engine to a predetermined valve lift during a period before disabling or re-enabling N valves of the engine. The second lift control module decreases the lift of the M valves to a desired valve lift during a period after enabling or re-enabling the N valves of the engine, wherein N and M are integers greater than or equal to one.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  10. FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    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.

  11. Sensor and Actuator Fault Detection and Isolation in Nonlinear System using Multi Model Adaptive Linear Kalman Filter

    Directory of Open Access Journals (Sweden)

    M. Manimozhi

    2014-05-01

    Full Text Available Fault Detection and Isolation (FDI using Linear Kalman Filter (LKF is not sufficient for effective monitoring of nonlinear processes. Most of the chemical plants are nonlinear in nature while operating the plant in a wide range of process variables. In this study we present an approach for designing of Multi Model Adaptive Linear Kalman Filter (MMALKF for Fault Detection and Isolation (FDI of a nonlinear system. The uses a bank of adaptive Kalman filter, with each model based on different fault hypothesis. In this study the effectiveness of the MMALKF has been demonstrated on a spherical tank system. The proposed method is detecting and isolating the sensor and actuator soft faults which occur sequentially or simultaneously.

  12. ROBUST CONTROL OF AN ELECTRO-HYDRAULIC PROPORTIONAL SPEED CONTROL SYSTEM WITH A SINGLE-ROD HYDRAULIC ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    Yang Jian; Xu Bing; Yang Huayong

    2005-01-01

    A robust control algorithm is proposed to focus on the non-linearity and parameters'uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator. The robust controller proposed does not need to design stable compensator in advance, is simple in design and has large scope of uncertainty applications. The feedback gains of the robust controller proposed are small, so it is easily implemented in engineering applications.Experimental research on the speed control under the different conditions is carried out for an EHPSCS. Experimental results show that the robust controller proposed has better robustness subject to parametric uncertainties, and adaptability of parameters' variation of control system itself and plant parameter variation.

  13. Miniature Phase-Transistion Actuators

    OpenAIRE

    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...

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

    OpenAIRE

    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 ...

  15. A microfluidic control system with re-usable micropump/valve actuator and injection moulded disposable polymer lab-on-a-slide

    DEFF Research Database (Denmark)

    Bu, Minqiang; Perch-Nielsen, Ivan R.; Yi, Sun;

    2011-01-01

    of different layers of polymer, and ultrasonic welding of TOPAS® lid to the slide. The re-usable pneumatic actuator not only simplifies the design of the lab-on-a-slide and reduces the fabrication cost, but also reduces the possibility of cross contamination during replacement of the disposable lab......A microfluidic control system consisting of micropump/valves with a re-usable pneumatic actuator and a disposable polymer lab-on-a-slide is presented. The lab-on-a-slide was fabricated using low cost methods, such as injection moulding of TOPAS® cyclic olefin copolymer (COC) slide, lamination...

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

    Directory of Open Access Journals (Sweden)

    Hao-Ting Lin

    2011-12-01

    Full Text Available 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 realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end

  17. Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

    Science.gov (United States)

    Chiang, Mao-Hsiung; Lin, Hao-Ting

    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 realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to

  18. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  20. Polypyrrole Actuators for Tremor Suppression

    DEFF Research Database (Denmark)

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

    2003-01-01

    Neurological tremor affecting limbs can be divided into at least 6 different types with frequencies ranging from 2 to about 20 Hz. In order to alleviate the symptoms by suppressing the tremor, sensing and actuation systems able to perform at these frequencies are needed. Electroactive polymers...... 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 the change of length and for the stiffness change are significantly different - the stiffness change being about 10 times faster. Both force measurements and Electrochemical Quartz Crystal Microbalance measurements indicate that the actuation process is complex and involves at least two different processes...

  1. A micro-optical system for endoscopy based on mechanical compensation paradigm using miniature piezo-actuation.

    Science.gov (United States)

    Cerveri, Pietro; Zazzarini, Cynthia Corinna; Patete, Paolo; Baroni, Guido

    2014-06-01

    The goal of the study was to investigate the feasibility of a novel miniaturized optical system for endoscopy. Fostering the mechanical compensation paradigm, the modeled optical system, composed by 14 lenses, separated in 4 different sets, had a total length of 15.55mm, an effective focal length ranging from 1.5 to 4.5mm with a zoom factor of about 2.8×, and an angular field of view up to 56°. Predicted maximum lens travel was less than 3.5mm. The consistency of the image plane height across the magnification range testified the zoom capability. The maximum predicted achromatic astigmatism, transverse spherical aberration, longitudinal spherical aberration and relative distortion were less than or equal to 25μm, 15μm, 35μm and 12%, respectively. Tests on tolerances showed that the manufacturing and opto-mechanics mounting are critical as little deviations from design dramatically decrease the optical performances. However, recent micro-fabrication technology can guarantee tolerances close to nominal design. A closed-loop actuation unit, devoted to move the zoom and the focus lens sets, was implemented adopting miniaturized squiggle piezo-motors and magnetic position encoders based on Hall effect. Performance results, using a prototypical test board, showed a positioning accuracy of less than 5μm along a lens travel path of 4.0mm, which was in agreement with the lens set motion features predicted by the analysis. In conclusion, this study demonstrated the feasibility of the optical design and the viability of the actuation approach while tolerances must be carefully taken into account.

  2. Dielectric Actuation of Polymers

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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

  4. Design and performance evaluation of sensors and actuators for advanced optical systems

    Science.gov (United States)

    Clark, Natalie

    2011-04-01

    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.

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

    Science.gov (United States)

    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.

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

    Data.gov (United States)

    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)...

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

    Data.gov (United States)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    Salvado, José; Espírito-Santo, António; Calado, Maria

    2012-01-01

    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. PMID:22969364

  10. Smart composite material system with sensor, actuator, and processor functions: a model of holding and releasing a ball

    Science.gov (United States)

    Oishi, Ryutaro; Yoshida, Hitoshi; Nagai, Hideki; Xu, Ya; Jang, Byung-Koog

    2002-07-01

    A smart composite material system which has three smart functions of sensor, actuator and processor has been developed intend to apply to structure of house for controlling ambient temperature and humidity, hands of robot for holding and feeling an object, and so on. A carbon fiber reinforced plastics (CFRP) is used as matrix in the smart composite. The size of the matrix is 120mm x 24mm x 0.45mm. The CFRP plate is combined two Ni-Ti shape memory alloy (SMA) wires with an elastic rubber to construct a composite material. The composite material has a characteristic of reversible response with respect to temperature. A photo-sensor and temperature sensor are embedded in the composite material. The composite material has a processor function to combine with a simple CPU (processor) unit. For demonstrating the capability of the composite material system, a model is built up for controlling certain behaviors such as gripping and releasing a spherical object. The amplitude of gripping force is (3.0 plus/minus 0.3) N in the measurement, which is consistent with our calculation of 2.7 N. Out of a variety of functions to be executed by the CPU, it is shown to exert calculation and decision making in regard to object selection, object holding, and ON-OFF control of action by external commands.

  11. Reliable Mixed H∞ and Passivity-Based Control for Fuzzy Markovian Switching Systems With Probabilistic Time Delays and Actuator Failures.

    Science.gov (United States)

    Sakthivel, Rathinasamy; Selvi, Subramaniam; Mathiyalagan, Kalidass; Shi, Peng

    2015-12-01

    This paper is concerned with the problem of reliable mixed H ∞ and passivity-based control for a class of stochastic Takagi-Sugeno (TS) fuzzy systems with Markovian switching and probabilistic time varying delays. Different from the existing works, the H∞ and passivity control problem with probabilistic occurrence of time-varying delays and actuator failures is considered in a unified framework, which is more general in some practical situations. The main aim of this paper is to design a reliable mixed H∞ and passivity-based controller such that the stochastic TS fuzzy system with Markovian switching is stochastically stable with a prescribed mixed H∞ and passivity performance level γ > 0 . Based on the Lyapunov-Krasovskii functional (LKF) involving lower and upper bound of probabilistic time delay and convex combination technique, a new set of delay-dependent sufficient condition in terms of linear matrix inequalities (LMIs) is established for obtaining the required result. Finally, a numerical example based on the modified truck-trailer model is given to demonstrate the effectiveness and applicability of the proposed design techniques.

  12. An intelligent sensor array distributed system for vibration analysis and acoustic noise characterization of a linear switched reluctance actuator.

    Science.gov (United States)

    Salvado, José; Espírito-Santo, António; Calado, Maria

    2012-01-01

    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.

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

    International Nuclear Information System (INIS)

    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)

  14. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee

    2010-08-01

    There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.

  15. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    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...

  16. Pneumatically actuated micropipetting device

    Science.gov (United States)

    Szita, Nicolas; Buser, Rudolf A.

    1998-03-01

    We have realized a valveless micropipetting device with an integrated sensor which can aspirate and dispense liquid volumes without any valves, hence without any reflow or dead volume. With an external pneumatic actuation, we have demonstrated aspirating and dispensing from 190nl of 6 (mu) l of water. Measurements showed a standard deviation of down to 1 percent. An integrated capacitive sensor will allow monitoring of the pressure throughout the pipetting process and detect malfunctions, e.g. clotting of the pipetting tip. It is our intention to use this demonstrated precise aspiration mechanism in combination with a micromachined reaction chamber and a miniaturized optical analysis system.

  17. The Actuated Guitar

    DEFF Research Database (Denmark)

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

    2014-01-01

    People with a physical handicap are often not able to engage and embrace the world of music on the same terms as normal functioning people. Traditional musical instruments have been refined over the last centuries, developing highly specialized and powerful interfaces; but nearly all require two...... functioning limbs, such as a foot, knee or the head to activate a motorized fader moving a pick back and forth across the strings. This approach employs the flexibility of a programmable digital system which allows us to scale and map different ranges of data from various sensors to the motion of the actuator...

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

  20. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert

    2011-01-01

    in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new......This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies...

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

    Data.gov (United States)

    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...

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

    Data.gov (United States)

    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...

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

    Science.gov (United States)

    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.

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

    OpenAIRE

    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...

  5. Experimental Research on Output Performances of Giant Magnetostrictive Actuator

    Institute of Scientific and Technical Information of China (English)

    LI Guo-ping; CHEN Zi-chen

    2007-01-01

    The paper introduces the performances of magnetostrictive actuators and its applications, discusses the design methods for the structure and internal magnetic circuit of a giant magnetostrictive actuator, and makes tests on the output displacement and force characteristics for an actuator using homemade magnetostrictive material. The experimental result shows that the actuator has satisfactory output precisions and ranges in transient and stable states, and can be used in lowfrequency vibration control system of precise equipment.

  6. Performance study of a hydrogen powered metal hydride actuator

    Science.gov (United States)

    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.

  7. A new converter for improving efficiency of multi-actuators fluid power system

    Energy Technology Data Exchange (ETDEWEB)

    Xue, Yong; Shang, JianZhong; Yang, JunHong; Wang Zhuo [National University of Defense Technology, Changsha (China)

    2016-05-15

    This paper is concerned with the application of energy efficient fluid power in mobile robots system and proposes a new fluid power converter system which is analogous to a boost converter in power electronics. The fluid power converter system is based on the principle of pulse-width modulation. The fluid power converter has an effect akin to an electrical switched inductance transformer, wherein the output pressure or flow rate can be stepped up or down. Using an inductive reactance device (an inertia mass-block), the output flow and pressure can be varied to meet the load by a means that does not rely on dissipation of power (the resistance control). The simulation model based on the mathematics models of the components is built to analyse the performance of the fluid power converter. It is clearly shown that the fluid power converter has higher energy efficiency than conventional resistance control manners.

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

    OpenAIRE

    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...

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

    NARCIS (Netherlands)

    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

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

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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.)

  13. Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

    Science.gov (United States)

    Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

    2016-09-01

    This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    OpenAIRE

    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...

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

    Science.gov (United States)

    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

  17. Integrated piezoelectric actuators in deep drawing tools

    Science.gov (United States)

    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.

  18. Modelling of non-steady-state concentration profiles at ISFET-based coulometric sensor—actuator systems

    NARCIS (Netherlands)

    Olthuis, W.; Luo, J.; Schoot, van der B.H.; Bergveld, P.; Bos, M.; Linden, van der W.E.

    1990-01-01

    Acid or base concentrations can be determined very rapidly by performing an acid—base titration with coulometrically generated OH− or H+ ions at a noble metal actuator electrode in close proximity to the pH-sensitive gate of an ion-sensitive field effect transistor (ISFET). The ISFET is used as the

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

    Science.gov (United States)

    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

  20. Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator

    Directory of Open Access Journals (Sweden)

    Tobias Kamf

    2016-08-01

    Full Text Available A low-cost method, which integrates distance sensing functionality into a switched electromagnet by using a hybrid switching mode and current ripple measurements, is proposed. The electromagnet is controlled by a micro-controller via a MOSFET H bridge, utilizing a comparator-based current control. Additionally, a method for calculating the inductance of the electromagnet and approximating the magnetic contact between the electromagnet and its target is also presented. The resulting tool is attached to an industrial robot, and the system performance using this setup is evaluated. Distance sensing in the range of 0 mm to 5.2 mm is demonstrated. It is also shown that the relation between magnetic contact, coil current and calculated inductance can be reduced to a predictive look-up table, enabling the quality of the magnetic contact to be estimated using minimal computational effort.

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

    CERN Document Server

    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...

  2. Approximate optimal control for a class of nonlinear discrete-time systems with saturating actuators

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    In this paper, we solve the approximate optimal control problem for a class of nonlinear discrete-time systems with saturating actu- ators via greedy iterative Heuristic Dynamic Programming (GI-HDP) algorithm. In order to deal with the saturating problem of actu- ators, a novel nonquadratic functional is developed. Based on the nonquadratic functional, the GI-HDP algorithm is introduced to obtain the optimal saturated controller with a rigorous convergence analysis. For facilitating the implementation of the iterative algo- rithm, three neural networks are used to approximate the value function, compute the optimal control policy and model the unknown plant, respectively. An example is given to demonstrate the validity of the proposed optimal control scheme.

  3. MEMS fluidic actuator

    Science.gov (United States)

    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.

  4. Thermostatic Valves Containing Silicone-Oil Actuators

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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

  7. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    International Nuclear Information System (INIS)

    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

  10. Wavelet Adaptive Reduced Order Observer Based Tracking Control for a Class of Uncertain Time Delay Nonlinear Systems Subjected to Actuator Saturation

    Directory of Open Access Journals (Sweden)

    Ajay Verma

    2012-11-01

    Full Text Available This Paper investigates the mean to design the reduced order observer and observer based controllers for a class of delayed uncertain nonlinear system subjected to actuator saturation. A new design approach of wavelet based adaptive reduced order observer is proposed. The proposed wavelet adaptive reduced order observer performs the task of identification of unknown system dynamics in addition to the reconstruction of states of the system. Wavelet neural network (WNN is used to approximate the uncertainties present in the system as well as to identify and compensate the nonlinearities introduced in the system due to actuator saturation. Using the feedback control, based on reconstructed states, the behavior of closed loop system is investigated. In addition robust control terms are also designed to attenuate the approximation error due to WNN. Adaptation laws are developed for the online tuning of the wavelet parameters and the stability of the overall systems is assured by using the Lyapunov- Krasovskii functional. A numerical example is provided to verify the effectiveness of theoretical development.

  11. Multilayer Piezoelectric Stack Actuator Characterization

    Science.gov (United States)

    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.

  12. Sensors and actuators, Twente

    NARCIS (Netherlands)

    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,

  13. An electrochemical micro actuator

    NARCIS (Netherlands)

    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

  14. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    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...

  15. Conjugated Polymers as Actuators: Modes of Actuation

    DEFF Research Database (Denmark)

    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...

  16. Selecting Actuator Configuration for a Benson Boiler

    DEFF Research Database (Denmark)

    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...

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

    Science.gov (United States)

    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

  18. Elastomeric actuator devices for magnetic resonance imaging

    Science.gov (United States)

    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.

  19. Mechatronics and Bioinspiration in Actuator Design and Control

    OpenAIRE

    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...

  20. Enhanced Fault Detection and Isolation in Modern Flight Actuators

    OpenAIRE

    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 (...

  1. Nylon-muscle-actuated robotic finger

    Science.gov (United States)

    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.

  2. Design of Pedestrian Road Crossing System with Actuated Signal Control%路段感应式信号控制行人过街系统设计

    Institute of Scientific and Technical Information of China (English)

    何赏璐; 郑长江; 过秀成; 李岩; 杨洁

    2012-01-01

    A novel pedestrian crossing system based on the actuated signal control is designed to improve the safety and efficiency of pedestrian crossing. This system achieves the functions of real-time detection pedestrian and vehicle with video and loops. Then, the actuated pedestrian signal timing plan is carried out. Three relevant auxiliary facilities, deceleration zone crosswalk, channel lighting system and smart sidewalk barrier are designed to protect pedestrian safety and improve traffic efficiency by separating pedestrian from vehicles temporally and spatially.%为保障路段行人安全过街,提高行人过街效率,设计了基于感应控制的路段行人安全过街系统.该系统分别采用视频和感应线圈实现对过街行人和路段车辆的自动检测,并据此设计行人过街感应信号控制方案,辅以“减速带式”人行横道、路段行人过街通道灯和智能人行道护栏3种过街辅助设施,实现时空上的人车分离.

  3. Energy Efficient Wireless Vehicular-Guided Actuator Network

    KAUST Repository

    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.

  4. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    Data.gov (United States)

    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....

  5. Actuator grouping optimization on flexible space reflectors

    Science.gov (United States)

    Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo

    2011-03-01

    With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required accuracy, precision surface control is needed on these lightweight reflectors. While studies have shown that domain control of space reflectors via Polyvinylidene Fluoride (PVDF) actuators is promising, the challenge is to realistically control a large number of distributed actuators with limited number of power supplies. In this research, a new En Mass Elimination method is synthesized to determine the optimal grouping of actuators when the actuator number exceeds the number of power supplies available. An analytical model is developed and the methodology is demonstrated numerically through system simulation on the derived model.

  6. Magnetically Actuated Seal Project

    Data.gov (United States)

    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...

  7. Finite-time H∞ control for discrete-time switched singular time-delay systems subject to actuator saturation via static output feedback

    Science.gov (United States)

    Ma, Yuechao; Fu, Lei

    2016-10-01

    This study employs the multiple Lyapunov-like function method and the average dwell-time concept of switching signal to investigate the finite-time H∞ static output-feedback (SOF) control problem for a class of discrete-time switched singular time-delay systems subject to actuator saturation. First, sufficient conditions are presented to guarantee the discrete-time switched singular time-delay system regular, causal and finite-time boundedness. Meanwhile, sufficient conditions are presented to ensure the H∞ disturbance attenuation level, and the design method of H∞ SOF controller is developed by solving matrix inequalities optimisation problem without any decompositions of system matrices and equivalent transformation. Finally, the effectiveness and merit of the theoretical results are shown through some numerical examples and several vivid illustrations.

  8. Combustion powered linear actuator

    Science.gov (United States)

    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.

  9. Laser Initiated Actuator study

    Energy Technology Data Exchange (ETDEWEB)

    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.

  10. Dielectric Actuation of Polymers

    OpenAIRE

    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...

  11. Design and application of shape memory actuators

    Science.gov (United States)

    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.

  12. Tubular dielectric elastomer actuator for active fluidic control

    Science.gov (United States)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  13. Efficient Hybrid Actuation Using Solid-State Actuators

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Energy Technology Data Exchange (ETDEWEB)

    Shevyrin, A. A., E-mail: shevandrey@isp.nsc.ru; Pogosov, A. G.; Bakarov, A. K.; Rodyakina, E. E.; Shklyaev, A. A. [Rzhanov Institute of Semiconductor Physics, Novosibirsk 630090 (Russian Federation); Novosibirsk State University, Novosibirsk 630090 (Russian Federation); Budantsev, M. V.; Toropov, A. I. [Rzhanov Institute of Semiconductor Physics, Novosibirsk 630090 (Russian Federation)

    2015-05-04

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

  19. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    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

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

    Science.gov (United States)

    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

  1. NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY

    Institute of Scientific and Technical Information of China (English)

    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.

  2. Low-Stroke Actuation for a Serial Robot

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  4. Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2015-12-01

    Full Text Available Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral–derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order proportional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–derivative and fractional order proportional–integral–derivative control systems with better control accuracy and higher system robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.

  5. Low input voltage switching amplifiers for piezoelectric actuators

    Science.gov (United States)

    Lindner, Douglas K.; Zhu, Huiyu; Song, Chunping; Huang, Weixing; Cheng, Danling

    2002-07-01

    The Inertially Stabilized Rifle is a new stabilized rifle system that can eliminate the disturbances induced by the shooter. Recurve actuator is used in this system to provide the precise movement of the rifle barrel. In such a portable device, only low voltage electrical sources are available yet the piezoelectric actuator needs high voltage to drive the actuator. The actuators consume little real power but a large amount of reactive power. Furthermore, the piezoelectric actuators are present an almost purely capacitive load. In this paper, we describe the development of a low input voltage amplifier for a high voltage piezoelectric actuator. This amplifier is based on switching technology so it efficiently handles the regenerative energy from the piezoelectric actuator. This amplifier consists of two stages. The first stage is a flyback converter which boosts the (low) input voltage to the maximum voltage required by the piezoelectric actuator. The second stage is a half-bridge amplifier which delivers the output voltage to the actuator as commanded by the reference signal. The basic structure of the amplifier is described, and its performance is characterized in terms of bandwidth, distortion, and efficiency.

  6. Hydraulic involute cam actuator

    Science.gov (United States)

    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.

  7. Applications of dielectric elastomer actuators

    Science.gov (United States)

    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.

  8. Demonstration of Four Fundamental Operations of Liquid Droplets for Digital Microfluidic Systems Based on an Electrowetting-on-Dielectric Actuator

    Institute of Scientific and Technical Information of China (English)

    YUE Rui-Feng; WU Jian-Gang; ZENG Xue-Feng; KANG Ming; LIU Li-Tian

    2006-01-01

    @@ An electrowetting-on-dielectric actuator is developed, in which the liquid is sandwiched between top and bottom plates. For the bottom plate, silicon wafer is used as the substrate, the heavily phosphorus-doped polysilicon film is deposited by low pressure chemical vapour deposition as the microelectrode array, and thermally grown SiO2 film as the dielectric layer. The top plate is a glass plate covered with transparent and conductive indium tin oxide as the ground electrode. In addition, a Teflon(R) AFl600 film is spun on the surface of both the platee as the hydrophobic layer. The experimental results show that when the gap height between two plates is 133μm,a prototype of the device is capable of creating, transporting, merging and dividing droplets of deionized water in an air environment with a 70 V at 10Hz voltage pulse. This is also established by simulations using the computational fluidic software of CFD-ACE+.

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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

  12. Overview on permanent magnetic actuator

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Permanent magnetic actuator (PMA), as a new electronic actuator of vacuum circuit breakers, certainly will be used to replace the traditional mechanical actuator. It has such advantages as simple structure, high reliability, free maintenance, and so on. This paper summarizes the development, structure, magnetic analysis, character analysis, and control strategy of PMA, and also predicts the future trend of PMA development

  13. Frequency-dependent electrostatic actuation in microfluidic MEMS.

    Energy Technology Data Exchange (ETDEWEB)

    Zavadil, Kevin Robert; Michalske, Terry A.; Sounart, Thomas L.

    2003-09-01

    Electrostatic actuators exhibit fast response times and are easily integrated into microsystems because they can be fabricated with standard IC micromachining processes and materials. Although electrostatic actuators have been used extensively in 'dry' MEMS, they have received less attention in microfluidic systems probably because of challenges such as electrolysis, anodization, and electrode polarization. Here we demonstrate that ac drive signals can be used to prevent electrode polarization, and thus enable electrostatic actuation in many liquids, at potentials low enough to avoid electrochemistry. We measure the frequency response of an interdigitated silicon comb-drive actuator in liquids spanning a decade of dielectric permittivities and four decades of conductivity, and present a simple theory that predicts the characteristic actuation frequency. The analysis demonstrates the importance of the native oxide on silicon actuator response, and suggests that the actuation frequency can be shifted by controlling the thickness of the oxide. For native silicon devices, actuation is predicted at frequencies less than 10 MHz, in electrolytes of ionic strength up to 100 mmol/L, and thus electrostatic actuation may be feasible in many bioMEMS and other microfluidic applications.

  14. A Magnetic Bead Actuator

    NARCIS (Netherlands)

    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

  15. The Actuated Guitar

    DEFF Research Database (Denmark)

    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 inte...

  16. Piezoelectric actuator renaissance

    Science.gov (United States)

    Uchino, Kenji

    2015-03-01

    This paper resumes the content of the invited talk of the author, read at the occasion of the International Workshop on Relaxor Ferroelectrics, IWRF 14, held on October 12-16, 2014 in Stirin, Czech Republic. It reviews the recent advances in materials, designing concepts, and new applications of piezoelectric actuators, as well as the future perspectives of this area.

  17. New ankle actuation mechanism for a humanoid robot

    NARCIS (Netherlands)

    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

  18. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    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

  19. Repulsive Magnetic Bearing Using a Piezoelectric Actuator for Stabilization

    Science.gov (United States)

    Mizuno, Takeshi; Aizawa, Mitsunori

    A repulsive magnetic bearing system equipped with a piezoelectric actuator for the motion control of permanent magnets is studied experimentally. In this system, the radial motions of the rotor are passively supported by repulsive forces between permanent magnets. The motion in the axial direction is stabilized by moving the permanent magnets for radial suspension with a piezoelectric actuator. In the experiments, a piezoelectric actuator with a stroke of 200µm was installed first. PD and I-PD controllers were applied to achieve levitation without any mechanical contact. It was experimentally shown that the dynamic characteristics of the levitation system could be adjusted by pole assignment. Next the actuator was replaced by an actuator with a stoke of 90µm. Experimental results demonstrated that the rotor can follow stepwise command signal whose magnitude was within ±20µm.

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

    Science.gov (United States)

    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.

  1. Evolutionary flight and enabling smart actuator devices

    Science.gov (United States)

    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.

  2. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

  4. Jet Vectoring Control Using a Novel Synthetic Jet Actuator

    Institute of Scientific and Technical Information of China (English)

    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.

  5. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Directory of Open Access Journals (Sweden)

    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.

  6. Optical nano and micro actuator technology

    CERN Document Server

    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

  7. Actuated Hybrid Mirrors for Space Telescopes

    Science.gov (United States)

    Hickey, Gregory; Ealey, Mark; Redding, David

    2010-01-01

    This paper describes new, large, ultra-lightweight, replicated, actively controlled mirrors, for use in space telescopes. These mirrors utilize SiC substrates, with embedded solid-state actuators, bonded to Nanolaminate metal foil reflective surfaces. Called Actuated Hybrid Mirrors (AHMs), they use replication techniques for high optical quality as well as rapid, low cost manufacturing. They enable an Active Optics space telescope architecture that uses periodic image-based wavefront sensing and control to assure diffraction-limited performance, while relaxing optical system fabrication, integration and test requirements. The proposed International Space Station Observatory seeks to demonstrate this architecture in space.

  8. Control Software for Piezo Stepping Actuators

    Science.gov (United States)

    Shields, Joel F.

    2013-01-01

    A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

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

    OpenAIRE

    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...

  10. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2010-01-01

    Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.

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

    Science.gov (United States)

    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.

  12. Carbon nanotube based NEMS actuators and sensors

    Science.gov (United States)

    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.

  13. Nanopositioner actuator energy cost and performance

    NARCIS (Netherlands)

    Engelen, J.B.C.; Khatib, M.G.; Abelmann, L.; Elwenspoek, M.C.

    2013-01-01

    We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and per

  14. Active Polymer Gel Actuators

    OpenAIRE

    Shuji Hashimoto; Ryo Yoshida; Yusuke Hara; Shingo Maeda

    2010-01-01

    Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of he...

  15. Stepper Motor Actuated Microvalve

    OpenAIRE

    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...

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

    International Nuclear Information System (INIS)

    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)

  17. Mechanisms and actuators for rotorcraft blade morphing

    Science.gov (United States)

    Vocke, Robert D., III

    The idea of improved fight performance through changes in the control surfaces dates back to the advent of aviation with the Wright brothers' pioneering work on "wing warping," but it was not until the recent progress in material and actuator development that such control surfaces seemed practical for modern aircraft. This has opened the door to a new class of aircraft that have the ability to change shape or morph, which are being investigated due to the potential to have a single platform serve multiple mission objectives, as well as improve performance characteristics. While the majority of existing research for morphing aircraft has focused on fixedwing aircraft, rotary-wing aircraft have begun to receive more attention. The purpose of this body of work is to investigate the current state of morphing actuation technology for rotorcraft and improve upon it. Specifically, this work looks at two types of morphing: Pneumatic Artificial Muscle (PAM) actuated trailing edge flaps and conformal variable diameter morphing. First, active camber changes through the use of PAM powered trailing edge flaps were investigated due to the potential for reductions in power requirements and vibration/noise levels. A PAM based antagonistic actuation system was developed utilizing a novel combination of mechanism geometry and PAM bias contraction optimization to overcome the natural extension stiffening characteristics of PAMs. In open-loop bench-top testing against a "worst-case" constant torsional loading, the system demonstrated actuation authority suitable for both primary control and vibration/noise reduction. Additionally, closed-loop test data indicated that the system was capable of tracking complex waveforms consistent with those needed for rotorcraft control. This system demonstrated performance on-par with the state of the art pneumatic trailing edge flap actuators, yet with a much smaller footprint and impact on the rotor-blade. The second morphing system developed in

  18. Adaptive actuator failure compensation and disturbance rejection scheme for spacecraft

    Institute of Scientific and Technical Information of China (English)

    Xuelian Yao; Gang Tao; Ruiyun Qi

    2014-01-01

    An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as wel as the failure signal parameter es-timates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping control design, the estimates of the disturbance parameters are used to solve the disturbance rejection problem. The unknown disturbances are compensated completely with the stability of the whole closed-loop system. The scheme is not only able to accommodate uncertain actuator failures, but also robust against unknown external disturbances. Simulation results verify the desired adaptive actuator failure compensation perfor-mance.

  19. Design of magnetic levitation micro-actuator positioning control system%磁悬浮微驱动器的定位控制系统设计

    Institute of Scientific and Technical Information of China (English)

    陈军; 杨数强

    2012-01-01

    Aiming at the magnetic levilation micro -actuator based on the synchronous tracking magnetic field, constructed a new control system in one structure with driving, measurement and control. Designed a software belong to the DSP hardware. The data acquisition, display, analysis and saving were realized in LabVIEW. The positioning experiments were did at the points of (1.231, 1.227)mm and (1.529, 1.516)mm, the errors were limited between 0.001-0.009 mm, the control precision was prefect.%针对磁场同步跟随式磁悬浮微驱动器,构建了新型的集驱动、测量和控制于一体的磁悬浮微驱动器定位系统.设计了一套以DSP为核心的硬件控制板的运行软件.采用LabVIEW软件实现了上位机的数据采集、显示、分析及保存等功能.以(1.231,1.227) mm、( 1.529,1.516)mm两点为目标进行了定位实验.实验结果证明这种定位控制系统的误差在0.001~0.009 mm之间,该定位控制系统具有较好的控制精度.

  20. HEALTH MONITORING OF ELECTRICAL ACTUATORS FOR LANDING GEARS

    OpenAIRE

    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...

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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)

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

    International Nuclear Information System (INIS)

    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)

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

    Directory of Open Access Journals (Sweden)

    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.

  5. Piezoelectric actuated gimbal

    Science.gov (United States)

    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.

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

    OpenAIRE

    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...

  7. Sleeve Muscle Actuator: Concept and Prototype Demonstration

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  9. A Complete Analysis for Pump Controlled Single Rod Actuators

    OpenAIRE

    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...

  10. Fpga-based control of piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    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.

  11. 基于LPC2132的电动执行器双核控制系统的设计%Design of electric actuator two core control system based on 1pc2132

    Institute of Scientific and Technical Information of China (English)

    张寿春

    2011-01-01

    为了在电动执行器控制系统中提高控制精度和实现速度调节,采用直流无刷电机来驱动执行器,同时控制系统以LPC2132微处理器为核心部件并通过C8051F410来采集数据,以及其它的硬件电路设计和软件处理方法,完成了一套新型执行器控制器的设计。实验结果表明:该系统能对阀门位置进行精确控制,同时具有可靠性高及调速性能好等优点。%In order to improve the precise and change the velocity of the electric actuator control system, using the brushless direct current motor to drive actuator. Take LPC2132 central processing unit as its key part and collect data by using C8051f410, adopts other designs both of hardware and software, completed a suit of design of new actuator controller .The experiment shows that: the precise of valve position can be improved, and system has the advantages of the dependability is good and the velocity can be control easilv.

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

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

  14. Satellite Attitude Control Using Only Electromagnetic Actuation

    OpenAIRE

    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...

  15. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh

    2014-01-01

    actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...

  16. Rotary actuator for space applications

    Science.gov (United States)

    Andión, J. A.; Burgui, C.; Migliorero, G.

    2005-07-01

    SENER is developing a rotary actuator for space applications. The activity, partially funded under ESA GSTP contract, aims at the design, development and performance testing of an innovative rotary actuator concept for space applications. An engineering model has been manufactured and has been tested to demonstrate the compliance with the requirements specification.

  17. Precision design aspects for friction actuation with error compensation

    International Nuclear Information System (INIS)

    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

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

    OpenAIRE

    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...

  19. Design of sensor and actuator multi model fault detection and isolation system using state space neural networks

    Science.gov (United States)

    Czajkowski, Andrzej

    2015-11-01

    This paper deals with the application of state space neural network model to design a Fault Detection and Isolation diagnostic system. The work describes approach based on multimodel solution where the SIMO process is decomposed into simple models (SISO and MISO). With such models it is possible to generate different residual signals which later can be evaluated with simple thresholding method into diagnostic signals. Further, such diagnostic signals with the application of Binary Diagnostic Table (BDT) can be used to fault isolation. All data used in experiments is obtain from the simulator of the real-time laboratory stand of Modular Servo under Matlab/Simulink environment.

  20. Failure of cargo aileron’s actuator

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  2. Dielectric elastomer actuators for octopus inspired suction cups.

    Science.gov (United States)

    Follador, M; Tramacere, F; Mazzolai, B

    2014-09-25

    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.

  3. Design and investigation of a linear smart actuator

    Science.gov (United States)

    Krishna Chaitanya, S.; Dhanalakshmi, K.

    2015-04-01

    Motors are nearly the sole constituents for actuation and driving applications, but there exist cases where their use proves to be impractical. Shape memory alloy (SMA), then revolutionized the actuator technology, thereby opening the door for new ideas and designs and with it what seemed unfeasible in the past have now become challenging. Many conventional actuators and sensors could be substituted with SMA, obtaining advantages in terms of reduction of weight, dimensions and its cost. SMAs are a group of metallic materials that revert to a predefined shape via phase transformation induced by a thermal procedure. Unlike metals that exhibit thermal expansion, SMA exhibits contraction when heated, which is larger by a hundredfold and exerts tremendous force for its small size. The focus of this work is to realize SMA wire as actuator which finds suitable applications (space, aerospace, biomechanics, etc.) where minimizing space, weight and cost are prime objectives. The accomplishments reported in this paper represent a significant development in the design of SMA actuator configurations for linear actuation. Report on design, fabrication and characterisation of the proposed system is presented. The design took advantage of converting the small linear displacement of the SMA wire into a large linear elastic motion under the influence of biasing element. From the results with control it is aspired that with further improvements on the design, the actuator can be utilized in enabling practical SMA technologies for potential robotic and commercial applications.

  4. Dielectric elastomer actuators for octopus inspired suction cups

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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.

  6. Satellite Attitude Control Using Only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    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...... was that interaction between the Earth's magnetic field and a magnetic field generated by a set of coils in the satellite can be used for actuation. Magnetic torquing was found attractive for generation of control torques on small satellites, since magnetic control systems are relatively lightweight, require low power...... part of the thesis. Its design was based on sliding mode control theory. The essence of the sliding control presented in the thesis was to split the controller design into two steps: a sliding manifold design and a sliding condition design. The emphasis was on the sliding condition design, which...

  7. Pneumatic actuator with hydraulic control

    Science.gov (United States)

    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.

  8. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Data.gov (United States)

    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,...

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

    Science.gov (United States)

    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.

  11. The Overtone Fiddle: an Actuated Acoustic Instrument

    OpenAIRE

    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...

  12. High Bandwidth Rotary Fast Tool Servos and a Hybrid Rotary/Linear Electromagnetic Actuator

    Energy Technology Data Exchange (ETDEWEB)

    Montesanti, Richard Clement [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States)

    2005-09-01

    This thesis describes the development of two high bandwidth short-stroke rotary fast tool servos and the hybrid rotary/linear electromagnetic actuator developed for one of them. Design insights, trade-o® methodologies, and analytical tools are developed for precision mechanical systems, power and signal electronic systems, control systems, normal-stress electromagnetic actuators, and the dynamics of the combined 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.

    Science.gov (United States)

    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

  14. Energy-Efficient Variable Stiffness Actuators

    NARCIS (Netherlands)

    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

  15. Novel compliant actuator for wearable robotics applications.

    Science.gov (United States)

    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.

  16. 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

    Institute of Scientific and Technical Information of China (English)

    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。

  17. Multi-objective actuator placement optimization for local sound control evaluated in a stochastic domain

    OpenAIRE

    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...

  18. A self-test and dynamics characterization circuit for MEMS electrostatic actuators

    OpenAIRE

    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

  19. Actuator System with Dual Chambers

    DEFF Research Database (Denmark)

    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...

  20. Optically triggered actuation in chitosan/reduced graphene oxide nanocomposites.

    Science.gov (United States)

    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

  1. Vibration analysis of composite laminate plate excited by piezoelectric actuators.

    Science.gov (United States)

    Her, Shiuh-Chuan; Lin, Chi-Sheng

    2013-01-01

    Piezoelectric materials can be used as actuators for the active vibration control of smart structural systems. In this work, piezoelectric patches are surface bonded to a composite laminate plate and used as vibration actuators. A static analysis based on the piezoelectricity and elasticity is conducted to evaluate the loads induced by the piezoelectric actuators to the host structure. The loads are then employed to develop the vibration response of a simply supported laminate rectangular plate excited by piezoelectric patches subjected to time harmonic voltages. An analytical solution of the vibration response of a simply supported laminate rectangular plate under time harmonic electrical loading is obtained and compared with finite element results to validate the present approach. The effects of location and exciting frequency of piezoelectric actuators on the vibration response of the laminate plate are investigated through a parametric study. Numerical results show that modes can be selectively excited, leading to structural vibration control.

  2. NEW PRECISION PIEZOELECTRIC STEP ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    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.

  3. Novel Cryogenic Actuator Development Project

    Data.gov (United States)

    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...

  4. Modeling and control of precision actuators

    CERN Document Server

    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

  5. Climbing robot actuated by meso-hydraulic artificial muscles

    Science.gov (United States)

    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.

  6. A Parylene Bellows Electrochemical Actuator

    OpenAIRE

    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...

  7. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    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

  8. Modeling dynamics of multilayered SMA actuators

    Science.gov (United States)

    Melnik, Roderick V. N.; Roberts, Anthony J.

    2001-03-01

    Since the phase change in SMA-based devices such as actuators is accompanied by a significant heat exchange with the surroundings, different concepts to heat/cool SMAs have been proposed in the literature. Most of these concepts require the analysis of a multilayered (e.g. ``sandwich"-type) structure where the SMA layer is placed between layers with another material. In this paper we propose a mathematical model and an efficient numerical method for this analysis. Although our approach can be applied to a wide range of different designs of multilayered actuators, the basic idea of the model construction is explained in this paper for a specific design based on the introduction of semiconductor ``heat pump" modules into the device and the Peltier effect for the heat exchange. The dynamics of thermomechanical fields is studied with a coupled system of PDEs based on conservation laws. The system, supplemented by constitutive relationships in the Falk form, is reduced to a differential-algebraic (DA) model and solved with an effective DA solver developed in our previous works. Numerical results on thermomechanical behaviour of SMA components in multilayered actuators are presented.

  9. Design and Analysis of the Loading System for the Actuator Dynamic Stiffness Test-bed%舵机动刚度加载系统设计与分析

    Institute of Scientific and Technical Information of China (English)

    胡勇; 吴娟

    2011-01-01

    Actuator dynamic stiffness is an important dynamic performance. The performance of the loading system is the key factor of test. The system structure and working principle were analysised. Through the design and calculation of the hydrostatic bear ing servo actuators, selection of the servo valve and design of the oil return system and security measures, the loading system was de signed. The system has been put into use and its performance is good.%动刚度是舵机不可忽视的一项动态性能,加载系统的性能直接影响动刚度的测试结果.分析系统的原理结构,从静压支承伺服作动器的计算设计、伺服阀的选型、回油系统与安全保护措施的设计等方面对加载系统进行了全面设计.该系统已经投入使用,性能表现良好.

  10. Large Scale Magnetostrictive Valve Actuator

    Science.gov (United States)

    Richard, James A.; Holleman, Elizabeth; Eddleman, David

    2008-01-01

    Marshall Space Flight Center's Valves, Actuators and Ducts Design and Development Branch developed a large scale magnetostrictive valve actuator. The potential advantages of this technology are faster, more efficient valve actuators that consume less power and provide precise position control and deliver higher flow rates than conventional solenoid valves. Magnetostrictive materials change dimensions when a magnetic field is applied; this property is referred to as magnetostriction. Magnetostriction is caused by the alignment of the magnetic domains in the material s crystalline structure and the applied magnetic field lines. Typically, the material changes shape by elongating in the axial direction and constricting in the radial direction, resulting in no net change in volume. All hardware and testing is complete. This paper will discuss: the potential applications of the technology; overview of the as built actuator design; discuss problems that were uncovered during the development testing; review test data and evaluate weaknesses of the design; and discuss areas for improvement for future work. This actuator holds promises of a low power, high load, proportionally controlled actuator for valves requiring 440 to 1500 newtons load.

  11. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    International Nuclear Information System (INIS)

    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)

  12. Tactile sensor integrated dielectric elastomer actuator for simultaneous actuation and sensing

    Science.gov (United States)

    Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru

    2016-04-01

    Dielectric elastomers (DE) are a subgroup of electroactive polymers which may be used as soft transducers. Such soft transducers exhibit high energy density and silent operation, which makes them desirable for life-like robotic systems such as a robotic hand. A robotic hand must be able to sense the object being manipulated, in terms of normal and shear force being applied, and note when contact has been achieved or lost. To this end, a dielectric elastomer actuator (DEA) with integrated tactile sensing has been developed to provide simultaneous actuation and sensing. The tactile sensing dielectric elastomer actuator consists of a unimorph-type structure, where the active portion is a laminate of alternating DE and electrode material which expands under applied voltage, and the sensing portion is a stiffer sensing dielectric elastomer which has no electrical connection to the active portion. Under applied voltage, the deformation of the active portion expands but is constrained on one side by the sensing portion, resulting in bending actuation. The sensing portion is a DE with electrodes patterned to form 2x2 capacitive sensing arrays. Dome-shaped bumps positioned over the sensing arrays redistribute tactile forces onto the sensor segments, so that measurement of the capacitance change across the array allows for reconstruction of magnitude and direction of the incoming force.

  13. Shape Control of Solar Collectors Using Shape Memory Alloy Actuators

    Science.gov (United States)

    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.

  14. Investigations on Actuator Dynamics through Theoretical and Finite Element Approach

    Directory of Open Access Journals (Sweden)

    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.

  15. Development of an Actuator for Flow Control Utilizing Detonation

    Science.gov (United States)

    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.

  16. Design, testing and control of a magnetorheological actuator for assistive knee braces

    Science.gov (United States)

    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.

  17. Mathematical Modeling of Pneumatic Artificial Muscle Actuation via Hydrogen Driving Metal Hydride-LaNi5

    Institute of Scientific and Technical Information of China (English)

    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.

  18. Design, testing and control of a magnetorheological actuator for assistive knee braces

    International Nuclear Information System (INIS)

    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

  19. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

    Sniegowski, J.J.; Garcia, E.J.

    1994-12-31

    Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.

  20. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy

    2016-01-01

    Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive

  1. Electrically actuated multiple store launcher

    Science.gov (United States)

    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.

  2. On the identification of Hammerstein systems in the presence of an input hysteretic nonlinearity with nonlocal memory: Piezoelectric actuators - an experimental case study

    Science.gov (United States)

    Butcher, Mark; Giustiniani, Alessandro; Masi, Alessandro

    2016-04-01

    The identification problem of the linear dynamic part of piezo based actuators is addressed in this paper, exploiting the use of binary signals, specifically the pseudo random binary sequences (PRBS). Due to the presence of nonlocal memory hysteretic behavior in piezoelectric active materials, the dependence of the identification results on this strongly nonlinear effect is analyzed and useful guidelines for the design of the PRBS stimulating signal are derived. Moreover, some properties of hysteresis like cancellation and congruency are experimentally analyzed and their effects on the identification process are discussed. Finally, the use of a hysteresis compensation strategy in the identification process is evaluated and discussed.

  3. Optimal actuator location of minimum norm controls for heat equation with general controlled domain

    Science.gov (United States)

    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.

  4. APPLICATION OF FEA TO THE COLLOCATION OF ACTUATOR/SENSOR IN THE INTELLIGENT STRUCTURES

    Institute of Scientific and Technical Information of China (English)

    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.

  5. Mechanical Performance of Actuators in an Active Orthosis for the Upper Extremities

    Directory of Open Access Journals (Sweden)

    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.

  6. 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

    Institute of Scientific and Technical Information of China (English)

    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。

  7. Multiplexed hydraulic valve actuation using ionic liquid filled soft channels and Braille displays

    Science.gov (United States)

    Gu, Wei; Chen, Hao; Tung, Yi-Chung; Meiners, Jens-Christian; Takayama, Shuichi

    2007-01-01

    Pneumatic actuation with multilayer soft lithography enables operation of up to thousands of valves in parallel using far fewer control lines. However, it is dependent on macroscopic switches and external pressure sources that require interconnects and limit portability. The authors present a more portable and multiplexed valve actuation strategy that uses a grid of mechanically actuated Braille pins to hydraulically, rather than pneumatically, deform elastic actuation channels that act as valves. Experimental and theoretical analyses show that the key to reliable operation of the hydraulic system is the use of nonvolatile ionic liquids as the hydraulic fluid.

  8. A Completely New Type of Actuator -or- This Ain't Your Grandfather's Internal Combustion Engine

    Science.gov (United States)

    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.

  9. Design of shape memory alloy actuators for direct power by an automotive battery

    International Nuclear Information System (INIS)

    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.

  10. Multi-Mode Vibration Suppression in MIMO Systems by Extending the Zero Placement Input Shaping Technique: Applications to a 3-DOF Piezoelectric Tube Actuator

    Directory of Open Access Journals (Sweden)

    Yasser Al Hamidi

    2016-04-01

    Full Text Available Piezoelectric tube actuators are extensively used in scanning probe microscopes to provide dynamic scanning motions in open-loop operations. Furthermore, they are employed as micropositioners due to their high bandwidth, high resolution and ease of excitation. However, these piezoelectric micropositioners exhibit badly damped vibrations that occur when the input excites the dynamic response, which tends to degrade positioning accuracy and performance. This paper deals with vibrations’ feedforward control of a multi-degrees of freedom (DOF piezoelectric micropositioner in order to damp the vibrations in the direct axes and to reduce the cross-couplings. The novelty in this paper relative to the existing vibrations feedforward controls is the simplicity in design approach, the minimal number of shaper impulses for each input required to damp all modes of vibration at each output, and the account for the strong cross-couplings which only occur in multi-DOF cases. A generalization to a multiple degrees of freedom actuator is first proposed. Then simulation runs on a 3-DOF piezoelectric tube micropositioner have been effectuated to demonstrate the efficiency of the proposed method. Finally, experimental tests were carried out to validate and to confirm the predicted simulation.

  11. The Linear and Nonlinear Electro-MechanicalFin Actuator

    Directory of Open Access Journals (Sweden)

    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.

  12. Analysis of the giant magnetostrictive actuator with strong bias magnetic field

    International Nuclear Information System (INIS)

    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

  13. Analysis of the giant magnetostrictive actuator with strong bias magnetic field

    Energy Technology Data Exchange (ETDEWEB)

    Xue, Guangming, E-mail: yy0youxia@163.com; He, Zhongbo; Li, Dongwei; Yang, Zhaoshu; Zhao, Zhenglong

    2015-11-15

    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.

  14. Study on Multi-DOF Ultrasonic Actuator for Laparoscopic Instrument

    Science.gov (United States)

    Park, Shinsuk; Takemura, Kenjiro; Maeno, Takashi

    In surgical robots, compact manipulators with multi-degree-of-freedom (DOF) are essential owing to a small work volume in the patient body. Conventional single-DOF actuators such as electromagnetic motors require a multiple number of actuators to generate multi-DOF motion, which in turn results in bulky mechanism combined with transmission device. Our previous work has developed a compact ultrasonic motor capable of generating a multi-DOF rotation of a spherical rotor utilizing three natural vibration modes of a bar-shaped stator. The present study designs and builds a novel multi-DOF master-slave system for laparoscopic surgical procedures, using a single ultrasonic actuator. The system consists of surgical forceps on multi-DOF wrist with joystick controller. Experimental results have confirmed high responsiveness and precise position control of the master-slave system.

  15. Electromechanical actuator concept for the controlled and direct actuation of a hydraulic main stage

    OpenAIRE

    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...

  16. Modular Actuators for Space Applications Project

    Data.gov (United States)

    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...

  17. Distributed structural control using multilayered piezoelectric actuators

    Science.gov (United States)

    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.

  18. Vibration control for precision manufacturing using piezoelectric actuators

    Energy Technology Data Exchange (ETDEWEB)

    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.

  19. Analysis of Innovative Design of Energy Efficient Hydraulic Actuators

    Directory of Open Access Journals (Sweden)

    M Osman Abdalla

    2013-01-01

    Full Text Available Hydraulic cylinder actuators are used extensively in industrial, construction and agricultural works. The small sized outlet ports of the cylinders resist the flow of discharged oil; and as a result the piston motion is slowed down. This causes a lot of heat generation and energy loss within the actuators. The study investigates and analyzes the possibilities of reducing the hydraulic resistance and increasing efficiency of the hydraulic actuator. Conventional hydraulic cylinders are simulated in FLUENT. Results show that the small outlet ports are the sources of energy loss in hydraulic cylinders. A new hydraulic system was proposed as a solution to relieve the hydraulic resistance in the actuators. The proposed system is a four ports hydraulic cylinder fitted with a novel flow control valve. The proposed four ports cylinder was simulated and parameters such as ports sizes, loads and pressures are varied during the simulation. The hydraulic resisting forces, piston speed and mass flow rates are computed. Results show that the hydraulic resistance is significantly reduced in the proposed four ports actuators; and the proposed cylinders run faster than the conventional cylinders and a considerable amount of energyis saved as well.

  20. Interaction of multiple actuators for synchronized switching damping control

    Science.gov (United States)

    Cazzulani, Gabriele; Braghin, Francesco; Mazzocchi, Fabrizio

    2016-04-01

    The semi-active Synchronized Switching Damping (SSD) family is based on a nonlinear shunting circuit applied to piezoelectric actuators, where the circuit characteristics are switched along the vibration cycles of the structure. SSD offers many advantages with respect to other vibration suppression techniques using piezoelectric actuators. Indeed, multiple modes can be suppressed with a relatively simple system and with very low power consumption. This allows the realization of self-powered control systems, without the need of wiring and external power supply. Moreover, the characteristics of this control strategy make it very robust to the variation of the dynamic characteristics of the structure, outperforming the classic passive linear shunts. Different SSD techniques have been developed, varying the circuit characteristics and the switching logic. Although this control family has been studied for many years, all the works are limited to the single actuator case, losing in generality with respect to many practical cases. For this reason, the aim of this work is to apply SSD control with multiple actuators and to study the interaction of the actuators and their shunting circuits in order to optimize the damping performance. The study will be performed numerically and then an experimental setup will be realized to test the proposed solutions.

  1. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    Science.gov (United States)

    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

  2. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    Science.gov (United States)

    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

  3. Ionic and viscoelastic mechanisms of a bucky-gel actuator

    Science.gov (United States)

    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.

  4. Active control of structural vibration by piezoelectric stack actuators

    Institute of Scientific and Technical Information of China (English)

    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.

  5. ACTIVE VIBRATION SUPPRESSION VIA LINEARIZING HYSTERESIS OF PIEZOCERAMIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    HU Hong; SHI Hongyan; BEN MRAD Ridha

    2007-01-01

    A novel active Vibration control technique on the basis of linearized piezoelectric actuators is presented. An experimental apparatus consisting of a cantilever beam to which are attached strain patches and piezoceramic actuators to be used for active Vibration suppression is described. A dynamical model of the cantilever beam using Lagrange's equation and two coordinate Systems are presented. Based on the Lyapunov's direct method, an active Vibration Controller with hysteresis compensation is designed. The Controller is designed so that it guarantees the global stability of the overall System. The Controller developed is assessed experimentally.

  6. Experimental identification of piezo actuator characteristic

    Directory of Open Access Journals (Sweden)

    Ľ. Miková

    2015-01-01

    Full Text Available This paper deals with piezoelectric material, which can be used as actuator for conversion of electrical energy to mechanical work. Test equipment has been developed for experimental testing of the piezoactuators. Piezoactivity of this actuator has non-linear characteristic. This type of actuator is used for in-pipe mechanism design.

  7. Carbon nanotube-polymer composite actuators

    Science.gov (United States)

    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.

  8. Actuator topology design using the controllability Gramian

    DEFF Research Database (Denmark)

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar

    2015-01-01

    system. Analytical sensitivities for the finite element model are derived for the objective function and constraints. Results are shown for two dimensional vibration control of a short beam with varying number of electrodes (control inputs) and vibration modes.......This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...

  9. Shape memory alloy actuation for a variable area fan nozzle

    Science.gov (United States)

    Rey, Nancy; Tillman, Gregory; Miller, Robin M.; Wynosky, Thomas; Larkin, Michael J.; Flamm, Jeffrey D.; Bangert, Linda S.

    2001-06-01

    The ability to control fan nozzle exit area is an enabling technology for next generation high-bypass-ratio turbofan engines. Performance benefits for such designs are estimated at up to 9% in thrust specific fuel consumption (TSFC) relative to current fixed-geometry engines. Conventionally actuated variable area fan nozzle (VAN) concepts tend to be heavy and complicated, with significant aircraft integration, reliability and packaging issues. The goal of this effort was to eliminate these undesirable features and formulate a design that meets or exceeds leakage, durability, reliability, maintenance and manufacturing cost goals. A Shape Memory Alloy (SMA) bundled cable actuator acting to move an array of flaps around the fan nozzle annulus is a concept that meets these requirements. The SMA bundled cable actuator developed by the United Technologies Corporation (Patents Pending) provides significant work output (greater than 2200 in-lb per flap, through the range of motion) in a compact package and minimizes system complexity. Results of a detailed design study indicate substantial engine performance, weight, and range benefits. The SMA- based actuation system is roughly two times lighter than a conventional mechanical system, with significant aircraft direct operating cost savings (2-3%) and range improvements (5-6%) relative to a fixed-geometry nozzle geared turbofan. A full-scale sector model of this VAN system was built and then tested at the Jet Exit Test Facility at NASA Langley to demonstrate the system's ability to achieve 20% area variation of the nozzle under full scale aerodynamic loads. The actuator exceeded requirements, achieving repeated actuation against full-scale loads representative of typical cruise as well as greater than worst-case (ultimate) aerodynamic conditions. Based on these encouraging results, work is continuing with the goal of a flight test on a C-17 transport aircraft.

  10. Development and testing of a magnetorheological actuator for an assistive knee brace

    Science.gov (United States)

    Chen, Jinzhou; Liao, Wei-Hsin

    2008-03-01

    This paper proposes an assistive knee brace that is aimed to provide assistance to old or disabled people. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator consists of a DC motor and an MR brake/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 this 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. Experiments of the MR actuator under control are performed to study the torque tracking ability of the system.

  11. Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

    Institute of Scientific and Technical Information of China (English)

    Thanana Nuchkrua; Thananchai Leephakpreeda

    2013-01-01

    In this paper,a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented.With a conventional PID control,non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself,causing deyiation of desired tasks.The fuzzy self-tuning PID controller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator.The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions.The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations.A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations.The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

  12. A planar nano-positioner driven by shear piezoelectric actuators

    Science.gov (United States)

    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.

  13. 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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  14. Explosive micro-bubble actuator

    NARCIS (Netherlands)

    Broek, van den Dennis Micha

    2008-01-01

    Microactuators are key components in numerous microsystems, and in many applications strong and fast microactuators are required. The principles used to generate forces in the current actuators are not capable of fulfilling both requirements at the same time, so new principles have to be investigate

  15. Compliant actuation of rehabilitation robots

    NARCIS (Netherlands)

    Vallery, Heike; Veneman, Jan; Asseldonk, van Edwin; Ekkelenkamp, Ralf; Buss, Martin; Kooij, van der Herman

    2008-01-01

    This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable sti

  16. Development of a shape memory alloy actuator for a robotic eye prosthesis

    Science.gov (United States)

    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.

  17. Microprocessor controlled proof-mass actuator

    Science.gov (United States)

    Horner, Garnett C.

    1987-01-01

    The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.

  18. Actuation development and evaluation for INSTAR: inertially stabilized rifle

    Science.gov (United States)

    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.

  19. Dynamic modeling of brushless dc motors for aerospace actuation

    Science.gov (United States)

    Demerdash, N. A.; Nehl, T. W.

    1980-11-01

    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.

  20. Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

    Science.gov (United States)

    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.

  1. Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

    Directory of Open Access Journals (Sweden)

    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.

  2. Biodegradable and edible gelatine actuators for use as artificial muscles

    Science.gov (United States)

    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.

  3. Dielectric elastomer actuators for facial expression

    Science.gov (United States)

    Wang, Yuzhe; Zhu, Jian

    2016-04-01

    Dielectric elastomer actuators have the advantage of mimicking the salient feature of life: movements in response to stimuli. In this paper we explore application of dielectric elastomer actuators to artificial muscles. These artificial muscles can mimic natural masseter to control jaw movements, which are key components in facial expressions especially during talking and singing activities. This paper investigates optimal design of the dielectric elastomer actuator. It is found that the actuator with embedded plastic fibers can avert electromechanical instability and can greatly improve its actuation. Two actuators are then installed in a robotic skull to drive jaw movements, mimicking the masseters in a human jaw. Experiments show that the maximum vertical displacement of the robotic jaw, driven by artificial muscles, is comparable to that of the natural human jaw during speech activities. Theoretical simulations are conducted to analyze the performance of the actuator, which is quantitatively consistent with the experimental observations.

  4. Remote actuated valve implant

    Science.gov (United States)

    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.

  5. Remote actuated valve implant

    Energy Technology Data Exchange (ETDEWEB)

    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.

  6. Robot Arm with Tendon Connector Plate and Linear Actuator

    Science.gov (United States)

    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.

  7. A Sensorless Method for Detecting Spool Position in Solenoid Actuators

    Directory of Open Access Journals (Sweden)

    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.

  8. Magnetic Actuators and Suspension for Space Vibration Control

    Science.gov (United States)

    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.

  9. A parallel leaf spring structure driven by piezoelectric bimorph actuators

    Science.gov (United States)

    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.

  10. Development of highly integrated magetically and electrostatically actuated micropumps : LDRD 64709 final report.

    Energy Technology Data Exchange (ETDEWEB)

    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. Hydrodynamic analysis, performance assessment, and actuator design of a flexible tail propulsor in an artificial alligator

    International Nuclear Information System (INIS)

    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

  12. On the nature of the interaction between structures and actuators in vibration suppression

    Science.gov (United States)

    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.

  13. Design and development of multi-lane smart electromechanical actuators

    CERN Document Server

    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

  14. Thrust vector control using electric actuation

    Science.gov (United States)

    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.

  15. Novel applications of plasma actuators

    Science.gov (United States)

    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

  16. 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

    Institute of Scientific and Technical Information of China (English)

    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.

  17. A Millimetre-sized Robot Realized by a Piezoelectric Impact-type Rotary Actuator and a Hardware Neuron Model

    OpenAIRE

    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...

  18. Magnetically actuated micropumps

    OpenAIRE

    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...

  19. Magnetically actuated micropumps

    OpenAIRE

    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...

  20. Development of a novel actuator concept for position control of segmented mirrors of ELT

    Science.gov (United States)

    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.

  1. Piezoelectric step-motion actuator

    Science.gov (United States)

    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.

  2. Adaptive active control of periodic vibration using maglev actuators

    Science.gov (United States)

    An, Fengyan; Sun, Hongling; Li, Xiaodong

    2012-04-01

    In this paper, active control of periodic vibration is implemented using maglev actuators which exhibit inherent nonlinear behaviors. A multi-channel feedforward control algorithm is proposed to solve these nonlinear problems, in which maglev actuators are treated as single-input-single-output systems with unknown time-varying nonlinearities. A radial basis function network is used by the algorithm as its controller, whose parameters are adapted only with the model of the linear system in the secondary path. Compared with the strategies in the conventional magnetic-levitation system control as well as nonlinear active noise/vibration control, the proposed algorithm has the advantage that the nonlinear modeling procedure of maglev actuators and the usage of displacement sensors could be both avoided. Numerical simulations and real-time experiments are carried out based on a multiple-degree-of-freedom vibration isolation system. The results show that the proposed algorithm not only could efficiently compensate for the actuators' time-varying nonlinearities, but also has the ability to greatly attenuate the energy of periodic vibration.

  3. Distributed sensing and actuation over bluetooth for unmanned air vehicles

    OpenAIRE

    Afonso, José A.; Coelho, Ezequiel T.; Carvalhal, Paulo; Ferreira, Manuel João Oliveira; Santos, Cristina; Silva, Luís F.; Almeida, Heitor

    2006-01-01

    A short range wireless network platform, based on Bluetooth technology and on a Round Robin scheduling is presented. The objective is to build an application independent platform, to support a distributed sensing and actuation control system, which will be used in an Unmanned Aerial Vehicle (UAV). This platform provides the advantages of wireless communications while assuring low weight, small energy consumption and reliable communications.

  4. An Innovative Shape Memory Actuator

    Directory of Open Access Journals (Sweden)

    Cappellini Valter

    2016-01-01

    Full Text Available The work describes a NiTi linear actuator. This material is able to realize a contraction with heating produced through Joule effect. Then a cooling of the active device is realized with forced air. Finally the lengthening is realized with another active element. The particular structure of the geometry allows for an increment of reliability, because the electrical connections are mechanically stabilized and the active elements are compelled to avoid undesired electrical contacts through an insulated cylindrical core.

  5. Ferrofluid-Impregnated Paper Actuators

    OpenAIRE

    Ding, Zhenwen; Wei, Pinghung; Chitnis, Girish; Ziaie, Babak

    2011-01-01

    In this paper, we report on an inexpensive method of fabricating miniature magnetic actuators using ferrofluid-impregnated paper. Different types of papers (including soft tissue paper, cleanroom paper, Whatman-1 filter paper, printer paper, and newspaper) were loaded with oil-based ferrofluid, micromachined by a CO(2) laser and coated with a thin layer of parylene-C. The soaking capability of the different papers was investigated, with the soft tissue paper having the highest loading capacit...

  6. Electrical actuators applications and performance

    CERN Document Server

    De Fornel, Bernard

    2013-01-01

    This helpful resource covers a large range of information regarding electrical actuators. In particular, robustness, a very problematic issue, is fully explored in a dedicated chapter. The text also deals with he estimate of non-measurable mechanical variables by examining the estimate of load moment, then observation of the positioning of a command without mechanical sensor. Finally, it examines the conditions needed to measure variables and real implementation of numerical algorithms. This is a key working resource for electrical engineers.

  7. Testing of improved polyimide actuator rod seals at high temperature and under vacuum conditions for use in advanced aircraft hydraulic systems

    Science.gov (United States)

    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.

  8. Improving actuator disk wake model

    International Nuclear Information System (INIS)

    The wind energy industry has traditionally relied on simple wake models for estimating Wind Turbine (WT) wake losses. Despite limitations, low requirements in terms of detailed rotor information makes their use feasible, unlike more complex models, such as Blade Element Method (BEM) or Actuator Line. Froude's Actuator Disk (AD) does not suffer the simpler model's limitation of prescribing the wake through a closed set of equations, while sharing with them the low rotor data requirements. On the other hand they require some form of parametrization to close the model and calculate total thrust acting on the flow. An Actuator Disk model was developed, using an iterative algorithm based on Froude's one-dimensional momentum theory to determine the WT's performance, proving to be successful in estimating the performance of both machines in undisturbed flow and in the wake of an upstream machines. Before Froude's AD limitations compared to more complex rotor models, load distributions emulating those of a BEM model were tested. The results show that little impact is obtained at 3 rotor diameters downstream and beyond, agreeing with common definition of a far-wake that starts at 1-2 diameters downstream, where rotor characteristics become negligible and atmospheric flow effects dominate

  9. Pneumatic artificial muscle actuators for compliant robotic manipulators

    Science.gov (United States)

    Robinson, Ryan Michael

    Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

  10. Electrostatic comb drive for vertical actuation

    Energy Technology Data Exchange (ETDEWEB)

    Lee, A. P., LLNL

    1997-07-10

    The electrostatic comb finger drive has become an integral design for microsensor and microactuator applications. This paper reports on utilizing the levitation effect of comb fingers to design vertical-to-the-substrate actuation for interferometric applications. For typical polysilicon comb drives with 2 {micro}m gaps between the stationary and moving fingers, as well as between the microstructures and the substrate, the equilibrium position is nominally 1-2 {micro}m above the stationary comb fingers. This distance is ideal for many phase shifting interferometric applications. Theoretical calculations of the vertical actuation characteristics are compared with the experimental results, and a general design guideline is derived from these results. The suspension flexure stiffnesses, gravity forces, squeeze film damping, and comb finger thicknesses are parameters investigated which affect the displacement curve of the vertical microactuator. By designing a parallel plate capacitor between the suspended mass and the substrate, in situ position sensing can be used to control the vertical movement, providing a total feedback-controlled system. Fundamentals of various capacitive position sensing techniques are discussed. Experimental verification is carried out by a Zygo distance measurement interferometer.

  11. Electric actuator for the sempell gate valve

    Energy Technology Data Exchange (ETDEWEB)

    Herbstritt, E.C.

    1996-12-01

    The automation of valves has a primary importance in the scope of central control and regulation of power generation processes in power plants and especially in nuclear power plants. AUMA WERNER RIESTER GmbH & Co. KG is considered a leading manufacturer of electric actuators for the automation of valves. More than 30 years experience in designing, developing, and manufacturing provide a sound basis for offering reliable products, especially for nuclear applications. The quality assurance system of AUMA was developed according to 10 CFR 50, Appendix B and has been consistently accomplished. The program was certified by the TUV Germany (Technical Authorized Inspection Agency), according to ISO-9001, in 1994. AUMA offers two actuator type ranges for application in nuclear power plants. The range SAI is qualified according to IEEE 382-1978 and is designed for inside containment. The range SAN is qualified according to IEEE 382-1985 and KTA 3504-1988 for use in non-radioactive applications in the nuclear power plants.

  12. Design of an innovative dielectric elastomer actuator for space applications

    Science.gov (United States)

    Branz, Francesco; Sansone, Francesco; Francesconi, Alessandro

    2014-03-01

    The capability of Dielectric Elastomers to show large deformations under high voltage loads has been deeply investigated to develop a number of actuators concepts. From a space systems point of view, the advantages introduced by this class of smart materials are considerable and include high conversion efficiency, distributed actuation, self-sensing capability, light weight and low cost. This paper focuses on the design of a solid-state actuator capable of high positioning resolution. The use of Electroactive Polymers makes this device interesting for space mechanisms applications, such as antenna and sensor pointing, solar array orientation, attitude control, adaptive structures and robotic manipulators. In particular, such actuation suffers neither wear, nor fatigue issues and shows highly damped vibrations, thus requiring no maintenance and transferring low disturbance to the surrounding structures. The main weakness of this actuator is the relatively low force/torque values available. The proposed geometry allows two rotational degrees of freedom, and simulations are performed to measure the expected instant angular deflection at zero load and the stall torque of the actuator under a given high voltage load. Several geometric parameters are varied and their influence on the device behaviour is studied. Simplified relations are extrapolated from the numerical results and represent useful predicting tools for design purposes. Beside the expected static performances, the dynamic behaviour of the device is also assessed and the input/output transfer function is estimated. Finally, a prototype design for laboratory tests is presented; the experimental activity aims to validate the preliminary results obtained by numerical analysis.

  13. Low-Actuation Voltage MEMS Digital-to-Analog Converter with Parylene Spring Structures

    Directory of Open Access Journals (Sweden)

    Cheng-Wen Ma

    2015-08-01

    Full Text Available We propose an electrostatically-actuated microelectromechanical digital-to-analog converter (M-DAC device with low actuation voltage. The spring structures of the silicon-based M-DAC device were monolithically fabricated using parylene-C. Because the Young’s modulus of parylene-C is considerably lower than that of silicon, the electrostatic microactuators in the proposed device require much lower actuation voltages. The actuation voltage of the proposed M-DAC device is approximately 6 V, which is less than one half of the actuation voltages of a previously reported M-DAC equipped with electrostatic microactuators. The measured total displacement of the proposed three-bit M-DAC is nearly 504 nm, and the motion step is approximately 72 nm. Furthermore, we demonstrated that the M-DAC can be employed as a mirror platform with discrete displacement output for a noncontact surface profiling system.

  14. Amplifying the response of soft actuators by harnessing snap-through instabilities.

    Science.gov (United States)

    Overvelde, Johannes T B; Kloek, Tamara; D'haen, Jonas J A; Bertoldi, Katia

    2015-09-01

    Soft, inflatable segments are the active elements responsible for the actuation of soft machines and robots. Although current designs of fluidic actuators achieve motion with large amplitudes, they require large amounts of supplied volume, limiting their speed and compactness. To circumvent these limitations, here we embrace instabilities and show that they can be exploited to amplify the response of the system. By combining experimental and numerical tools we design and construct fluidic actuators in which snap-through instabilities are harnessed to generate large motion, high forces, and fast actuation at constant volume. Our study opens avenues for the design of the next generation of soft actuators and robots in which small amounts of volume are sufficient to achieve significant ranges of motion. PMID:26283372

  15. Variable stiffness actuator based on fluidic flexible matrix composites and piezoelectric-hydraulic pump

    Science.gov (United States)

    Kim, Gi-Woo; Li, Suyi; Wang, K. W.

    2010-04-01

    Recently, a new biological-inspired fluidic flexible matrix composite (in short, F2MC) concept has been developed for linear/torsional actuation and structural stiffness tailoring. Although the actuation and the variable stiffness features of the F2MC have been successfully demonstrated individually, their combined functions and full potentials were not yet manifested. In addition, the current hydraulic pressurization systems are bulky and heavy, limiting the potential of the F2MC actuator. To address these issues, we synthesize a new variable stiffness actuator concept that can provide both effective actuation and tunable stiffness (dual-mode), incorporating the F2MC with a compact piezoelectric-hydraulic pump (in short, PHP). This dual-mode mechanism will significantly enhance the potential of the F2MC adaptive structures.

  16. Design and position control of AF lens actuator for mobile phone using IPMC-EMIM

    Science.gov (United States)

    Kim, Sung-Joo; Kim, Chul-Jin; Park, No-Cheol; Yang, Hyun-Seok; Park, Young-Pil; Park, Kang-Ho; Lee, Hyung-Kun; Choi, Nak-Jin

    2008-03-01

    IPMC-EMIM (Ionic Polyer Metal Composites + 1-ethyl-3- methyl imidazolium trifluromethane sulfonate, EMIM-Tfo) is fabricated by substituting ionic liquid for water in Nafion film, which improves water sensitiveness of IPMC and guarantees uniform performance regardless of the surrounding environment. In this paper, we will briefly introduce the procedure of fabrication of IPMC-EMIM and proceed to introduce the Hook-type actuator using IPMC-EMIM and application to AF Lens actuator. Parameters of Hook-type actuator are estimated from experimental data. In the simulation, The proposed AF Lens Actuator is assumed to be a linear system and based on estimated parameters, PID controller will be designed and controlled motion of AF Lens actuator will be shown through simulation.

  17. Study on Optimal Placement of Piezoelectric Actuators for a Whole Spacecraft Vibration Isolator

    Directory of Open Access Journals (Sweden)

    Liu Fang

    2012-04-01

    Full Text Available Position of actuators plays an important role in active vibration control, which affects not only the performance of vibration control but also the stability of the whole system, especially for flexible structures. In this paper, dynamic sensitivity analysis method was used to derive an optimization criterion for Piezoelectric Stack Actuator (PSA, this criterion was only related to the dynamic characteristics of the structure itself and the features of disturbances, but was not affected by initial conditions and control methods. Then by using this criterion, optimal placement of the piezoelectric actuator of a Whole-Spacecraft Vibration Isolator (WSVI was studied, and vibration control effect of random position and optimal position was compared; simulation results verified the validity of the criteria, and showed that the optimized location of actuator could greatly enhance the actuation efficiency and vibration control effect.

  18. Analysis, design, and testing of a low cost, direct force command linear proof mass actuator for structural control

    Science.gov (United States)

    Slater, G. L.; Shelley, Stuart; Jacobson, Mark

    1993-01-01

    In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

  19. Electrokinetic pumps and actuators

    International Nuclear Information System (INIS)

    Flow and ionic transport in porous media are central to electrokinetic pumping as well as to a host of other microfluidic devices. Electrokinetic pumping provides the ability to create high pressures (to over 10,000 psi) and high flow rates (over 1 mL/min) with a device having no moving parts and all liquid seals. The electrokinetic pump (EKP) is ideally suited for applications ranging from a high pressure integrated pump for chip-scale HPLC to a high flow rate integrated pump for forced liquid convection cooling of high-power electronics. Relations for flow rate and current fluxes in porous media are derived that provide a basis for analysis of complex microfluidic systems as well as for optimization of electrokinetic pumps

  20. Design of shape memory alloy (SMA) actuators

    CERN Document Server

    Rao, Ashwin; Reddy, J N

    2015-01-01

    This short monograph presents an analysis and design methodology for shape memory alloy (SMA) components such as wires, beams, and springs for different applications. The solid-solid, diffusionless phase transformations in thermally responsive SMA allows them to demonstrate unique characteristics like superelasticity and shape memory effects. The combined sensing and actuating capabilities of such materials allows them to provide a system level response by combining multiple functions in a single material system. In SMA, the combined mechanical and thermal loading effects influence the functionality of such materials. The aim of this book is to make the analysis of these materials accessible to designers by developing a "strength of materials" approach to the analysis and design of such SMA components inspired from their various applications with a review of various factors influencing the design process for such materials.

  1. ANALYSIS OF BEAMS WITH PIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    林启荣; 刘正兴; 王宗利

    2001-01-01

    Based on the two-dimensional constitutive relationships of the piezoelectric material, an analytical solution for an intelligent beam excited by a pair of piezoelectric actuators is derived. With the solution the force and moment generated by two piezoelectric actuators and a pair of piezoelectric actuator/sensor are obtained. Examples of a cantilever piezoelectric laminated beam or a simply supported piezoelectric laminated beam, applied with voltages, are given.

  2. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real......-time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed....

  3. Nonlinear behaviour of electrostatically actuated carbon nanotube-based devices

    International Nuclear Information System (INIS)

    In this paper nonlinear behaviour of electrostatically actuated carbon nanotubes (CNTs) is investigated. The model comprises a clamped-clamped CNT suspended over a graphite ground electrode plate from which a potential difference is imposed. The actuation is based on ac and dc applied voltages and it is assumed that the neutral axis of bending is stretched when the beam is deflected, and also, the interatomic interaction forces between CNT and ground plate are considered. The versatile Galerkin's method is employed to reduce the nonlinear integral-partial-differential equation of motion to a nonlinear ordinary differential equation in time, and then, the reduced equation is solved by direct numerical integration. In the dc voltage actuation case, the pull-in/pull-out phenomena, hysteresis characteristic, pull-in time duration and the response of the system are studied. The obtained results are compared with the molecular dynamics method. Eventually, a nano-switch immune to input noise is proposed, which relies on the hysteresis characteristic of the system. In combined ac and dc voltage actuations, the vibrational behaviour and nonlinear frequency response of nano-resonator are studied.

  4. A Hindi Speech Actuated Computer Interface for Web Search

    OpenAIRE

    Kamlesh Sharma; Dr. S.V.A.V. Prasad; Prasad, Dr. T. V.

    2012-01-01

    Aiming at increasing system simplicity and flexibility, an audio evoked based system was developed by integrating simplified headphone and user-friendly software design. This paper describes a Hindi Speech Actuated Computer Interface for Web search (HSACIWS), which accepts spoken queries in Hindi language and provides the search result on the screen. This system recognizes spoken queries by large vocabulary continuous speech recognition (LVCSR), retrieves relevant document by text retrieval, ...

  5. High Reliability Cryogenic Piezoelectric Valve Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid valves are subject to harsh exposure and actuators to drive these valves require robust performance and high reliability. DSM's piezoelectric...

  6. Modern programming of field devices, using the example of electrical actuators; Zeitgemaesse Parametrierung von Feldgeraeten am Beispiel von elektrischen Stellantrieben

    Energy Technology Data Exchange (ETDEWEB)

    Herbstritt, M. [AUMA Riester GmbH und Co.KG, Muellheim (Germany)

    2007-03-15

    Modern fieldbus systems nowadays make it possible to set several dozen parameters, depending on the complexity of the actuator arrangement, using software only. The actuator system can be programmed using local operating elements, using a laptop (either via cable or WLAN) or via the fieldbus. The same also applies to reading-out of diagnosis messages and data. (orig.)

  7. Enhancement of Optical Adaptive Sensing by Using a Dual-Stage Seesaw-Swivel Actuator with a Tunable Vibration Absorber

    Directory of Open Access Journals (Sweden)

    Po-Chien Chou

    2011-05-01

    Full Text Available Technological obstacles to the use of rotary-type swing arm actuators to actuate optical pickup modules in small-form-factor (SFF disk drives stem from a hinge’s skewed actuation, subsequently inducing off-axis aberrations and deteriorating optical quality. This work describes a dual-stage seesaw-swivel actuator for optical pickup actuation. A triple-layered bimorph bender made of piezoelectric materials (PZTs is connected to the suspension of the pickup head, while the tunable vibration absorber (TVA unit is mounted on the seesaw swing arm to offer a balanced force to reduce vibrations in a focusing direction. Both PZT and TVA are designed to satisfy stable focusing operation operational requirements and compensate for the tilt angle or deformation of a disc. Finally, simulation results verify the performance of the dual-stage seesaw-swivel actuator, along with experimental procedures and parametric design optimization confirming the effectiveness of the proposed system.

  8. Sensitivity of micromechanical actuation on amorphous to crystalline phase transformations under the influence of Casimir forces

    Science.gov (United States)

    Sedighi, M.; Broer, W. H.; Palasantzas, G.; Kooi, B. J.

    2013-10-01

    Amorphous to crystalline phase transitions in phase change materials (PCM) can have strong influence on the actuation of microelectromechanical systems under the influence of Casimir forces. Indeed, the bifurcation curves of the stationary equilibrium points and the corresponding phase portraits of the actuation dynamics between gold and AIST (Ag5In5Sb60Te30) PCM, where an increase of the Casimir force of up ˜25% has been measured upon crystallization, show strong sensitivity to changes of the Casimir force as the stiffness of the actuating component decreases and/or the effective interaction area of the Casimir force increases, which can also lead to stiction. However, introduction of intrinsic energy dissipation (associated with a finite quality factor of the actuating system) can prevent stiction by driving the system to attenuated motion towards stable equilibrium depending on the PCM state and the system quality factor.

  9. Shock Wave Boundary Layer Interaction Control Using Pulsed DBD Plasma Actuators Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Active flow control using dielectric barrier discharge (DBD) plasma actuators is an attractive option for both reduction of complexity of aircraft systems required...

  10. An evaluation of the B&W Owners Group BAW-10182 topical report: Justification for increasing the engineered safety features actuation system on-line test intervals. Technical evaluation report

    Energy Technology Data Exchange (ETDEWEB)

    Smith, C.L.; Hansen, J.L.

    1993-09-01

    This Technical Evaluation Report provides an evaluation of the Babcock and Wilcox Owners Group (B&WOG) Technical Specifications Committee Topical Report BAW-10182, entitled, ``Justification for Increasing Engineered Safety Features Actuation System (ESFAS) On-Line Test Intervals.`` This evaluation was performed by the Idaho National Engineering Laboratory in support of the Nuclear Regulatory Commission. The BAW-10182 report presents justification for the extension of on-line test intervals from the existing one-month interval to a three-month interval for the ESFAS system. In the BAW-10182 report, the B&WOG stated that ``{hor_ellipsis}the B&WOG proposes to increase the ESFAS test interval from one to three months and concludes that the effect on plant risk is insignificant.`` The proposed extension was based upon risk-based [i.e., probabilistic risk assessment (PRA)] methods such as reliability block diagrams, uncertainty analyses, and time-dependent system availability analyses. This use of PRA methods requires a detailed evaluation to determine whether the chosen methods and their application are valid in the context of the proposed test interval extension. The results of the evaluation agreed that the effect on plant risk is small if the ESFAS test interval is extended to three months for the ESFAS designs that were evaluated.

  11. On electrostatically actuated NEMS/MEMS circular plates

    Science.gov (United States)

    Caruntu, Dumitru I.; Alvarado, Iris

    2011-04-01

    This paper deals with electrostatically actuated micro and nano-electromechanical (MEMS/NEMS) circular plates. The system under investigation consists of two bodies, a deformable and conductive circular plate placed above a fixed, rigid and conductive ground plate. The deformable circular plate is electrostatically actuated by applying an AC voltage between the two plates. Nonlinear parametric resonance and pull-in occur at certain frequencies and relatively large AC voltage, respectively. Such phenomena are useful for applications such as sensors, actuators, switches, micro-pumps, micro-tweezers, chemical and mass sensing, and micro-mirrors. A mathematical model of clamped circular MEMS/NEMS electrostatically actuated plates has been developed. Since the model is in the micro- and nano-scale, surface forces, van der Waals and/or Casimir, acting on the plate are included. A perturbation method, the Method of Multiple Scales (MMS), is used for investigating the case of weakly nonlinear MEMS/NEMS circular plates. Two time scales, fast and slow, are considered in this work. The amplitude-frequency and phase-frequency response of the plate in the case of primary resonance are obtained and discussed.

  12. An autonomous actuator driven by fluctuations in ambient humidity

    Science.gov (United States)

    Arazoe, Hiroki; Miyajima, Daigo; Akaike, Kouki; Araoka, Fumito; Sato, Emiko; Hikima, Takaaki; Kawamoto, Masuki; Aida, Takuzo

    2016-10-01

    Devices that respond to negligibly small fluctuations in environmental conditions will be of great value for the realization of more sustainable, low-power-consumption actuators and electronic systems. Herein we report an unprecedented film actuator that seemingly operates autonomously, because it responds to the adsorption and desorption of a minute amount of water (several hundred nanograms per 10 mm2) possibly induced by fluctuations in the ambient humidity. The actuation is extremely rapid (50 ms for one curl) and can be repeated >10,000 times without deterioration. On heating or light irradiation, the film loses adsorbed water and bends quickly, so that it can jump vertically up to 10 mm from a surface or hit a glass bead. The film consists of a π-stacked carbon nitride polymer, formed by one-pot vapour-deposition polymerization of guanidinium carbonate, and is characterized by a tough, ultralightweight and highly anisotropic layered structure. An actuator partially protected against water adsorption is also shown to walk unidirectionally.

  13. Geometry adaptive control of a composite reflector using PZT actuator

    Science.gov (United States)

    Lan, Lan; Jiang, Shuidong; Zhou, Yang; Fang, Houfei; Tan, Shujun; Wu, Zhigang

    2015-04-01

    Maintaining geometrical high precision for a graphite fiber reinforced composite (GFRC) reflector is a challenging task. Although great efforts have been placed to improve the fabrication precision, geometry adaptive control for a reflector is becoming more and more necessary. This paper studied geometry adaptive control for a GFRC reflector with piezoelectric ceramic transducer (PZT) actuators assembled on the ribs. In order to model the piezoelectric effect in finite element analysis (FEA), a thermal analogy was used in which the temperature was applied to simulate the actuation voltage, and the piezoelectric constant was mimicked by a Coefficient of Thermal Expansion (CTE). PZT actuator's equivalent model was validated by an experiment. The deformations of a triangular GFRC specimen with three PZT actuators were also measured experimentally and compared with that of simulation. This study developed a multidisciplinary analytical model, which includes the composite structure, thermal, thermal deformation and control system, to perform an optimization analysis and design for the adaptive GFRC reflector by considering the free vibration, gravity deformation and geometry controllability.

  14. Mechanical behavior analysis on electrostatically actuated rectangular microplates

    International Nuclear Information System (INIS)

    Microplates are widely used in various MEMS devices based on electrostatic actuation such as MEMS switches, micro pumps and capacitive micromachined ultrasonic transducers (CMUTs). Accurate predictions for the mechanical behavior of the microplate under electrostatic force are important not only for the design and optimization of these electrostatic devices but also for their operation. This paper presents a novel reduced-order model for electrostatically actuated rectangular and square microplates with a new method to treat the nonlinear electrostatic force. The model was developed using Galerkin method which turned the partial-differential equation governing the microplates into an ordinary equation system. Using this model and cosine-like deflection functions, explicit expressions were established for the deflection and pull-in voltage of the rectangular and square microplates. The theoretical results were well validated with the finite element method simulations and experimental data of literature. The expressions for the deflection analysis are able to predict the deflection up to the pull-in position with an error less than 5.0%. The expressions for the pull-in voltage analysis can determine the pull-in voltages with errors less than 1.0%. Additionally, the method to calculate the capacitance variation of the electrostatically actuated microplates was proposed. These theoretical analyses are helpful for design and optimization of electrostatically actuated microdevices. (paper)

  15. Smart structures for deformable mirrors actuated by shape memory alloy

    Science.gov (United States)

    Riva, M.; Bettini, P.; Di Landro, L.; Sala, G.; Zerbi, F. M.

    2010-07-01

    Deformable mirrors actuated by smart structures are promising devices for next generation astronomical instrumentation. Thermal activated Shape Memory Alloys are materials able to recover their original shape, after an external deformation, if heated above a characteristic temperature. If the recovery of the shape is completely or partially prevented by the presence of constraints, the material can generate recovery stress. Thanks to this feature, these materials can be positively exploited in Smart Structures if properly embedded into host materials. This paper will show the technological processes developed for an efficient use of SMA-based actuators embedded in smart structures tailored to astronomical instrumentation. In particular the analysis of the interface with the host material. Some possible modeling approaches to the actuators behavior will be addressed taking into account trade-offs between detailed analysis and overall performance prediction as a function of the computational time. We developed a combined Finite Element and Raytracing analysis devoted to a parametric performance predictions of a SMA based substrate applicable to deformable mirrors. We took in detail into account the possibility to change the focal length of the mirror keeping a satisfactory image quality. Finally a possible approach with some preliminary results for an efficient control system for the strongly non-linear SMA actuators will be presented.

  16. Electro-active paper for a durable biomimetic actuator

    Science.gov (United States)

    Yun, Sung-Ryul; Yun, Gyu Young; Kim, Jung Hwan; Chen, Yi; Kim, Jaehwan

    2009-02-01

    Cellulose electro-active paper (EAPap), known as a smart material, has merits in terms of low voltage operation, light weight, dryness, low power consumption, biodegradability, abundance and low price. Since EAPap requires low power consumption, a remotely driven actuator has been proposed using microwave power transmission. This concept is attractive for many biomimetic systems such as crawling micro-insect robots, flying objects like dragon flies and smart wallpapers. However, the actuation performance of EAPap is sensitive to humidity and degrades with time. Thus, in this paper, a durable EAPap is studied. The fabrication of EAPap is explained and the actuation performance is shown with applied electric field, frequency, humidity level and time. The fabrication process includes dissolving cellulose fibers, eliminating solvent and Li ions with a mixture of deionized water and isopropyl alcohol, washing with water, drying and coating with gold. The morphology of the fabricated EAPap is analyzed by taking scanning electron microscope images and x-ray diffractograms. The actuation performance is tested in terms of bending displacement with frequency, time and humidity level

  17. Investigation on the magnetomechanical behavior of trilayered GM actuator

    Institute of Scientific and Technical Information of China (English)

    Heung-Shik Lee; Chongdu Cho

    2008-01-01

    In this article, it was suggested a TbFe/Co/Dy trilayered GM (Giant Magnetostrictive) film type actuator and investigated the magnetomechanical characteristics of the actuator for micro application. The trilayered films were fabricated at different thickness ratios to get an optimized structure. TbFe had positive GM properties, and cobalt, dysprosium layers made the magnetostriction property of composite film increase in low magnetic field. To fabricate the Si based microactuator with trilayered film, micromachining processes including RIE (Reactive Ion Etching) and selective DC magnetron sputtering techniques were combined. The deposited film thicknesses were measured by X-ray diffraction (XRD). As a result, the magnetization of the film on the fabricated actuator was observed to characterize the magnetic properties of the TbFe/Co/Dy film using VSM (Vibrating Sample Magnetometer). The magnetostriction of the actuator was determined by measuring the differences of curvature of the film coated silicon substrates using the optical cantilever method, and the deflections were also estimated under the external magnetic field lower than 0.5T for micro-system applications.

  18. Swarm intelligence algorithms for integrated optimization of piezoelectric actuator and sensor placement and feedback gains

    Science.gov (United States)

    Dutta, Rajdeep; Ganguli, Ranjan; Mani, V.

    2011-10-01

    Swarm intelligence algorithms are applied for optimal control of flexible smart structures bonded with piezoelectric actuators and sensors. The optimal locations of actuators/sensors and feedback gain are obtained by maximizing the energy dissipated by the feedback control system. We provide a mathematical proof that this system is uncontrollable if the actuators and sensors are placed at the nodal points of the mode shapes. The optimal locations of actuators/sensors and feedback gain represent a constrained non-linear optimization problem. This problem is converted to an unconstrained optimization problem by using penalty functions. Two swarm intelligence algorithms, namely, Artificial bee colony (ABC) and glowworm swarm optimization (GSO) algorithms, are considered to obtain the optimal solution. In earlier published research, a cantilever beam with one and two collocated actuator(s)/sensor(s) was considered and the numerical results were obtained by using genetic algorithm and gradient based optimization methods. We consider the same problem and present the results obtained by using the swarm intelligence algorithms ABC and GSO. An extension of this cantilever beam problem with five collocated actuators/sensors is considered and the numerical results obtained by using the ABC and GSO algorithms are presented. The effect of increasing the number of design variables (locations of actuators and sensors and gain) on the optimization process is investigated. It is shown that the ABC and GSO algorithms are robust and are good choices for the optimization of smart structures.

  19. Swarm intelligence algorithms for integrated optimization of piezoelectric actuator and sensor placement and feedback gains

    International Nuclear Information System (INIS)

    Swarm intelligence algorithms are applied for optimal control of flexible smart structures bonded with piezoelectric actuators and sensors. The optimal locations of actuators/sensors and feedback gain are obtained by maximizing the energy dissipated by the feedback control system. We provide a mathematical proof that this system is uncontrollable if the actuators and sensors are placed at the nodal points of the mode shapes. The optimal locations of actuators/sensors and feedback gain represent a constrained non-linear optimization problem. This problem is converted to an unconstrained optimization problem by using penalty functions. Two swarm intelligence algorithms, namely, Artificial bee colony (ABC) and glowworm swarm optimization (GSO) algorithms, are considered to obtain the optimal solution. In earlier published research, a cantilever beam with one and two collocated actuator(s)/sensor(s) was considered and the numerical results were obtained by using genetic algorithm and gradient based optimization methods. We consider the same problem and present the results obtained by using the swarm intelligence algorithms ABC and GSO. An extension of this cantilever beam problem with five collocated actuators/sensors is considered and the numerical results obtained by using the ABC and GSO algorithms are presented. The effect of increasing the number of design variables (locations of actuators and sensors and gain) on the optimization process is investigated. It is shown that the ABC and GSO algorithms are robust and are good choices for the optimization of smart structures

  20. Development of hydraulic brake actuator for active brake control; Active brake seigyoyo yuatsu booster no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Konishi, Y.; Hattori, M. Sugisawa, M.; Nishii, M. [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, application of active brake control systems of the vehicle are increasing. (Vehicle stability control, Panic brake assist ) We have developed a new hydraulic brake actuator for active brake control systems. New hydraulic brake actuator is composed of the three parts. (Hydraulic booster unit, Power supply unit, Control valve unit) This report describes the construction of the new hydraulic booster unit. 2 refs., 10 figs.