Actuator Line Modeling of Wind Turbine Wakes
Troldborg, Niels
2009-01-01
This thesis contains a comprehensive 3D Navier-Stokes computational study of the characteristics of wakes of wind turbines operating in various flow conditions including interacting wakes between a row of turbines. The computations were carried out using the actuator line technique combined...... and it is shown that the turbines are subject to rather severe yaw moments, even in situations where the mean wind is oriented along the row. This observation is indicative of large scale dynamics of the wakes....... with the 3D Navier Stokes solver EllipSys3D and a LES turbulence model. Simple models, based on applying body forces in the computational domain, are developed for imposing sheared and turbulent infow and their validity is discussed. A few computations on stand alone turbines are compared to measurements...
Prescribed wind shear modelling with the actuator line technique
Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Troldborg, Niels
2007-01-01
A method for prescribing arbitrary steady atmospheric wind shear profiles combined with CFD is presented. The method is furthermore combined with the actuator line technique governing the aerodynamic loads on a wind turbine. Computation are carried out on a wind turbine exposed to a representative...
Actuator line modeling of vertical-axis turbines
Bachant, Peter; Wosnik, Martin
2016-01-01
To bridge the gap between high and low fidelity numerical modeling tools for vertical-axis (or cross-flow) turbines (VATs or CFTs), an actuator line model (ALM) was developed and validated for both a high and a medium solidity vertical-axis turbine at rotor diameter Reynolds numbers $Re_D \\sim 10^6$. The ALM is a hybridization of classical blade element theory with Navier--Stokes based flow models, and in this study both $k$--$\\epsilon$ Reynolds-averaged Navier--Stokes (RANS) and Smagorinsky large eddy simulation (LES) turbulence models were tested. The RANS models were able to be run on coarse grids while still providing good convergence behavior in terms of the mean power coefficient, and also approximately four orders of magnitude reduction in computational expense compared with 3-D blade-resolved RANS simulations. Submodels for dynamic stall, end effects, added mass, and flow curvature were implemented, resulting in reasonable performance predictions for the high solidity rotor, more discrepancies for the...
Evaluation of the Actuator Line Model with coarse resolutions
Draper, M.; Usera, G.
2015-06-01
The aim of the present paper is to evaluate the Actuator Line Model (ALM) in spatial resolutions coarser than what is generally recommended, also using larger time steps. To accomplish this, the ALM has been implemented in the open source code caffa3d.MBRi and validated against experimental measurements of two wind tunnel campaigns (stand alone wind turbine and two wind turbines in line, case A and B respectively), taking into account two spatial resolutions: R/8 and R/15 (R is the rotor radius). A sensitivity analysis in case A was performed in order to get some insight into the influence of the smearing factor (3D Gaussian distribution) and time step size in power and thrust, as well as in the wake, without applying a tip loss correction factor (TLCF), for one tip speed ratio (TSR). It is concluded that as the smearing factor is larger or time step size is smaller the power is increased, but the velocity deficit is not as much affected. From this analysis, a smearing factor was obtained in order to calculate precisely the power coefficient for that TSR without applying TLCF. Results with this approach were compared with another simulation choosing a larger smearing factor and applying Prandtl's TLCF, for three values of TSR. It is found that applying the TLCF improves the power estimation and weakens the influence of the smearing factor. Finally, these 2 alternatives were tested in case B, confirming that conclusion.
The design, hysteresis modeling and control of a novel SMA-fishing-line actuator
Xiang, Chaoqun; Yang, Hui; Sun, Zhiyong; Xue, Bangcan; Hao, Lina; Asadur Rahoman, M. D.; Davis, Steve
2017-03-01
Fishing line can be combined with shape memory alloy (SMA) to form novel artificial muscle actuators which have low cost, are lightweight and soft. They can be applied in bionic, wearable and rehabilitation robots, and can reduce system weight and cost, increase power-to-weight ratio and offer safer physical human-robot interaction. However, these actuators possess several disadvantages, for example fishing line based actuators possess low strength and are complex to drive, and SMA possesses a low percentage contraction and has high hysteresis. This paper presents a novel artificial actuator (known as an SMA-fishing-line) made of fishing line and SMA twisted then coiled together, which can be driven directly by an electrical voltage. Its output force can reach 2.65 N at 7.4 V drive voltage, and the percentage contraction at 4 V driven voltage with a 3 N load is 7.53%. An antagonistic bionic joint driven by the novel SMA-fishing-line actuators is presented, and based on an extended unparallel Prandtl-Ishlinskii (EUPI) model, its hysteresis behavior is established, and the error ratio of the EUPI model is determined to be 6.3%. A Joule heat model of the SMA-fishing-line is also presented, and the maximum error of the established model is 0.510 mm. Based on this accurate hysteresis model, a composite PID controller consisting of PID and an integral inverse (I-I) compensator is proposed and its performance is compared with a traditional PID controller through simulations and experimentation. These results show that the composite PID controller possesses higher control precision than basic PID, and is feasible for implementation in an SMA-fishing-line driven antagonistic bionic joint.
Analysis of the sweeped actuator line method
Nathan Jörn
2015-01-01
Full Text Available The actuator line method made it possible to describe the near wake of a wind turbine more accurately than with the actuator disk method. Whereas the actuator line generates the helicoidal vortex system shed from the tip blades, the actuator disk method sheds a vortex sheet from the edge of the rotor plane. But with the actuator line come also temporal and spatial constraints, such as the need for a much smaller time step than with actuator disk. While the latter one only has to obey the Courant-Friedrichs-Lewy condition, the former one is also restricted by the grid resolution and the rotor tip-speed. Additionally the spatial resolution has to be finer for the actuator line than with the actuator disk, for well resolving the tip vortices. Therefore this work is dedicated to examining a method in between of actuator line and actuator disk, which is able to model the transient behaviour, such as the rotating blades, but which also relaxes the temporal constraint. Therefore a larger time-step is used and the blade forces are swept over a certain area. The main focus of this article is on the aspect of the blade tip vortex generation in comparison with the standard actuator line and actuator disk.
An actuator line model simulation with optimal body force projection length scales
Martinez-Tossas, Luis; Churchfield, Matthew J.; Meneveau, Charles
2016-11-01
In recent work (Martínez-Tossas et al. "Optimal smoothing length scale for actuator line models of wind turbine blades", preprint), an optimal body force projection length-scale for an actuator line model has been obtained. This optimization is based on 2-D aerodynamics and is done by comparing an analytical solution of inviscid linearized flow over a Gaussian body force to the potential flow solution of flow over a Joukowski airfoil. The optimization provides a non-dimensional optimal scale ɛ / c for different Joukowski airfoils, where ɛ is the width of the Gaussian kernel and c is the chord. A Gaussian kernel with different widths in the chord and thickness directions can further reduce the error. The 2-D theory developed is extended by simulating a full scale rotor using the optimal body force projection length scales. Using these values, the tip losses are captured by the LES and thus, no additional explicit tip-loss correction is needed for the actuator line model. The simulation with the optimal values provides excellent agreement with Blade Element Momentum Theory. This research is supported by the National Science Foundation (Grant OISE-1243482, the WINDINSPIRE project).
Wind Turbine Large-Eddy Simulations on Very Coarse Grid Resolutions using an Actuator Line Model
Tossas, Luis A Martínez; Meneveau, Charles
2016-01-01
In this work the accuracy of the Actuator Line Model (ALM) in Large Eddy Simulations of wind turbine flow is studied under the specific conditions of very coarse spatial resolutions. For finely-resolved conditions, it is known that ALM provides better accuracy compared to the standard Actuator Disk Model (ADM) without rotation. However, we show here that on very coarse resolutions, flow induction occurring at rotor scales can affect the predicted inflow angle and can adversely affect the ALM predictions. We first provide an illustration of coarse LES to reproduce wind tunnel measurements. The resulting flow predictions are good, but the challenges in predicting power outputs from the detailed ALM motivate more detailed analysis on a case with uniform inflow. We present a theoretical framework to compare the filtered quantities that enter the Large-Eddy Simulation equations as body forces with a scaling relation between the filtered and unfiltered quantities. The study aims to apply the theoretical derivation ...
Draper, M.; Guggeri, A.; Usera, G.
2016-09-01
Wind energy has become cost competitive in recent years for several reasons. Among them, wind turbines have become more efficient, increasing its size, both rotor diameter and tower height. This growth in size makes the prediction of the wind flow through wind turbines more challenging. To avoid the computational cost related to resolve the blade boundary layer as well as the atmospheric boundary layer, actuator models have been proposed in the past few years. Among them, the Actuator Line Model (ALM) has shown to reproduce with reasonable accuracy the wind flow in the wake of a wind turbine with moderately computational cost. However, its use to simulate the flow through wind farms requires a spatial resolution and a time step that makes it unaffordable in some cases. The present paper aims to assess the ALM with coarser resolution and larger time step than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition and comparing the results with the Actuator Disk Model with Rotation (ADM-R) and experimental data. To accomplish this, a well known wind tunnel campaign is considered as validation case.
Martínez-Tossas, L. A. [Department of Mechanical Engineering, Johns Hopkins University, Baltimore 21218 MD USA; Churchfield, M. J. [National Renewable Energy Laboratory, Golden 80401 CO USA; Meneveau, C. [Department of Mechanical Engineering, Johns Hopkins University, Baltimore 21218 MD USA
2017-01-20
The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within large-eddy simulations (LES). In the ALM, the lift and drag forces are replaced by an imposed body force that is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width e. To date, the choice of e has most often been based on numerical considerations related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order of or smaller than the chord length of the blade, the best choice of e is not known. In this work, a theoretical approach is followed to determine the most suitable value of e, based on an analytical solution to the linearized inviscid flow response to a Gaussian force. We find that the optimal smoothing width eopt is on the order of 14%-25% of the chord length of the blade, and the center of force is located at about 13%-26% downstream of the leading edge of the blade for the cases considered. These optimal values do not depend on angle of attack and depend only weakly on the type of lifting surface. It is then shown that an even more realistic velocity field can be induced by a 2-D elliptical Gaussian lift-force kernel. Some results are also provided regarding drag force representation.
Simulation of a 7.7 MW onshore wind farm with the Actuator Line Model
Guggeri, A.; Draper, M.; Usera, G.
2017-05-01
Recently, the Actuator Line Model (ALM) has been evaluated with coarser resolution and larger time steps than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition. The aim of the present paper is to continue these studies, assessing the capability of the ALM to represent the wind turbines’ interactions in an onshore wind farm. The ‘Libertad’ wind farm, which consists of four 1.9MW Vestas V100 wind turbines, was simulated considering different wind directions, and the results were compared with the wind farm SCADA data, finding good agreement between them. A sensitivity analysis was performed to evaluate the influence of the spatial resolution, finding acceptable agreement, although some differences were found. It is believed that these differences are due to the characteristics of the different Atmospheric Boundary Layer (ABL) simulations taken as inflow condition (precursor simulations).
Validation of the Actuator Line Model for Simulating Flows past Yawed Wind Turbine Rotors
Shen, Wen Zhong; Zhu, Wei Jun; Yang, Hua
2015-01-01
The Actuator Line/Navier-Stokes model is validated against wind tunnel measurements for flows past the yawed MEXICO rotor and past the yawed NREL Phase VI rotor. The MEXICO rotor is operated at a rotational speed of 424 rpm, a pitch angle of −2.3˚, wind speeds of 10, 15, 24 m/s and yaw angles of 15......˚, 30˚ and 45˚. The computed loads as well as the velocity field behind the yawed MEXICO rotor are compared to the detailed pressure and PIV measurements which were carried out in the EU funded MEXICO project. For the NREL Phase VI rotor, computations were carried out at a rotational speed of 90.2 rpm......, a pitch angle of 3˚, a wind speed of 5 m/s and yaw angles of 10˚ and 30˚. The computed loads are compared to the loads measured from pressure measurement....
Model of magnetostrictive actuator
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.
Optimal smoothing length scale for actuator line models of lifting surfaces
Martinez-Tossas, Luis A
2015-01-01
The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within Large-Eddy Simulations (LES). In ALM the lift and drag forces are replaced by an imposed body force which is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width $\\epsilon$. To date, the choice of $\\epsilon$ has most often been based on numerical considerations mostly related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order or smaller than the chord-length of the blade, the best choice of $\\epsilon$ is not known. Focusing first on the lift force, here we find $\\epsilon$ and the force center location that minimize the square difference between the velocity fields obtained from solving 2D potential flow over Joukowski airfoils and solving the Euler equations including the imposed body force. The latter solution is found for the linearized problem, and is valid for small angles of at...
Accuracy of State-of-the-Art Actuator-Line Modeling for Wind Turbine Wakes
Jha, Pankaj; Churchfield, Matthew; Moriarty, Patrick; Schmitz, Sven
2013-01-14
The current actuator line method (ALM) within an OpenFOAM computational fluid dynamics (CFD) solver was used to perform simulations of the NREL Phase VI rotor under rotating and parked conditions, two fixed-wing designs both with an elliptic spanwise loading, and the NREL 5-MW turbine. The objective of this work is to assess and improve the accuracy of the state-of-the-art ALM in predicting rotor blade loads, particularly by focusing on the method used to project the actuator forces onto the flow field as body forces. Results obtained for sectional normal and tangential force coefficients were compared to available experimental data and to the in-house performance code XTurb-PSU. It was observed that the ALM results agree well with measured data and results obtained from XTurb-PSU except in the root and tip regions if a three-dimensional Gaussian of width, ε, constant along the blade span is used to project the actuator force onto the flow field. A new method is proposed where the Gaussian width, ε, varies along the blade span following an elliptic distribution. A general criterion is derived that applies to any planform shape. It is found that the new criterion for ε leads to improved prediction of blade tip loads for a variety of blade planforms and rotor conditions considered.
Mendoza, Victor; Bachant, Peter; Wosnik, Martin; Goude, Anders
2016-09-01
Vertical axis wind turbines (VAWT) can be used to extract renewable energy from wind flows. A simpler design, low cost of maintenance, and the ability to accept flow from all directions perpendicular to the rotor axis are some of the most important advantages over conventional horizontal axis wind turbines (HAWT). However, VAWT encounter complex and unsteady fluid dynamics, which present significant modeling challenges. One of the most relevant phenomena is dynamic stall, which is caused by the unsteady variation of angle of attack throughout the blade rotation, and is the focus of the present study. Dynamic stall is usually used as a passive control for VAWT operating conditions, hence the importance of predicting its effects. In this study, a coupled model is implemented with the open-source CFD toolbox OpenFOAM for solving the Navier-Stokes equations, where an actuator line model and dynamic stall model are used to compute the blade loading and body force. Force coefficients obtained from the model are validated with experimental data of pitching airfoil in similar operating conditions as an H-rotor type VAWT. Numerical results show reasonable agreement with experimental data for pitching motion.
Wind turbine rotor simulation using the actuator disk and actuator line methods
Tzimas, M.; Prospathopoulos, J.
2016-09-01
The present paper focuses on wind turbine rotor modeling for loads and wake flow prediction. Two steady-state models based on the actuator disk approach are considered, using either a uniform thrust or a blade element momentum calculation of the wind turbine loads. A third model is based on the unsteady-state actuator line approach. Predictions are compared with measurements in wind tunnel experiments and in atmospheric environment and the capabilities and weaknesses of the different models are addressed.
Jha, Pankaj [Pennsylvania State Univ., University Park, PA (United States); Churchfield, Matthew [National Renewable Energy Lab. (NREL), Golden, CO (United States); Moriarty, Patrick [National Renewable Energy Lab. (NREL), Golden, CO (United States); Schmitz, Sven [Pennsylvania State Univ., University Park, PA (United States)
2014-01-13
When using an actuator-line representation of a wind turbine for computational fluid dynamics, it is common practice to volumetrically project the line force onto the flow field to create a body force in the fluid momentum equation. The objective of this study is to investigate how different volumetric projection techniques of the body force created by an actuator-line wind turbine rotor model affect the generated wake characteristics and blade loads in a turbine-turbine interaction problem. Two techniques for the body-force projection width are used , and they are based on either i) the grid spacing, or ii) the combination of grid spacing and an equivalent elliptic blade planform. An array of two NREL 5-MW turbines separated by seven rotor diameters is simulated within a large-eddy simulation solver subject to offshore neutral and moderately-convective atmospheric boundary-layer inflow. Power, thrust,and bending moment histories of both turbines, the statistics of angle of attack and blade loads over 2000 sec, variations in the mean and fluctuating velocity components, and turbulent kinetic energy and selected Reynolds stresses along vertical and spanwise sampling locations in the wake are analyzed. Comparisons for the different techniques of determining the body-force projection width of the actuator-line method are made and their effect on different physical quantities are assessed.
Simulation of wind turbine wakes using the actuator line technique.
Sørensen, Jens N; Mikkelsen, Robert F; Henningson, Dan S; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J
2015-02-28
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake.
Simulation of wind turbine wakes using the actuator line technique
Sørensen, Jens N.; Mikkelsen, Robert F.; Henningson, Dan S.; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J.
2015-01-01
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. PMID:25583862
Modeling and control of precision actuators
Kiong, Tan Kok
2013-01-01
IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict
Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming;
2016-01-01
The flow around an isolated horizontal-axis wind turbine is estimated by means of a new vortex code based on the Biot–Savart law with constant circulation along the blades. The results have been compared with numerical simulations where the wind turbine blades are replaced with actuator lines. Two...... different wind turbines have been simulated: one with constant circulation along the blades, to replicate the vortex method approximations, and the other with a realistic circulation distribution, to compare the outcomes of the vortex model with real operative wind-turbine conditions (Tjæreborg wind turbine......). The vortex model matched the numerical simulation of the turbine with constant blade circulation in terms of the near-wake structure and local forces along the blade. The results from the Tjæreborg turbine case showed some discrepancies between the two approaches, but overall, the agreement is qualitatively...
Simulation of wind turbine wakes using the actuator line technique
Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming; Henningson, Dan S.;
2015-01-01
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance...
Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread
Arakawa, Takeshi; Takagi, Kentaro; Tahara, Kenji; Asaka, Kinji
2016-04-01
Recently, fishing line artificial muscle has been developed and is paid much attention due to the properties such as large contraction, light weight and extremely low cost. Typical fishing line artificial muscle is made from Nylon thread and made by just twisting the polymer. In this paper, because of the structure of the actuator, such actuators may be named as coiled polymer actuators (CPAs). In this paper, a CPA is fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire is wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model is proposed. According to the physical principle of the actuator, two first-order transfer functions are introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it is shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the voltage-driven CPA is discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification is shown.
Modeling of a Dielectric Elastomer Bender Actuator
Paul White
2014-07-01
Full Text Available The current smallest self-contained modular robot uses a shape memory alloy, which is inherently inefficient, slow and difficult to control. We present the design, fabrication and demonstration of a module based on dielectric elastomer actuation. The module uses a pair of bowtie dielectric elastomer actuators in an agonist-antagonist configuration and is seven times smaller than previously demonstrated. In addition, we present an intuitive model for the bowtie configuration that predicts the performance with experimental verification. Based on this model and the experimental analysis, we address the theoretical limitations and advantages of this antagonistic bender design relative to other dielectric elastomer actuators.
Actuator Line/Navier-Stokes Computations for Flows past the Yawed MEXICO Rotor
Shen, Wen Zhong; Sørensen, Jens Nørkær; Yang, H.
2011-01-01
In the paper the Actuator Line/Navier-Stokes model has been used to simulate flows past the yawed MEXICO rotor. The computed loads as well as the velocity field behind the yawed rotor are compared to detailed pressure and PIV measurements which were carried out in the EU funded MEXICO project...
Martínez-Tossas, Luis A.; Churchfield, Matthew J.; Meneveau, Charles
2016-09-01
When representing the blade aerodynamics with rotating actuator lines, the computed forces have to be projected back to the CFD flow field as a volumetric body force. That has been done in the past with a geometrically simple uniform three-dimensional Gaussian at each point along the blade. We argue that the body force can be shaped in a way that better predicts the blade local flow field, the blade load distribution, and the formation of the tip/root vortices. In previous work, we have determined the optimal scales of circular and elliptical Gaussian kernels that best reproduce the local flow field in two-dimensions. In this work we extend the analysis and applications by considering the full three-dimensional blade to test our hypothesis in a highly resolved Large Eddy Simulation.
A magnetorheological actuation system: test and model
John, Shaju; Chaudhuri, Anirban; Wereley, Norman M.
2008-04-01
Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data.
An Analytical Approach for Synthesizing Line Actuation Spaces of Parallel Flexure Mechanisms.
Yu, Jingjun; Li, Shouzhong; Qiu, Chen
2013-12-01
In this study, we present an analytical approach for synthesizing line actuation spaces of a parallel flexure mechanism (PFM) that can help designers to arrange linear actuators within the PFM in a correct and optimal way. On the basis of screw theory and upon an assumption of small deformations, an important synthesis criterion stated as "any actuation space of a flexure mechanism is always linearly independent of its constraint space" has been derived and disclosed for the first time. Guided by this criterion, a general synthesis process for the line actuation spaces of PFMs is introduced and demonstrated with several selective examples. The proposed synthesis criterion and process will enable designers to (i) systematically formulate line actuation spaces in the format of screw systems; (ii) likely yield a multiple solution to actuation spaces; and (iii) potentially determine an optimal result from those alternatives for actuator placement.
Mathematical modeling of a V-stack piezoelectric aileron actuation
Ioan URSU
2016-12-01
Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.
Actuator line/Navier–Stokes computations for the MEXICO rotor: comparison with detailed measurements
Shen, Wen Zhong; Zhu, Wei Jun; Sørensen, Jens Nørkær
2012-01-01
In the European collaborative MEXICO (Model Experiments in Controlled Conditions) project, a series of experiments was carried out on a 4.5 m diameter wind turbine rotor to validate numerical diagnostics tools. Here, some of the measured data are compared with computations of the combined actuator...... line/Navier–Stokes (AL/NS) model developed at the Technical University of Denmark. The AL/NS model was combined with a large eddy simulation technique and used to compute the flow past the MEXICO rotor in free air and in the DNW German‐Dutch wind tunnel for three commonly defined test cases at wind...
Pneumatic Artificial Muscle Actuation and Modeling
Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.
2009-10-01
A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.
Modeling and control of a dielectric elastomer actuator
Gupta, Ujjaval; Gu, Guo-Ying; Zhu, Jian
2016-04-01
The emerging field of soft robotics offers the prospect of applying soft actuators as artificial muscles in the robots, replacing traditional actuators based on hard materials, such as electric motors, piezoceramic actuators, etc. Dielectric elastomers are one class of soft actuators, which can deform in response to voltage and can resemble biological muscles in the aspects of large deformation, high energy density and fast response. Recent research into dielectric elastomers has mainly focused on issues regarding mechanics, physics, material designs and mechanical designs, whereas less importance is given to the control of these soft actuators. Strong nonlinearities due to large deformation and electromechanical coupling make control of the dielectric elastomer actuators challenging. This paper investigates feed-forward control of a dielectric elastomer actuator by using a nonlinear dynamic model. The material and physical parameters in the model are identified by quasi-static and dynamic experiments. A feed-forward controller is developed based on this nonlinear dynamic model. Experimental evidence shows that this controller can control the soft actuator to track the desired trajectories effectively. The present study confirms that dielectric elastomer actuators are capable of being precisely controlled with the nonlinear dynamic model despite the presence of material nonlinearity and electromechanical coupling. It is expected that the reported results can promote the applications of dielectric elastomer actuators to soft robots or biomimetic robots.
Calduch Cervera, F.; Verdu Rios, M. F.; Villena Rivera, M.; Munoz Guijosa, J. M.
2012-07-01
Once completed the static modeling; pneumatic actuators under analysis, consisting in the development of balance equations Kinematic compatibility forces and each of the internal components of the actuator, regardless of the valve to which it is attached and the effect dynamic conditions of the line has continued to develop the dynamic model of the valve - actuator.
Aeroacoustic Calculations of Wind Turbine Noise with the Actuator Line/ Navier-Stokes Technique
Debertshäuser, Harald; Shen, Wen Zhong; Zhu, Wei Jun
2016-01-01
Noise regulations in many countries are becoming extremely strict and wind turbine noise is thus becoming a barrier for further development of onshore wind turbines. Low noise wind turbine airfoil and blade design is an important technique for noise reduction. However, the ow situation of a wind...... turbine in wind farms is very complicated. In order to accurately model the noise generation and propagation from wind turbines in wind farms,it is urgent to develop a high-fidelity noise model to predict the noise features in complex situations. In the present study, we develop a flow-acoustic splitting...... technique where the wind turbine flow is calculated by using the in-house actuator line/LES/Navier-Stokes technique and the acoustics is obtained by solving the acoustic perturbation equations. In the flow solver, the wind turbine blades are modelled by rotating lines with body forces determined according...
An Advanced Actuator Line Method for Wind Energy Applications and Beyond: Preprint
Churchfield, Matthew; Schreck, Scott; Martinez-Tossas, Luis A.; Meneveau, Charles; Spalart, Philippe R.
2017-03-24
The actuator line method to represent rotor aerodynamics within computational fluid dynamics has been in use for over a decade. This method applies a body force to the flow field along rotating lines corresponding to the individual rotor blades and employs tabular airfoil data to compute the force distribution. The actuator line method is attractive because compared to blade-resolved simulations, the required mesh is much simpler and the computational cost is lower. This work proposes a higher fidelity variant of the actuator line method meant to fill the space between current actuator line and blade-resolved simulations. It contains modifications in two key areas. The first is that of freestream velocity vector estimation along the line, which is necessary to compute the lift and drag along the line using tabular airfoil data. Most current methods rely on point sampling in which the location of sampling is ambiguous. Here we test a velocity sampling method that uses a properly weighted integral over space, removing this ambiguity. The second area of improvement is the function used to project the one-dimensional actuator line force onto the three-dimensional fluid mesh as a body force. We propose and test a projection function that spreads the force over a region that looks something like a real blade with the hope that it will produce the blade local and near wake flow features with more accuracy and higher fidelity. Our goal is that between these two improvements, not only will the flow field predictions be enhanced, but also the spanwise loading will be made more accurate. We refer to this combination of improvements as the advanced actuator line method. We apply these improvements to two different wind turbine cases. Although there is a strong wind energy motivation in our work, there is no reason these advanced actuator line ideas cannot be used in other applications, such as helicopter rotors.
An Advanced Actuator Line Method for Wind Energy Applications and Beyond
Churchfield, Matthew J.; Schreck, Scott; Martinez-Tossas, Luis A.; Meneveau, Charles; Spalart, Philippe R.
2017-01-09
The actuator line method to represent rotor aerodynamics within computational fluid dynamics has been in use for over a decade. This method applies a body force to the flow field along rotating lines corresponding to the individual rotor blades and employs tabular airfoil data to compute the force distribution. The actuator line method is attractive because compared to blade-resolved simulations, the required mesh is much simpler and the computational cost is lower. This work proposes a higher fidelity variant of the actuator line method meant to fill the space between current actuator line and blade-resolved simulations. It contains modifications in two key areas. The first is that of freestream velocity vector estimation along the line, which is necessary to compute the lift and drag along the line using tabular airfoil data. Most current methods rely on point sampling in which the location of sampling is ambiguous. Here we test a velocity sampling method that uses a properly weighted integral over space, removing this ambiguity. The second area of improvement is the function used to project the one-dimensional actuator line force onto the three-dimensional fluid mesh as a body force. We propose and test a projection function that spreads the force over a region that looks something like a real blade with the hope that it will produce the blade local and near wake flow features with more accuracy and higher fidelity. Our goal is that between these two improvements, not only will the flow field predictions be enhanced, but also the spanwise loading will be made more accurate. We refer to this combination of improvements as the advanced actuator line method. We apply these improvements to two different wind turbine cases. Although there is a strong wind energy motivation in our work, there is no reason these advanced actuator line ideas cannot be used in other applications, such as helicopter rotors.
Multiscale modeling and topology optimization of poroelastic actuators
Andreasen, Casper Schousboe; Sigmund, Ole
2012-01-01
This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc......This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material...
Modeling, analysis and control of a variable geometry actuator
Evers, W.J.; Knaap, A. van der; Besselink, I.J.M.; Nijmeijer, H.
2008-01-01
A new design of variable geometry force actuator is presented in this paper. Based upon this design, a model is derived which is used for steady-state analysis, as well as controller design in the presence of friction. The controlled actuator model is finally used to evaluate the power consumption u
Validation of the actuator line/Navier Stokes technique using mexico measurements
Shen, Wen Zhong; Zhu, Wei Jun; Sørensen, Jens Nørkær
2010-01-01
This paper concerns the contribution of DTU MEK in the international research collaboration project (MexNext) within the framework of IEA Annex 29 to validate aerodynamic models or CFD codes using the existing measurements made in the previous EU funded projectMEXICO (Model Experiments in Control......This paper concerns the contribution of DTU MEK in the international research collaboration project (MexNext) within the framework of IEA Annex 29 to validate aerodynamic models or CFD codes using the existing measurements made in the previous EU funded projectMEXICO (Model Experiments...... in Controlled Conditions). The Actuator Line/Navier Stokes (AL/NS) technique developed at DTU is validated against the detailed MEXICO measurements. The AL/NS computations without the DNW wind tunnel with speeds of 10m/s, 15m/s and 24m/s. Comparisons of blade loading between computations and measurements show...
Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB
Reaves, Mercedes C.; Horta, Lucas G.
2003-01-01
This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.
Modeling and design of energy efficient variable stiffness actuators
Visser, L.C.; Carloni, Raffaella; Ünal, Ramazan; Stramigioli, Stefano
In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based
Piezoelectric actuator models for active sound and vibration control of cylinders
Lester, Harold C.; Lefebvre, Sylvie
1993-01-01
Analytical models for piezoelectric actuators, adapted from flat plate concepts, are developed for noise and vibration control applications associated with vibrating circular cylinders. The loadings applied to the cylinder by the piezoelectric actuators for the bending and in-plane force models are approximated by line moment and line force distributions, respectively, acting on the perimeter of the actuator patch area. Coupling between the cylinder and interior acoustic cavity is examined by studying the modal spectra, particularly for the low-order cylinder modes that couple efficiently with the cavity at low frequencies. Within the scope of this study, the in-plane force model produced a more favorable distribution of low-order modes, necessary for efficient interior noise control, than did the bending model.
Actuator Line Simulation of Wake of Wind Turbine Operating in Turbulent Inflow
Troldborg, Niels; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming
2007-01-01
The wake of a wind turbine operating in an atmospheric turbulent inflow without mean shear is simulated using a numerical method, which combines large eddy simulations with an actuator line technique. A turbulent inflow with the same spectral characteristics as the atmosphere is produced....... Furthermore, the results are used to verify the validity of some of the basic assumptions employed in simpler engineering models and to study their bounds of application. The large amount of data from the wake simulation can easily be used in simple engineering methods to model a wind turbine operating...... by introducing time varying body forces in a plane upstream the rotor. The results of the simulation are compared to those obtained on a wind turbine in uniform inflow at the same mean wind speed and from this comparison a number of features of the influence of inflow turbulence on wake dynamics are deduced...
Validation of the actuator line method using near wake measurements of the MEXICO rotor
Nilsson, Karl; Shen, Wen Zhong; Sørensen, Jens Nørkær
2015-01-01
generates significantly larger vortex cores than in the experimental cases, but predicts the expansion, the circulation and the velocity distributions with satisfying results. Additionally, the simulation and experimental data are used to test three different techniques to compute the average axial......The purpose of the present work is to validate the capability of the actuator line method to compute vortex structures in the near wake behind the MEXICO experimental wind turbine rotor. In the MEXICO project/MexNext Annex, particle image velocimetry measurements have made it possible to determine...... of tip speed ratios, have been simulated by large-eddy simulations using a Navier–Stokes code combined with the actuator line method. The flow field is analyzed in terms of wake expansion, vortex core radius, circulation and axial and radial velocity distributions. Generally, the actuator line method...
Modeling and design of a high-performance hybrid actuator
Aloufi, Badr; Behdinan, Kamran; Zu, Jean
2016-12-01
This paper presents the model and design of a novel hybrid piezoelectric actuator which provides high active and passive performances for smart structural systems. The actuator is composed of a pair of curved pre-stressed piezoelectric actuators, so-called commercially THUNDER actuators, installed opposite each other using two clamping mechanisms constructed of in-plane fixable hinges, grippers and solid links. A fully mathematical model is developed to describe the active and passive dynamics of the actuator and investigate the effects of its geometrical parameters on the dynamic stiffness, free displacement and blocked force properties. Among the literature that deals with piezoelectric actuators in which THUNDER elements are used as a source of electromechanical power, the proposed study is unique in that it presents a mathematical model that has the ability to predict the actuator characteristics and achieve other phenomena, such as resonances, mode shapes, phase shifts, dips, etc. For model validation, the measurements of the free dynamic response per unit voltage and passive acceleration transmissibility of a particular actuator design are used to check the accuracy of the results predicted by the model. The results reveal that there is a good agreement between the model and experiment. Another experiment is performed to teste the linearity of the actuator system by examining the variation of the output dynamic responses with varying forces and voltages at different frequencies. From the results, it can be concluded that the actuator acts approximately as a linear system at frequencies up to 1000 Hz. A parametric study is achieved here by applying the developed model to analyze the influence of the geometrical parameters of the fixable hinges on the active and passive actuator properties. The model predictions in the frequency range of 0-1000 Hz show that the hinge thickness, radius, and opening angle parameters have great effects on the frequency dynamic
Modeling the Electrostatic Deflection of a MEMS Multilayers Based Actuator
Hassen M. Ouakad
2013-01-01
Full Text Available An actuator comprised of a rigid substrate and two parallel clamped-clamped microbeams is modeled under the influence of electrostatic loading. The problem is considered under the context of nonlinear Euler's mechanics, where the actuating system is described by coupled integrodifferential equations with relevant boundary conditions. Galerkin-based discretization is utilized to obtain a reduced-order model, which is solved numerically. Actuators with different gap sizes between electrode and beams are investigated. The obtained results are compared to simulations gotten by the finite-element commercial software ANSYS.
Analysis of power enhancement for a row of wind turbines using the actuator line technique
Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Øye, Stig;
2007-01-01
The effect of wake interaction for a row of three wind turbines in a wind farm is analysed using the actuator line technique. Both full wake and half wake situations are considered with the aim of deriving the optimal pitch setting of the foremost turbine, with respect to the total power from...
Validation of the actuator line and disc techniques using the New MEXICO measurements
Sarmast, Sasan; Shen, Wen Z.; Zhu, Wei Jun
2016-01-01
Actuator line and disc techniques are employed to analyse the wake obtained in the New MEXICO wind turbine experiment. The New MEXICO measurement campaign done in 2014 is a follow-up to the MEXICO campaign, which was completed in 2006. Three flow configurations in axial flow condition are simulated...
Actuator Line Modeling of Wind Turbine Wakes
Troldborg, Niels
2009-01-01
inflow shows that besides an expected vertical skewed wake the wake also becomes increasingly asymmetric in the horizontal direction as it is convected downstream. The latter phenomena, which is also often observed in measurements, is argued to be caused by the rotation of the wake. A detailed study....... Furthermore, it is shown that the main effect governing the large scale meandering of wakes is the large scale structures of the ambient turbulence field. Finally studies are conducted on rows of respectively two and three turbines. The investigation includes evaluation of the loading on the rotors...
Model of Polysilicon Electro-thermal Micro Actuator and Research of Micro Scale Effect
ZHANGYong-yu; SHENXue-jin; CHENXiao-yang
2004-01-01
A type of crank beam electro-thermal mircro actuator was prescribed Mechanical model of the actuatar was estabilished,and the static characteristic was analzed Comparing the theoretical analzsis with experimental data,it is found that the thermodynamic character of material in micro actuator has a different variable regularity contrasted to that used in macro scale machines.it is the micro scale effect that results in the deriation between the simulating result and experimental results the thermodynamic expression of polysilicon which was fitted by means of the experimental data concerned was used to modify the mechanical model The modifiex model ,in which the mircro scale thermodynamic characteristic characteristic was considered,was more reasonable and could make the optimal design and control strategies analyzing the straight-line micro actuator more feasible.
Modeling of Hysteresis in Piezoelectric Actuator Based on Segment Similarity
Rui Xiong
2015-11-01
Full Text Available To successfully exploit the full potential of piezoelectric actuators in micro/nano positioning systems, it is essential to model their hysteresis behavior accurately. A novel hysteresis model for piezoelectric actuator is proposed in this paper. Firstly, segment-similarity, which describes the similarity relationship between hysteresis curve segments with different turning points, is proposed. Time-scale similarity, which describes the similarity relationship between hysteresis curves with different rates, is used to solve the problem of dynamic effect. The proposed model is formulated using these similarities. Finally, the experiments are performed with respect to a micro/nano-meter movement platform system. The effectiveness of the proposed model is verified as compared with the Preisach model. The experimental results show that the proposed model is able to precisely predict the hysteresis trajectories of piezoelectric actuators and performs better than the Preisach model.
Dynamic modeling of brushless dc motors for aerospace actuation
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.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-01-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Preisach model of hysteresis for the Piezoelectric Actuator Drive
Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe
2015-01-01
hysteretic nonlinearities. In order to model these nonlinearities, the first-order hysteresis reversal curves of the actuators are measured and a discrete Preisach model is derived. This forms a basis that enables the study of different compensation methods. The results show matching between measured...
Modeling and optimization of magnetostrictive actuator amplified by compliant mechanism
Niu, Muqing; Yang, Bintang; Yang, Yikun; Meng, Guang
2017-09-01
Magnetostrictive actuators are commonly used in precision engineering with the advantages of high resolution and fast response. Their limited strokes are always amplified by compliant mechanisms without wear and backlash. This paper proposes a hybrid model for the actuation system considering the coupling of the actuator and the amplifier. The magnetostrictive model, based on the Jiles-Atherton model, is related to the input stiffness of the amplifier when quantifying the magneto-mechanical effects, including stress-dependent magnetization, stress-dependent magnetostriction and ΔE effect. The compliant mechanism model aims at constructing the flexibility matrix with the amplification ratio and input stiffness related to the spring factor of the load. The deformation and structural stress of the amplifier are also dependent on the output strain of magnetostrictive material. Experiments under both free load and spring load conditions have been done to verify the effectiveness of the hybrid model. The proposed model is suitable for parameter optimization and the performance indicators can be precisely quantified. Optimization based on hybrid model is more preferred than optimizing the actuator and amplifier independently for maximum output displacement. Furthermore, ‘stiffness match principle’ is no longer applicable when considering ΔE effect, and the optimal external stiffness problem can be numerically solved by the hybrid model for maximum output energy of magnetostrictive material.
Droplet actuation induced by coalescence: experimental evidences and phenomenological modeling
Sellier, Mathieu; Gaubert, Cécile; Verdier, Claude
2012-01-01
This paper considers the interaction between two droplets placed on a substrate in immediate vicinity. We show here that when the two droplets are of different fluids and especially when one of the droplet is highly volatile, a wealth of fascinating phenomena can be observed. In particular, the interaction may result in the actuation of the droplet system, i.e. its displacement over a finite length. In order to control this displacement, we consider droplets confined on a hydrophilic stripe created by plasma-treating a PDMS substrate. This controlled actuation opens up unexplored opportunities in the field of microfluidics. In order to explain the observed actuation phenomenon, we propose a simple phenomenological model based on Newton's second law and a simple balance between the driving force arising from surface energy gradients and the viscous resistive force. This simple model is able to reproduce qualitatively and quantitatively the observed droplet dynamics.
DYNAMIC FREE ENERGY HYSTERESIS MODEL IN MAGNETOSTRICTIVE ACTUATORS
无
2006-01-01
A dynamic free energy hysteresis model in magnetostrictive actuators is presented. It is the free energy hysteresis model coupled to an ordinary different equation in an unusual way. According to its special structure, numerical implementation method of the dynamic model is provided. The resistor parameter in the dynamic model changes according to different frequency ranges. This makes numerical implementation results reasonable in the discussed operating frequency range. The validity of the dynamic free energy model is illustrated by comparison with experimental data.
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 Reconfiguration...
Nonlinear Model-Based Fault Detection for a Hydraulic Actuator
Van Eykeren, L.; Chu, Q.P.
2011-01-01
This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost effect
Modelling and control of double-cone dielectric elastomer actuator
Branz, F.; Francesconi, A.
2016-09-01
Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.
Three Dimensional Modeling of an MRI Actuated Steerable Catheter System.
Liu, Taoming; Cavuşoğlu, M Cenk
2014-01-01
This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype.
Effects of noise variance model on optimal feedback design and actuator placement
Ruan, Mifang; Choudhury, Ajit K.
1994-01-01
In optimal placement of actuators for stochastic systems, it is commonly assumed that the actuator noise variances are not related to the feedback matrix and the actuator locations. In this paper, we will discuss the limitation of that assumption and develop a more practical noise variance model. Various properties associated with optimal actuator placement under the assumption of this noise variance model are discovered through the analytical study of a second order system.
Yoon, K. J.; Park, K. H.; Lee, S. K.; Goo, N. S.; Park, H. C.
2004-06-01
This paper describes an analytical design model for a layered piezo-composite unimorph actuator and its numerical and experimental verification using a LIPCA (lightweight piezo-composite curved actuator) that is lighter than other conventional piezo-composite type actuators. The LIPCA is composed of top fiber composite layers with high modulus and low CTE (coefficient of thermal expansion), a middle PZT ceramic wafer, and base layers with low modulus and high CTE. The advantages of the LIPCA design are to replace the heavy metal layer of THUNDER by lightweight fiber-reinforced plastic layers without compromising the generation of high force and large displacement and to have design flexibility by selecting the fiber direction and the number of prepreg layers. In addition to the lightweight advantage and design flexibility, the proposed device can be manufactured without adhesive layers when we use a resin prepreg system. A piezo-actuation model for a laminate with piezo-electric material layers and fiber composite layers is proposed to predict the curvature and residual stress of the LIPCA. To predict the actuation displacement of the LIPCA with curvature, a finite element analysis method using the proposed piezo-actuation model is introduced. The predicted deformations are in good agreement with the experimental ones.
Dynamic Heat Generation Modeling and Thermal Management of Electromechanical Actuators
2012-07-01
calculated by counting the teeth on each gear and measuring the linear displacement of the actuator rod for one full revolution of the rotor. b...Maxwell 2D. Values of rotor angle, torque angle, and current amplitude are varied as multiple simulation runs are performed. Many of the motor modeling...behavior during highly transient moments. The torque angle should be varied from 0 to π radians to capture the full character of the inductances
Panjwani Balram
2014-01-01
Full Text Available Wind energy is a good alternative to meet the energy requirements in some parts of the world; however the efficiency of wind farm depends on the optimized location of the wind turbines. Therefore a software tool that is capable of predicting the in-situ performance of multiple turbine installations in different operating conditions with reliable accuracy is needed. In present study wind farm layout design tool OffWindSolver is developed within the OpenFoam architecture. Unsteady PisoFoam solver is extended to account for wind turbines, where each turbine is modeled as a sink term in the momentum equation. Turbine modeling is based on actuator line concepts derived from SOWFA code, where each blade of the turbine is represented as a line. The loading on each line/blade of the turbine is estimated using the Blade Element Method (BEM. The inputs for the solver are tabulated airfoil aerodynamic data, dimension and height of the wind turbines, wind magnitude and direction. OffWindSolver is validated for a real wind farm – Lillgrund offshore facility in Sweden/Denmark operated by Vattenfall Vindkraft AB. Because of the scale of the computation, we only examine the effect of wind from one direction at one speed. In the absence of time dependent Marine Atmospheric Boundary Layer (MABL, a log wind profile with surface roughness of 0.04 is used at the inlet. The simulated power production of each turbine is compared to the field data and large-eddy simulation. The overall power of the wind farm is well predicted. The simulation shows the significant decreases of the power for those turbines that were in the wake.
Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying
2017-09-01
A systematic dynamic modeling methodology is presented to develop the rigid-flexible coupling dynamic model (RFDM) of an emerging flexible parallel manipulator with multiple actuation modes. By virtue of assumed mode method, the general dynamic model of an arbitrary flexible body with any number of lumped parameters is derived in an explicit closed form, which possesses the modular characteristic. Then the completely dynamic model of system is formulated based on the flexible multi-body dynamics (FMD) theory and the augmented Lagrangian multipliers method. An approach of combining the Udwadia-Kalaba formulation with the hybrid TR-BDF2 numerical algorithm is proposed to address the nonlinear RFDM. Two simulation cases are performed to investigate the dynamic performance of the manipulator with different actuation modes. The results indicate that the redundant actuation modes can effectively attenuate vibration and guarantee higher dynamic performance compared to the traditional non-redundant actuation modes. Finally, a virtual prototype model is developed to demonstrate the validity of the presented RFDM. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and controller design of other planar flexible parallel manipulators, especially the emerging ones with multiple actuation modes.
Model and Design of a Power Driver for Piezoelectric Stack Actuators
Chiaberge M
2010-01-01
Full Text Available A power driver has been developed to control piezoelectric stack actuators used in automotive application. An FEM model of the actuator has been implemented starting from experimental characterization of the stack and mechanical and piezoelectric parameters. Experimental results are reported to show a correct piezoelectric actuator driving method and the possibility to obtain a sensorless positioning control.
Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model
Melton, LaTunia Pack; Koklu, Mehti
2016-01-01
Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.
Transient ejection phase modeling of a Plasma Synthetic Jet actuator
Laurendeau, F.; Chedevergne, F.; Casalis, G.
2014-12-01
For several years, a promising Plasma Synthetic Jet actuator for high-speed flow control has been under development at ONERA. So far, its confined geometry and small space-time scales at play have prevented its full experimental characterization. Complementary accurate numerical simulations are then considered in this study in order to provide a complete aerothermodynamic description of the actuator. Two major obstacles have to be overcome with this approach: the modeling of the energy deposited by the electric arc and the accurate computation of the transient response of the cavity generating the pulsed jet. To solve the first problem, an Euler solver coupled with an electric circuit model was used to evaluate the energy deposition in the cavity. Such a coupling is performed by considering the electric field between the two electrodes. The second issue was then addressed by injecting these source terms in large Eddy simulations of the entire actuator. Aerodynamic results were finally compared with Schlieren visualizations. Using the proposed methodology, the temporal evolution of the jet front is remarkably well predicted.
Magneto-mechanical actuation model for fin-based locomotion
Carbajal, Juan Pablo; 10.2495/DN100331
2011-01-01
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magneto-mechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements. We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and cente...
Hysteresis model of magnetostrictive actuators and its numerical realization
TANG Zhi-feng; LV Fu-zai; XIANG Zhan-qin
2007-01-01
This paper presents two numerical realization of Preisach model by Density Function Method (DFM) and F Function Method (FFM) for a giant magnetostrictive actuator (GMA). Experiment and simulation showed that FFM is better than DFM for predicting precision of hysteresis loops. Lagrange bilinear interpolation algorithm is used in Preisach numerical realization to enhance prediction performance. A set of hysteresis loops and higher order reversal curves are predicted and experimentally verified. The good agreement between the measured and predicted curves shows that the classical Preisach model is effective for modelling the quasi-static hysteresis of the GMA.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
Miaolei Zhou
2013-01-01
Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Zhou, Miaolei; Wang, Shoubin; Gao, Wei
2013-01-01
As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Miaolei Zhou
Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan
2014-01-01
As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Validation of the actuator line and disc techniques using the New MEXICO measurements
Sarmast, S.; Shen, W. Z.; Zhu, W. J.; Mikkelsen, R. F.; Breton, S. P.; Ivanell, S.
2016-09-01
Actuator line and disc techniques are employed to analyse the wake obtained in the New MEXICO wind turbine experiment. The New MEXICO measurement campaign done in 2014 is a follow-up to the MEXICO campaign, which was completed in 2006. Three flow configurations in axial flow condition are simulated and both computed loads and velocity fields around the rotor are compared with detailed PIV measurements. The comparisons show that the computed loadings are generally in agreement with the measurements under the rotor's design condition. Both actuator approaches under-predicted the loading in the inboard part of blade in stall condition as only 2D airfoil data were used in the simulations. The predicted wake velocities generally agree well with the PIV measurements. In the experiment, PIV measurements are also provided close to the hub and nacelle. To study the effect of hub and nacelle, numerical simulations are performed both in the presence and absence of the hub geometry. This study shows that the large hub used in the experiment has only small effects on overall wake behaviour.
Simulation model for analyzing SPUDI with actuated signals
Shafahi, Y.; Haghani, A.; Carter, E.C. [Univ. of Maryland, College Park, MD (United States). Dept. of Civil Engineering; Gupta, K.N.V. [SIMCO Engineering, New York, NY (United States)
1998-09-01
A time based microsimulation model is developed for analyzing the traffic operation at single point urban diamond interchanges. Features of the model include actuated signal operation, protected and permitted left turn phasing, right turn phasing with and without right turn on red, traffic in shared lanes, traffic in left turn and right turn storage lanes, car following, lane changing, gap acceptance behavior, primary and secondary queue formation and dissipation. The model accepts geometric, traffic, and signal data in an interactive mode. Input files may also be created separately without going through the interactive session. The model outputs include measures of effectiveness such as stopped delay, total delay, average speed, and maximum and average queue length. These measures of effectiveness are given for each turning movement for each approach, and for the intersection as a whole. The model outputs also show the total green time and the total yellow and all red times assigned by the actuated system to each phase during the simulation time. The model results are compared with the actual data collected in the field.
A top-down multi-scale modeling for actuation response of polymeric artificial muscles
Yang, Qianxi; Li, Guoqiang
2016-07-01
A class of innovative artificial muscles made of high-strength polymeric fibers such as fishing lines or sewing threads have been discovered recently. These muscles are fabricated by a simple "twist-insertion" procedure, which have attracted increasing attention due to their low cost and readily availability, giant tensile stroke, record energy density, and easy controllability. In the present paper, we established a multi-scale modeling framework for the thermomechanical actuation responses by a top-down strategy, spanning from macro-scale helical spring analysis down to molecular level chain interaction study. Comparison between modeling results and experimental results exhibited excellent agreement. The effect of the micro-, meso- and macro-scale parameters on the actuation responses of the artificial muscle was further discussed through a parametric study per the validated model. This work helps understand the physical origin behind the remarkable tensile actuation behavior of the twisted-then-coiled polymeric artificial muscles and also provides inspirations for optimal design of advanced artificial muscles made by twist-insertion procedure.
Analytic model and frequency characteristics of plasma synthetic jet actuator
Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min
2015-02-01
This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.
Computational Actuator Disc Models for Wind and Tidal Applications
B. Johnson
2014-01-01
Full Text Available This paper details a computational fluid dynamic (CFD study of a constantly loaded actuator disc model featuring different boundary conditions; these boundary conditions were defined to represent a channel and a duct flow. The simulations were carried out using the commercially available CFD software ANSYS-CFX. The data produced were compared to the one-dimensional (1D momentum equation as well as previous numerical and experimental studies featuring porous discs in a channel flow. The actuator disc was modelled as a momentum loss using a resistance coefficient related to the thrust coefficient (CT. The model showed good agreement with the 1D momentum theory in terms of the velocity and pressure profiles. Less agreement was demonstrated when compared to previous numerical and empirical data in terms of velocity and turbulence characteristics in the far field. These models predicted a far larger velocity deficit and a turbulence peak further downstream. This study therefore demonstrates the usefulness of the duct boundary condition (for computational ease for representing open channel flow when simulating far field effects as well as the importance of turbulence definition at the inlet.
Milecki, Andrzej; Pelic, Marcin
2016-10-01
This paper presents results of studies of an application of a new method of piezo bender actuators modelling. A special hysteresis simulation model was developed and is presented. The model is based on a geometrical deformation of main hysteresis loop. The piezoelectric effect is described and the history of the hysteresis modelling is briefly reviewed. Firstly, a simple model for main loop modelling is proposed. Then, a geometrical description of the non-saturated hysteresis is presented and its modelling method is introduced. The modelling makes use of the function describing the geometrical shape of the two hysteresis main curves, which can be defined theoretically or obtained by measurement. These main curves are stored in the memory and transformed geometrically in order to obtain the minor curves. Such model was prepared in the Matlab-Simulink software, but can be easily implemented using any programming language and applied in an on-line controller. In comparison to the other known simulation methods, the one presented in the paper is easy to understand, and uses simple arithmetical equations, allowing to quickly obtain the inversed model of hysteresis. The inversed model was further used for compensation of a non-saturated hysteresis of the piezo bender actuator and results have also been presented in the paper.
Guoliang Huang
2010-04-01
Full Text Available Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized.
Huang, Guoliang; Song, Fei; Wang, Xiaodong
2010-01-01
Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized.
Validation of thermal models for a prototypical MEMS thermal actuator.
Gallis, Michail A.; Torczynski, John Robert; Piekos, Edward Stanley; Serrano, Justin Raymond; Gorby, Allen D.; Phinney, Leslie Mary
2008-09-01
This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the
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.
Nonlinear model accounting for minor hysteresis of embedded SMA actuators
YANG Kai; GU Chenglin
2007-01-01
A quantitative index martensite fraction was used to describe the phase transformation degree of shape memory alloy (SMA).On the basis of the martensite fraction,a nonlinear analysis model for major and minor hysteresis loops was developed.The model adopted two exponential equations to calculate the martensite fractions for cooling and heating,respectively.The martensite fractions were derived as the relative parameters were adjusted timely according to continuous,common initial and common limit constraints.By use of the linear relationship between the curvature of embedded SMA actuator and SMA's martensite fraction,the curvature was determined.The results of the simulations and experiments prove the validity and veracity of the model.
Design, modeling, and fabrication of piezoelectric polymer actuators
Fu, Yao; Harvey, Erol C.; Ghantasala, Muralidhar K.; Spinks, Geoff
2004-04-01
Piezoelectric polymers are a class of materials with great potential and promise for many applications. Because of their ideally suitable characteristics, they make good candidates for actuators. However, the difficulty of forming structures and shapes has limited the range of mechanical design. In this work, the design and fabrication of a unimorph piezoelectric cantilever actuator using piezoelectric polymer PVDF with an electroplated layer of nickel alloy has been described. The modeling and simulation of the composite cantilever with planar and microstructured surfaces has been performed by CoventorWare to optimize the design parameters in order to achieve large tip deflections. These simulation results indicated that a microstructured cantilever could produce 25 percent higher deflection compared to a simple planar cantilever surface. The tip deflection of the composite cantilever with a length of 6mm and a width of 1mm can reach up to 100μm. A PVDF polymer with a specifically designed shape was punched out along the elongation direction on the embossing machine at room temperature. The nickel alloy layer was electroplated on one side of the PVDF to form a composite cantilever. The tip deflection of the cantilever was observed and measured under an optical microscope. The experimental result is in agreement with the theoretical analysis.
Vortex ring state by full-field actuator disc model
Soerensen, J.N.; Shen, W.Z.; Munduate, X. [DTU, Dept. of Energy Engineering, Lyngby (Denmark)
1997-08-01
One-dimensional momentum theory provides a simple analytical tool for analysing the gross flow behavior of lifting propellers and rotors. Combined with a blade-element strip-theory approach, it has for many years been the most popular model for load and performance predictions of wind turbines. The model works well at moderate and high wind velocities, but is not reliable at small wind velocities, where the expansion of the wake is large and the flow field behind the rotor dominated by turbulent mixing. This is normally referred to as the turbulent wake state or the vortex ring state. In the vortex ring state, momentum theory predicts a decrease of thrust whereas the opposite is found from experiments. The reason for the disagreement is that recirculation takes place behind the rotor with the consequence that the stream tubes past the rotor becomes effectively chocked. This represents a condition at which streamlines no longer carry fluid elements from far upstream to far downstream, hence one-dimensional momentum theory is invalid and empirical corrections have to be introduced. More sophisticated analytical or semi-analytical rotor models have been used to describe stationary flow fields for heavily loaded propellers. In recent years generalized actuator disc models have been developed, but up to now no detailed computations of the turbulent wake state or the vortex ring state have been performed. In the present work the phenomenon is simulated by direct simulation of the Navier-Stokes equations, where the influence of the rotor on the flow field is modelled simply by replacing the blades by an actuator disc with a constant normal load. (EG) 13 refs.
Jiang, Jing; Li, Xiaonan; Ding, Jincheng; Yue, Honghao; Deng, Zongquan
2016-12-01
Photovoltaic materials can turn light energy into electric energy directly, and thus have the advantages of high electrical output voltages and the ability to realize remote or non-contact control. When high-energy ultraviolet light illuminates polarized PbLaZrTi (PLZT) materials, high photovoltages will be generated along the spontaneous polarization direction due to the photovoltaic effect. In this paper, a novel hybrid photovoltaic/piezoelectric actuation mechanism is proposed. PLZT ceramics are used as a photovoltaic generator to drive a piezoelectric actuator. A mathematical model is established to define the time history of the actuation voltage between two electrodes of the piezoelectric actuator, which is experimentally validated by the test results of a piezoelectric actuator with different geometrical parameters under irradiation at different light intensities. Some important characteristics of this novel actuation mechanism are analyzed and it can be concluded that (1) it is experimentally validated that there is no hysteresis between voltage and deformation which exists in a PLZT actuator; (2) the saturated voltage and response speed can be improved by using a multi-patch PLZT generator to drive the piezoelectric actuator; and (3) the initial voltage of the piezoelectric actuator can be acquired by controlling the logical switch between the PLZT and the piezoelectric actuator while the initial voltages increase with the rise of light intensity.
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which...
Koklu, Mehti
2017-01-01
Flow separation control over a wall-mounted hump model was studied experimentally to assess the performance of sweeping jet actuators. Results were compared to that of the 2004 CFD validation experiment (CFDVAL2004), which examined flow separation control with steady suction and unsteady zero-net-mass-flow actuators. Comparisons were carried out at low and high amplitude excitations. In addition to the active flow control methods, a passive flow control method (i.e., vortex generator) was used to complement the dataset. Steady/unsteady surface pressure measurements and surface oilflow visualization were used in the performance assessment of the actuators. The results indicated that the sweeping jet actuators are more effective than the steady suction and unsteady zero-net-mass-flow actuators. For the same momentum coefficient, the sweeping jet actuators produced more flow acceleration upstream of separation, more pressure recovery downstream, and consistently a smaller separation bubble.
Validation of the actuator disc approach in PHOENICS using small scale model wind turbines
Simisiroglou, N.; Sarmast, S.; Breton, S.-P.; Ivanell, S.
2016-09-01
In this study two wind turbine setups are investigated numerically: (a) the flow around a single model wind turbine and (b) the wake interaction between two in-line model wind turbines. This is done by using Reynolds averaged Navier-Stokes (RANS) and an actuator disc (ACD) technique in the computational fluid dynamics code PHOENICS. The computations are conducted for the design condition of the rotors using four different turbulence closure models. The computed axial velocity field as well as the turbulent kinetic energy are compared with PIV measurements. For the two model wind turbine setup, the thrust and power coefficient are also computed and compared with measurements. The results show that this RANS ACD method is able to predict the overall behaviour of the flow with low computational effort and that the turbulence closure model has a direct effect on the predicted wake development.
Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators
Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.
2015-04-01
The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.
Hysteresis modelling and experimental verification of a Fe–Ga alloy magnetostrictive actuator
Wei, Zhu; Lei Xiang, Bian; Gangli, Chen; Shuxin, Liu; Qinbo, Zhou; Xiaoting, Rui
2017-03-01
In order to accurately describe the asymmetric rate-bias-dependent hysteresis of a Fe–Ga alloy magnetostrictive actuator, a comprehensive model, which is composed of a phenomenon model, describing hysteresis by the modified Bouc–Wen hysteresis operator, and a theoretical model, representing the dynamics characteristics, is put forward. The experimental system is setup to verify the performance of the comprehensive model. Results show that the modified Bouc–Wen model can effectively describe the dynamics and hysteresis characteristics of the Fe–Ga alloy magnetostrictive actuator. The results highlight significantly improved accuracy in the modelling of the magnetostrictive actuator.
Numerical Study of Wind Turbine Wake Modeling Based on a Actuator Surface Model
Zhou, Huai-yang; Xu, Chang; Han, Xing Xing
2017-01-01
In the Actuator Surface Model (ALM), the turbine blades are represented by porous surfaces of velocity and pressure discontinuities to model the action of lifting surfaces on the flow. The numerical simulation is implemented on FLUENT platform combined with N-S equations. This model is improved...
Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla M.; Nicolini, E.; Gürdal, Z.
2007-01-01
This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as boun
Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla M.; Nicolini, E.; Gürdal, Z.
2007-01-01
This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as
Modeling of a three degrees of freedom piezo-actuated mechanism
Zhu, Wei; Rui, Xiao Ting
2017-01-01
This paper presents the modeling and experimentation of a three degrees of freedom (3-DOF) piezo-actuated mechanism. The displacements of the piezoelectric stack actuators are amplified with lever mechanisms to achieve large displacement output. In order to accurately model the mechanism, a comprehensive model, which uses the transfer matrix method to describe the dynamics characteristics and the modified Bouc-Wen hysteresis operator to represent the hysteresis, is presented. Ultimately, the proposed comprehensive model of the mechanism is experimentally investigated for its performance. Experimental results show that the proposed comprehensive model can accurately portray the hysteresis and dynamics characteristics of the 3-DOF piezo-actuated mechanism.
Modeling and comparison of superconducting linear actuators for highly dynamic motion
Bruyn B.J.H. de
2015-12-01
Full Text Available This paper presents a numerical modeling method for AC losses in highly dynamic linear actuators with high temperature superconducting (HTS tapes. The AC losses and generated force of two actuators, with different placement of the cryostats, are compared. In these actuators, the main loss component in the superconducting tapes are hysteresis losses, which result from both the non-sinusoidal phase currents and movement of the permanent magnets. The modeling method, based on the H-formulation of the magnetic fields, takes into account permanent magnetization and movement of permanent magnets. Calculated losses as function of the peak phase current of both superconducting actuators are compared to those of an equivalent non-cryogenic actuator.
Model-Free Adaptive Sensing and Control for a Piezoelectrically Actuated System
Jin-Wei Liang; Hung-Yi Chen
2010-01-01
Since the piezoelectrically actuated system has nonlinear and time-varying behavior, it is difficult to establish an accurate dynamic model for a model-based sensing and control design. Here, a model-free adaptive sliding controller is proposed to improve the small travel and hysteresis defects of piezoelectrically actuated systems. This sensing and control strategy employs the functional approximation technique (FAT) to establish the unknown function for eliminating the model-based requireme...
Chakrabarti, Suryarghya; Dapino, Marcelo J.
2010-04-01
A model is developed which describes the dynamic response of a Terfenol-D actuator with a hydraulic displacement amplification mechanism for use in active engine mounts. The model includes three main components: magnetic diffusion, Terfenol-D constitutive model, and mechanical actuator model. Eddy current losses are modeled as a one-dimensional magnetic field diffusion problem in cylindrical coordinates. The Jiles-Atherton model is used to describe the magnetization state of the Terfenol-D driver as a function of applied magnetic fields. A quadratic, single-valued model for the magnetostriction dependence on magnetization is utilized which provides an input to the mechanical model describing the system vibrations. Friction at the elastomeric seals is modeled using the LuGre friction model for lubricated contacts. The actuator's dynamic response is quantified in terms of the output displacement in the unloaded condition and force output in the loaded condition. The model is shown to accurately quantify the dynamic behavior of the actuator over the frequency range considered, from near dc to 500 Hz. An order analysis shows that the model also describes the higher harmonic content present in the measured responses. A study on the variation of energy delivered by the actuator with the load stiffness reveals that the actuator delivers the highest energy output near the stiffness match region.
Modeling posture-dependent leg actuation in sagittal plane locomotion
Schmitt, J [Department of Mechanical Engineering, Oregon State University, Corvallis, OR 97331 (United States); Clark, J, E-mail: schmitjo@engr.orst.ed [Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 (United States)
2009-12-15
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications
Kadooka, Kevin; Taya, Minoru; Naito, Keishi; Saito, Makoto
2015-04-01
Dielectric elastomer actuators have many advantages, including light weight, simplicity, high energy density, and silent operation. These features make them suitable to replace conventional actuators and transducers, especially in artificial muscle applications where large contractile strains are necessary for lifelike motions. This paper will introduce the concept of a corrugated dielectric elastomer actuator (DEA), which consists of dielectric elastomer (DE) laminated to a thin elastic layer to induce bending motion at each of the corrugations, resulting in large axial deformation. The location of the DE and elastic layers can be configured to provide tensile or compressive axial strain. Such corrugated DE actuators are also highly scalable: linking multiple actuators in series results in greater deformation, whereas multiple actuators in parallel results in larger force output. Analytical closed-form solutions based on linear elasticity were derived for the displacement and force output of curved unimorph and corrugated DEA, both consisting of an arbitrary number of lamina. A total strain energy analysis and Castigiliano's theorem were used to predict the nonlinear force-displacement behavior of the corrugated actuator. Curved unimorph and corrugated DEA were fabricated using VHB F9469PC as the DE material. Displacement of the actuators observed during testing agreed well with the modeling results. Large contractile strain (25.5%) was achieved by the corrugated DEA. Future work includes investigating higher performance DE materials such as plasticized PVDF terpolymers, processed by thin film deposition methods.
Soft Pneumatic Actuators for Rehabilitation
Guido Belforte; Gabriella Eula; Alexandre Ivanov; Silvia Sirolli
2014-01-01
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 characteri...
Temperature dependency of the hysteresis behaviour of PZT actuators using Preisach model
Mangeot, Charles; Zsurzsan, Tiberiu-Gabriel
2016-01-01
The Preisach model is a powerful tool for modelling the hysteresis phenomenon on multilayer piezo actuators under large signal excitation. In this paper, measurements at different temperatures are presented, showing the effect on the density of the Preisach matrix. An energy-based approach...... is presented, aiming at defining a temperature-dependent phenomenological model of hysteresis for a better understanding of the non-linear effects in piezo actuators....
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes...... an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which...
Yang, Hyun-Ho; Han, Chang-Hoon; Oen Lee, Jeong; Yoon, Jun-Bo
2014-06-01
As a powerful method to reduce actuation voltage in an electrostatic micro-actuator, we propose and investigate an electrostatic micro-actuator with a pre-charged series capacitor. In contrast to a conventional electrostatic actuator, the injected pre-charges into the series capacitor can freely modulate the pull-in voltage of the proposed actuator even after the completion of fabrication. The static characteristics of the proposed actuator were investigated by first developing analytical models based on a parallel-plate capacitor model. We then successfully designed and demonstrated a micro-switch with a pre-charged series capacitor. The pull-in voltage of the fabricated micro-switch was reduced from 65.4 to 0.6 V when pre-charged with 46.3 V. The on-resistance of the fabricated micro-switch was almost the same as the initial one, even when the device was pre-charged, which was demonstrated for the first time. All results from the analytical models, finite element method simulations, and measurements were in good agreement with deviations of less than 10%. This work can be favorably adapted to electrostatic micro-switches which need a low actuation voltage without noticeable degradation of performance.
Modeling and test of a kinaesthetic actuator based on MR fluid for haptic applications.
Yang, Tae-Heon; Koo, Jeong-Hoi; Kim, Sang-Youn; Kwon, Dong-Soo
2017-03-01
Haptic display units have been widely used for conveying button sensations to users, primarily employing vibrotactile actuators. However, the human feeling for pressing buttons mainly relies on kinaesthetic sensations (rather than vibrotactile sensations), and little studies exist on small-scale kinaesthetic haptic units. Thus, the primary goals of this paper are to design a miniature kinaesthetic actuator based on Magneto-Rheological (MR) fluid that can convey various button-clicking sensations and to experimentally evaluate its haptic performance. The design focuses of the proposed actuator were to produce sufficiently large actuation forces (resistive forces) for human users in a given size constraint and to offer a wide range of actuation forces for conveying vivid haptic sensations to users. To this end, this study first performed a series of parametric studies using mathematical force models for multiple operating modes of MR fluid in conjunction with finite element electromagnetism analysis. After selecting design parameters based on parametric studies, a prototype actuator was constructed, and its performance was evaluated using a dynamic mechanical analyzer. It measured the actuator's resistive force with a varying stroke (pressed depth) up to 1 mm and a varying input current from 0 A to 200 mA. The results show that the proposed actuator creates a wide range of resistive forces from around 2 N (off-state) to over 9.5 N at 200 mA. In order to assess the prototype's performance in the terms of the haptic application prospective, a maximum force rate was calculated to determine just noticeable difference in force changes for the 1 mm stoke of the actuator. The results show that the force rate is sufficient to mimic various levels of button sensations, indicating that the proposed kinaesthetic actuator can offer a wide range of resistive force changes that can be conveyed to human operators.
Iyyappan Balaguru
2013-10-01
Full Text Available Due to the advancements in smart actuators, morphing (changing of aircraft wings has been investigated by increasing number of researchers in recent years. In this research article, the concept of morphing is introduced to the conventional aircraft wing model with the utilization of Shape memory alloys (SMAs. An actuating mechanism is developed and built inside the aircraft wing model along with the SMA actuators which is used to morph its shape. The aircraft wing model with the SMA actuating mechanism is known as, ‘the smart wing model’. The aerodynamic characteristics (Lift, Drag, Velocity, and Pressure of the conventional and smart wing model are investigated by using the FLUENT numerical codes. The experimental aerodynamic test is carried out at various angles of incidence in an open circuit subsonic wind tunnel to validate the numerical results.
Modelling the nonlinear response of fibre-reinforced bending fluidic actuators
Cacucciolo, Vito; Renda, Federico; Poccia, Ernesto; Laschi, Cecilia; Cianchetti, Matteo
2016-10-01
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Computed torque control of an under-actuated service robot platform modeled by natural coordinates
Zelei, Ambrus; Kovács, László L.; Stépán, Gábor
2011-05-01
The paper investigates the motion planning of a suspended service robot platform equipped with ducted fan actuators. The platform consists of an RRT robot and a cable suspended swinging actuator that form a subsequent parallel kinematic chain and it is equipped with ducted fan actuators. In spite of the complementary ducted fan actuators, the system is under-actuated. The method of computed torques is applied to control the motion of the robot. The under-actuated systems have less control inputs than degrees of freedom. We assume that the investigated under-actuated system has desired outputs of the same number as inputs. In spite of the fact that the inverse dynamical calculation leads to the solution of a system of differential-algebraic equations (DAE), the desired control inputs can be determined uniquely by the method of computed torques. We use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. In this modeling approach the mathematical model of the dynamical system itself is also a DAE. The paper discusses the inverse dynamics problem of the complex hybrid robotic system. The results include the desired actuator forces as well as the nominal coordinates corresponding to the desired motion of the carried payload. The method of computed torque control with a PD controller is applied to under-actuated systems described by natural coordinates, while the inverse dynamics is solved via the backward Euler discretization of the DAE system for which a general formalism is proposed. The results are compared with the closed form results obtained by simplified models of the system. Numerical simulation and experiments demonstrate the applicability of the presented concepts.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Love, L.; Kress, R.; Jansen, J.
1996-12-01
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.
Modeling of a flexible beam actuated by shape memory alloy wires
Shu, Steven G.; Lagoudas, Dimitris C.; Hughes, Declan; Wen, John T.
1997-06-01
A thermomechanical model is developed to predict the structural response of a flexible beam with shape memory alloy (SMA) wire actuators. A geometrically nonlinear static analysis is first carried out to investigate the deformed shape of a flexible cantilever beam caused by an externally-attached SMA wire actuated electrically. The actuation force applied by the SMA actuator to the beam is evaluated by solving a coupled problem that combines a thermodynamic constitutive model of SMAs with the heat conduction equation in the SMA and the structural model of the beam. To calculate the temperature history of the SMA actuator for given electrical current input, the heat transfer equation is solved with the electrical resistive heating being modeled as a distributed heat source along the SMA wire. The steps in the formulation are connected together through an iterative scheme that takes into account the static equilibrium of the beam and the constitutive relation of SMAs, thus translating an electrical current history input into beam strain output. The proposed model is used to simulate the experimental results, thus demonstrating the feasibility of using SMA actuators for shape control of active flexible structural systems.
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
2010-10-01
... (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES NECESSARY FOR SAFE OPERATION Brakes § 393.47 Brake actuators... steering axle of a truck, truck-tractor or bus shall not be less than 4.8 mm (3/16 inch) at the shoe...
Linear finite-difference bond graph model of an ionic polymer actuator
Bentefrit, M.; Grondel, S.; Soyer, C.; Fannir, A.; Cattan, E.; Madden, J. D.; Nguyen, T. M. G.; Plesse, C.; Vidal, F.
2017-09-01
With the recent growing interest for soft actuation, many new types of ionic polymers working in air have been developed. Due to the interrelated mechanical, electrical, and chemical properties which greatly influence the characteristics of such actuators, their behavior is complex and difficult to understand, predict and optimize. In light of this challenge, an original linear multiphysics finite difference bond graph model was derived to characterize this ionic actuation. This finite difference scheme was divided into two coupled subparts, each related to a specific physical, electrochemical or mechanical domain, and then converted into a bond graph model as this language is particularly suited for systems from multiple energy domains. Simulations were then conducted and a good agreement with the experimental results was obtained. Furthermore, an analysis of the power efficiency of such actuators as a function of space and time was proposed and allowed to evaluate their performance.
Aljanaideh, Omar, E-mail: omaryanni@gmail.com [Department of Mechanical Engineering, The University of Jordan, Amman 11942 (Jordan); Habineza, Didace; Rakotondrabe, Micky [AS2M department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comté, Univ. de Franche-Comté/CNRS/ENSMM, 25000 Besançon (France); Al Janaideh, Mohammad [Department of Mechanical and Industrial Engineering, The Mechatronics and Microsystems Design Laboratory, University of Toronto (Canada); Department of Mechatronics Engineering, The University of Jordan, Amman 11942 (Jordan)
2016-04-01
An experimental study has been carried out to characterize rate-dependent hysteresis of a piezoelectric tube actuator at different excitation frequencies. The experimental measurements were followed by modeling and compensation of the hysteresis nonlinearities of the piezoelectric tube actuator using both the inverse rate-dependent Prandtl–Ishlinskii model (RDPI) and inverse rate-independent Prandtl–Ishlinskii model (RIPI) coupled with a controller. The comparison of hysteresis modeling and compensation of the actuator with both models is presented.
Piezoelectric Composite Actuators: Modelling of the Static and Dynamic Behaviour
Wiwattananon, P.
2013-01-01
Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for m
Hoyos Velasco, Carlos Ildefonso
2011-01-01
This Thesis is concerned with the modelling, analysis and control of novel mechatronic valve actuators for automotive systems, specifically, the control of the mechanical valves to intake and exhaust gases in Internal Combustion Engines (ICE). Scientific studies have shown that significant benefits in terms of engine efficiency and emissions can be obtained through the adoption of variable valve actuation. Current engine technology are based on the use of a mechanical driven camshaft, which i...
Comparison of OpenFOAM and EllipSys3D actuator line methods with (NEW) MEXICO results
Nathan, J.; Meyer Forsting, A. R.; Troldborg, N.; Masson, C.
2017-05-01
The Actuator Line Method exists for more than a decade and has become a well established choice for simulating wind rotors in computational fluid dynamics. Numerous implementations exist and are used in the wind energy research community. These codes were verified by experimental data such as the MEXICO experiment. Often the verification against other codes were made on a very broad scale. Therefore this study attempts first a validation by comparing two different implementations, namely an adapted version of SOWFA/OpenFOAM and EllipSys3D and also a verification by comparing against experimental results from the MEXICO and NEW MEXICO experiments.
Design and modeling of a self-sufficient shape-memory-actuator
Bucht, André; Junker, Tom; Pagel, Kenny; Drossel, Welf-Guntram; Neugebauer, Reimund
2011-03-01
In machine tools several time and position varying heat sources causes complex temperature distributions. The resulting problems are varying thermal deformations which cause a loss of accuracy as well as non optimal drive conditions. An option to deal with that issue is to use structure integrated SM-actuators which use the thermal energy accumulated by machining processes to yield an actuator displacement. That creates a structure inherent control loop. There the shape-memory- elements work as sensing element as well as actuation element. The plant is defined by the thermal and mechanical behaviour of the surrounding structure. Because of the closed loop operation mode, the mechanical design has to deal with questions of stability and parameter adjustment in a control sense. In contrast to common control arrangements this issues can only be influenced by designing the actuator and the structure. To investigate this approach a test bench has been designed. The heat is yielded by a clutch and directed through the structure to the shape memory element. The force and displacement of the actuator are therefore driven directly by process heat. This paper presents a broad mechanical design approach of the test bench as well as the design of the SM-actuator. To investigate the thermo-mechanical behaviour of the structure-integrated actuator, a model of the test bench has been developed. The model covers the thermal behaviour of the test bench as well as the thermo-mechanical couplings of the shape memory actuator. The model has been validated by comprehensive measurements.
One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust
Yoon, Jae-San; Han, Jae-Hung
2014-10-01
Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Eid Mohamed
2012-01-01
Full Text Available Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC engines. Applications of solenoid valve actuators in (IC engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA uses solenoid to actuate valve movement independently for the application of (IC engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA structure by incorporating the hybrid magneto-motive force (MMF implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR optimal control is designed with the evaluation reasonable the performance and energy of (EMV valve are obtained with the design.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Mohamed, Eid [Automotive and Tractors Engineering, Faculty of Engineering, Helwan University, Cairo (Egypt)
2012-07-01
Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC) engines. Applications of solenoid valve actuators in (IC) engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA) uses solenoid to actuate valve movement independently for the application of (IC) engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA) structure by incorporating the hybrid magneto-motive force (MMF) implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV) are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR) optimal control is designed with the evaluation reasonable the performance and energy of (EMV) valve are obtained with the design.
Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru
2016-10-01
This work presents a linear viscoelastic model to describe the time-dependent actuation behavior of multilayer unimorph dielectric elastomer actuators (MUDEA), with experimental validation by actuators produced by a robotic dispenser system. MUDEA are a type of soft actuator which can produce large bending deformation without prestretch typically required by dielectric elastomer actuators. Current analytical and finite element models of MUDEA do not consider material viscoelasticity and cannot predict the change over time of performance metrics such as tip displacement and blocking force. The linear viscoelastic model presented in this work is based on a linear elastic model for the MUDEA extended to account for viscous effects by the elastic-viscoelastic correspondence principle. The model is easily implemented because it is based on explicit expressions which can be evaluated numerically by any computer algebra system. The model was used to predict the tip displacement and blocking force of MUDEAs consisting of two, four, six, eight, and ten layers of dielectric elastomer material. The model predictions agreed well with experimental data obtained from MUDEA produced by a robotic dispenser system, which was capable of producing multilayered structures of thin layers of dielectric elastomer and carbon nanotube based electrode material.
Finite element modeling of electromechanical behavior of a dielectric electroactive polymer actuator
Deodhar, Aseem; York, Alexander; Hodgins, Micah; Seelecke, Stefan
2011-04-01
Dielectric Electroactive Polymers (DEAP) will undergo large deformations when subject to an electric field making them an attractive material for use in novel actuator systems. There are many challenges with successful application and design of DEAP actuators resulting from their inherent electromechanical coupling and non-linear material behavior. FE modeling of the material behavior is a useful tool to better understand such systems and aid in the optimal design of prototypes. These modeling efforts must account for the electromechanical coupling in order to accurately predict their response to multiple loading conditions expected during real operating conditions. This paper presents a Finite Element model of a dielectric elastomer undergoing out-of-plane, axisymmetric deformation. The response of the elastomer was investigated while it was subjected to mechanical and electric fields and combined electro-mechanical actuation. The compliant electrodes have a large effect on the mechanical behavior of the EAP which needs to be taken into consideration while modeling the EAP as a system. The model is adapted to include the effect of electrode stiffness on the mechanical response of the actuator. The model was developed using the commercial Finite Element Modeling software, COMSOL. The results from the mechanical simulations are presented in the form of forcedisplacement curves and are validated with comparisons to experimental results. Electromechanical simulations are carried out and the stroke of the actuator for different electrode stiffness values is compared with experimental values when the EAP is biased with a constant force.
Yu, Huangchao
2016-01-01
Piezoelectric actuators have been widely used to form a self-monitoring smart system to do Structural health monitoring (SHM). One of the most fundamental issues in using actuators is to determine the actuation effects being transferred from the actuators to the host structure. This report summaries the state of the art of modeling techniques for piezoelectric actuators and provides a numerical analysis of the static and dynamic electromechanical behavior of piezoelectric actuators surface-bonded to an elastic medium under in-plane mechanical and electric loads using finite element method. Also case study is conducted to study the effect of material properties, bonding layer and loading frequency using static and harmonic analysis of ANSYS. Finally, stresses and displacements are determined, and singularity behavior at the tips of the actuator is proved. The results indicate that material properties, bonding layers and frequency have a significant influence on the stresses transferred to the host structure.
O'Callaghan, C; Lynch, J; Cant, M; Robertson, C
1993-01-01
BACKGROUND--Aerosols generated from metered dose inhalers may be highly charged. The aim of this study was to determine whether lining the walls of a polycarbonate spacer device with an antistatic agent would result in an increase in drug output. The effects of multiple actuations of drug into the spacer device and increasing residence time of drug within the spacer were also determined. METHODS--The amount of sodium cromoglycate contained in particles of various size available for inhalation (per 5 mg actuation) from a 750 ml polycarbonate spacer was determined by impinger measurement and spectrophotometric assay. RESULTS--Lining the spacer with an antistatic agent increased the mean (SD) amount of sodium cromoglycate in particles < 5 microns available for inhalation (per 5 mg actuation) by 244% from (0.59 (0.03) to 1.44 (0.2) mg). When there was a 20 second interval between actuation into the spacer device and inhalation, sodium cromoglycate available for inhalation in particles < 5 micrograms decreased by 67% (from 0.59 (0.03) mg to 0.2 (0.01) mg). Use of the spacer device increased sodium cromoglycate available for inhalation in respirable particles (< 5 microns) by 18% compared with direct delivery by metered dose inhaler. Multiple actuations into the spacer decreased the amount of sodium cromoglycate available for inhalation in particles < 5 microns by 31% after two actuations and 56% after three acutations. CONCLUSIONS--Multiple actuations of sodium cromoglycate into a spacer device before inhalation should be avoided, and inhalation from spacer devices should take place immediately after actuation to ensure maximum dose. Lining of a standard spacer device with an antistatic agent significantly increased output of sodium cromoglycate. This may have implications for improved therapeutic response and drug cost. Images PMID:8346488
Fu Jian; Jean-Charles Maré; Fu Yongling
2017-01-01
In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortu-nately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now avail-able on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power net-work pollution analysis and fault response.
Jian Fu
2017-02-01
Full Text Available In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
Xu, Chang; Han, Xingxing; Wang, Xin
2015-01-01
the underestimation issue of the wind speed deficit when applying the STD k-ε model. In addition, the model also introduced a radial distribution function to assess the non-uniform load on the actuator disk and a coefficient C4ε of the turbulent source. To validate the model, the wind turbines of Nibe `B' and Dawin...
Verification of Beam Models for Ionic Polymer-Metal Composite Actuator
Ai-hong Ji; Hoon Cheol Park; Quoc Viet Nguyen; Jang Woo Lee; Young Tai Yoo
2009-01-01
Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages. A thick IPMC actuator, where Nation-117 membrane was synthesized with polypyrrole/alumina composite tiller, was analyzed to verify the equivalent beam and equivalent bimorph beam models. The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively. The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data. Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator. The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data. It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement, blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.
One-dimensional analytical model development of a plasma-based actuator
Popkin, Sarah Haack
This dissertation provides a method for modeling the complex, multi-physics, multi-dimensional processes associated with a plasma-based flow control actuator, also known as the SparkJet, by using a one-dimensional analytical model derived from the Euler and thermodynamic equations, under varying assumptions. This model is compared to CFD simulations and experimental data to verify and/or modify the model where simplifying assumptions poorly represent the real actuator. The model was exercised to explore high-frequency actuation and methods of improving actuator performance. Using peak jet momentum as a performance metric, the model shows that a typical SparkJet design (1 mm orifice diameter, 84.8 mm3 cavity volume, and 0.5 J energy input) operated over a range of frequencies from 1 Hz to 10 kHz shows a decrease in peak momentum corresponding to an actuation cutoff frequency of 800 Hz. The model results show that the cutoff frequency is primarily a function of orifice diameter and cavity volume. To further verify model accuracy, experimental testing was performed involving time-dependent, cavity pressure and arc power measurements as a function of orifice diameter, cavity volume, input energy, and electrode gap. The cavity pressure measurements showed that pressure-based efficiency ranges from 20% to 40%. The arc power measurements exposed the deficiency in assuming instantaneous energy deposition and a calorically perfect gas and also showed that arc efficiency was approximately 80%. Additional comparisons between the pressure-based modeling and experimental results show that the model captures the actuator dependence on orifice diameter, cavity volume, and input energy but over-estimates the duration of the jet flow during Stage 2. The likely cause of the disagreement is an inaccurate representation of thermal heat transfer related to convective heat transfer or heat loss to the electrodes.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.
Inverse grey-box model-based control of a dielectric elastomer actuator
Jones, Richard William; Sarban, Rahimullah
2012-01-01
An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...
Study of a pseudo-empirical model approach to characterize plasma actuators
Marziali Bermudez, M [Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina); Sosa, R; Artana, G [Laboratorio de Fluidodinamica, Facultad de Ingenieria, UBA, Av. Paseo Colon 850, Buenos Aires 1063 (Argentina); Grondona, D; Marquez, A; Kelly, H, E-mail: rsosa@fi.uba.ar [Instituto de Fisica del Plasma (CONICET) - Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina)
2011-05-01
The use of plasma actuators is a recent technology that imposes a localized electric force that is used to control air flows. A suitable representation of actuation enables to undertake plasma actuators optimization, to design flow-control strategies, or to analyse the flow stabilization that can be attained by plasma forcing. The problem description may be clearly separated in two regions. An outer region, where the fluid is electrically neutral, in which the flow is described by the Navier-Stokes equation without any forcing term. An inner region, that forms a thin boundary layer, where the fluid is ionized and electric forces are predominant. The outer limit of the inner solution becomes the boundary condition for the outer problem. The outer problem can then be solved with a slip velocity that is issued from the inner solution. Although the solution for the inner problem is quite complex it can be contoured proposing pseudo-empirical models where the slip velocity of the outer problem is determined indirectly from experiments. This pseudo-empirical model approach has been recently tested in different cylinder flows and revealed quite adapted to describe actuated flow behaviour. In this work we determine experimentally the influence of the duty cycle on the slip velocity distribution. The velocity was measured by means of a pitot tube and flow visualizations of the starting vortex (i.e. the induced flow when actuation is activated in a quiescent air) have been done by means of the Schlieren technique. We also performed numerical experiments to simulate the outer region problem when actuation is activated in a quiescent air using a slip velocity distribution as a boundary condition. The experimental and numerical results are in good agreement showing the potential of this pseudo-empirical model approach to characterize the plasma actuation.
Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.
Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei
2017-01-13
WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.
Development of a dc Motor Model and an Actuator Efficiency Model
Watkins, John Clifford; Mc Kellar, Michael George; DeWall, Kevin George
2001-07-01
For the past several years, researchers at the Idaho National Engineering and Environmental Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission, have been investigating the ability of motor-operated valves (MOVs) used in Nuclear Power Plants to close or open when subjected to design basis flow and pressure loads. Part of this research addresses the response of a dcpowered motor-operated gate valve to assess whether it will achieve flow isolation and to evaluate whether it will slow down excessively under design-basis conditions and thus fail to achieve the required stroke time. As part of this research, we have developed a model of a dc motor operating under load and a model of actuator efficiency under load based on a first principle evaluation of the equipment. These models include the effect that reduced voltage at the Motor Control Center and elevated containment temperatures have on the performance of a dc powered MOV. The model also accounts for motor torque and speed changes that result from the heatup of the motor during the stroke. These models are part of the Motor- Operated Valve In Site Test Assessment (MISTA) software which is capable of independently evaluating the ability of dc-powered motoroperated gate valves to achieve flow isolation and to meet required stroke times under design-basis conditions. This paper presents an overview of the dc motor model and the actuator efficiency under load model. The paper then compares the analytical results from the models with the results of actual dc motor and actuator testing, including comparisons of the effect reduced voltage, elevated containment temperature, and motor heating during the stroke have on an MOV.
Hip actuations can be used to control bifurcations and chaos in a passive dynamic walking model.
Kurz, Max J; Stergiou, Nicholas
2007-04-01
We explored how hip joint actuation can be used to control locomotive bifurcations and chaos in a passive dynamic walking model that negotiated a slightly sloped surface (gammapassive dynamic walking model was capable of producing a chaotic locomotive pattern when the ramp angle was 0.01839 rad
Continuum damage model for ferroelectric materials and its application to multilayer actuators
Gellmann, Roman; Ricoeur, Andreas
2016-05-01
In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.
Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm
Rethore, Pierre-Elouan; Sørensen, Niels
2008-01-01
An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known.......An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known....
So, Hongyun
2013-10-31
© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.
Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.
Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing
2016-08-22
Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications.
Port-Hamiltonian Modeling of a Nonlinear Timoshenko Beam with Piezo Actuation
Voss, Thomas; Scherpen, Jacquelien M. A.
2014-01-01
In this paper we develop a mathematical model for the dynamics of a nonlinear Timoshenko beam with piezoelectric actuation. This model can then be used to design controllers with the goal of achieving a desired shape of the beam. The control scheme can be used for several applications, e. g., vibrat
Transmission line model for nanoelectronics
Nelin E. A.
2009-08-01
Full Text Available Analytical expressions for resonant parametres and characteristics of typical barrier nanoelectronic structures have been received on the basis of the transmission line model. Characteristics illustrating the efficiency of such approach are presented in the article.
Gu, Guo-Ying; Gupta, Ujjaval; Zhu, Jian; Zhu, Li-Min; Zhu, Xiang-Yang
2015-07-01
In the practical applications of actuators, the control of their deformation or driving force is a key issue. Most of recent studies on dielectric elastomer actuators (DEAs) focus on issues of mechanics, physics, and material science, whereas less importance is given to the control of these soft actuators. In this paper, we underline the importance of a nonlinear dynamic model as the basis for a feedforward deformation control approach of a rubber-based DEA. Experimental evidence shows the effectiveness of the feedforward controller. The present study confirms that a DEA's trajectory can be finely controlled with a solid nonlinear dynamic model despite the presence of material nonlinearities and electromechanical coupling. The effective control of DEAs may pave the way for extensive emerging applications to soft robots.
Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators
Prattico, Flavio; Yamamoto, Shin-ichiroh
2014-01-01
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.
Methods for modeling and control of systems with hysteresis of shape memory alloy actuators
Wang, Yu Feng
Hysteresis widely exists in smart materials such as shape memory alloys (SMAs), piezoelectrics, magnetorheological (MR) fluids, electrorheological (ER) fluids and so on. It severely affects the applicability of such materials in actuators and sensors. In this thesis, problems of modeling and control of systems with hysteresic SMAs actuators are studied. The approaches are also applicable to control of a wide class of smart actuators. Hysteresis exhibited by SMAs actuators is rate-independent when the input frequency is low, and can be modeled by a classical Preisach model or a KP model. The classical Preisach hysteresis model is a foundation of other hysteresis models. In this thesis, traditional methods are explained in advance to identify and implement the classical Preisach model. Due to the extremely large amount of computation involved in the methods, a new form of the Preisach model, linearly parameterized Preisach model, is introduced, and then an effective method to implement the model is presented. The KP model is a more effective operator to describe the Preisach class of hysteresis than the Preisach model. The relationship between the two models is revealed to verify the effectiveness of the KP model. Also, a linearly parameterized KP model is proposed. For both of the Preisach hysteresis model and the KP hysteresis model, algorithms of inverse hysteresis operators are developed, and simulations for modeling and inverse compensation are conducted. Since the Preisach model and the KP model can only describe hysteresis which has saturation states and reverse curves with zero initial slopes, a novel hysteresis model is defined to overcome these shortcomings. The newly defined hysteresis model is a low dimensional hysteresis model and can describe hysteresis which has revertible linear parts and reverse curves with non-zero initial slopes. The problems for controlling systems with input hysteresis have been pursued along three different paths: inverse
Soft Pneumatic Actuators for Rehabilitation
Guido Belforte
2014-05-01
Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments
Model-free adaptive sensing and control for a piezoelectrically actuated system.
Chen, Hung-Yi; Liang, Jin-Wei
2010-01-01
Since the piezoelectrically actuated system has nonlinear and time-varying behavior, it is difficult to establish an accurate dynamic model for a model-based sensing and control design. Here, a model-free adaptive sliding controller is proposed to improve the small travel and hysteresis defects of piezoelectrically actuated systems. This sensing and control strategy employs the functional approximation technique (FAT) to establish the unknown function for eliminating the model-based requirement of the sliding-mode control. The piezoelectrically actuated system's nonlinear functions can be approximated by using the combination of a finite number of weighted Fourier series basis functions. The unknown weighted vector can be estimated by an updating rule. The important advantage of this approach is to achieve the sliding-mode controller design without the system dynamic model requirement. The update laws for the coefficients of the Fourier series functions are derived from a Lyapunov function to guarantee the control system stability. This proposed controller is implemented on a piezoelectrically actuated X-Y table. The dynamic experimental result of this proposed FAT controller is compared with that of a traditional model-based sliding-mode controller to show the performance improvement for the motion tracking performance.
Eversion of bistable shells under magnetic actuation: a model of nonlinear shapes
Seffen, Keith A.; Vidoli, Stefano
2016-06-01
We model in closed form a proven bistable shell made from a magnetic rubber composite material. In particular, we incorporate a non-axisymmetrical displacement field, and we capture the nonlinear coupling between the actuated shape and the magnetic flux distribution around the shell. We are able to verify the bistable nature of the shell and we explore its eversion during magnetic actuation. We show that axisymmetrical eversion is natural for a perfect shell but that non-axisymmetrical eversion rapidly emerges under very small initial imperfections, as observed in experiments and in a computational analysis. We confirm the non-uniform shapes of shell and we study the stability of eversion by considering how the landscape of total potential and magnetic energies of the system changes during actuation.
A multiscale approach for modeling actuation response of polymeric artificial muscles.
Sharafi, Soodabeh; Li, Guoqiang
2015-05-21
Artificial muscles are emerging materials in the field of smart materials with applications in aerospace, robotic, and biomedical industries. Despite extensive experimental investigations in this field, there is a need for numerical modeling techniques that facilitate cutting edge research and development. This work aims at studying an artificial muscle made of twisted Nylon 6.6 fibers that are highly cold-drawn. A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes. Two types of molecular chains are considered at the micro-scale level that control training and actuation processes viz. (a) helically oriented chains which are structural switches that store a twisted shape in their low temperature phase and restore their random configuration during the thermal actuation process, and (b) entropic chains which are highly drawn chains that could actuate as soon as the muscle heats up, and saturates when coil contact temperature is reached. The thermal actuation response of the muscle over working temperatures has been elaborated in the Modeling section. The performance of the model is validated by available experiments in the literature. The model may provide a design platform for future artificial muscle developments.
Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-metal Composite Actuated Robot
Qi Shen
2013-10-01
Full Text Available In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC. A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The comparison of the results of the simulations and experiments shows the feasibility of the dynamic model. By using this model, we found that the harmonic control of the actuation frequency and voltage amplitude of the IPMC is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the IPMC fish’s dynamic behaviour, successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with other control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration compared with what could be achieved with a conventional PID controller. The thrust efficiency during a steady state was superior to that with conventional control methods. We also found that when using the fuzzy control method the robotic fish can always swim near a higher actuation frequency, which could obtain both the desired speed and high thrust efficiency.
Joshi, Suresh M.
2012-01-01
This paper explores a class of multiple-model-based fault detection and identification (FDI) methods for bias-type faults in actuators and sensors. These methods employ banks of Kalman-Bucy filters to detect the faults, determine the fault pattern, and estimate the fault values, wherein each Kalman-Bucy filter is tuned to a different failure pattern. Necessary and sufficient conditions are presented for identifiability of actuator faults, sensor faults, and simultaneous actuator and sensor faults. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have biases.
Hammerstein Model Based RLS Algorithm for Modeling the Intelligent Pneumatic Actuator (IPA System
Siti Fatimah Sulaiman
2017-08-01
Full Text Available An Intelligent Pneumatic Actuator (IPA system is considered highly nonlinear and subject to nonlinearities which make the precise position control of this actuator is difficult to achieve. Thus, it is appropriate to model the system using nonlinear approach because the linear model sometimes not sufficient enough to represent the nonlinearity of the system in the real process. This study presents a new modeling of an IPA system using Hammerstein model based Recursive Least Square (RLS algorithm. The Hammerstein model is one of the blocks structured nonlinear models often used to model a nonlinear system and it consists of a static nonlinear block followed by a linear block of dynamic element. In this study, the static nonlinear block was represented by a deadzone of the pneumatic valve, while the linear block was represented by a dynamic element of IPA system. A RLS has been employed as the main algorithm in order to estimate the parameters of the Hammerstein model. The validity of the proposed model has been verified by conducting a real-time experiment. All of the criteria as outlined in the system identification’s procedures were successfully complied by the proposed Hammerstein model as it managed to provide a stable system, higher best fit, lower loss function and lower final prediction error than a linear model developed before. The performance of the proposed Hammerstein model in controlling the IPA’s positioning system is also considered good. Thus, this new developed Hammerstein model is sufficient enough to represents the IPA system utilized in this study.
Towards a model-based development approach for wireless sensor-actuator network protocols
Kumar S., A. Ajith; Simonsen, Kent Inge
2014-01-01
Model-Driven Software Engineering (MDSE) is a promising approach for the development of applications, and has been well adopted in the embedded applications domain in recent years. Wireless Sensor Actuator Networks consisting of resource constrained hardware and platformspecific operating system...
A validated model for induction heating of shape memory alloy actuators
Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.
2016-04-01
Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.
Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.
Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew
2017-07-10
This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance. © 2017 IOP Publishing Ltd.
Modeling the Kelvin polarization force actuation of Micro- and Nanomechanical systems
Schmid, Silvan; Hierold, C.; Boisen, Anja
2010-01-01
Polarization forces have become of high interest in micro- and nanomechanical systems. In this paper, an analytical model for a transduction scheme based on the Kelvin polarization force is presented. A dielectric beam is actuated by placing it over the gap of two coplanar electrodes. Finite elem...
Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys
Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David
2016-07-01
This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.
Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks
Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei
2017-01-01
WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator’s mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost. PMID:28098748
Gu, Guo-Ying; Yang, Mei-Ju; Zhu, Li-Min
2012-06-01
This paper presents a novel real-time inverse hysteresis compensation method for piezoelectric actuators exhibiting asymmetric hysteresis effect. The proposed method directly utilizes a modified Prandtl-Ishlinskii hysteresis model to characterize the inverse hysteresis effect of piezoelectric actuators. The hysteresis model is then cascaded in the feedforward path for hysteresis cancellation. It avoids the complex and difficult mathematical procedure for constructing an inversion of the hysteresis model. For the purpose of validation, an experimental platform is established. To identify the model parameters, an adaptive particle swarm optimization algorithm is adopted. Based on the identified model parameters, a real-time feedforward controller is implemented for fast hysteresis compensation. Finally, tests are conducted with various kinds of trajectories. The experimental results show that the tracking errors caused by the hysteresis effect are reduced by about 90%, which clearly demonstrates the effectiveness of the proposed inverse compensation method with the modified Prandtl-Ishlinskii model.
Lin, Jhih-Hong; Chiang, Mao-Hsiung
2016-08-25
Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.
Jhih-Hong Lin
2016-08-01
Full Text Available Magnetic shape memory (MSM alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.
A Strategy Tackling Local Minimum of Direct Search Method in Modeling a Hydraulic Actuator
刘云山; 陈晓辉
2013-01-01
A strategy for attacking the local minimum problem of direct search method is developed for modeling a hydraulic actuator. The Nelder-Mead direct search method is combined with Ordinary Least Squares which can used to optimize the parameters which the model function is in linear with. The model fitting results show that this strategy can reach a solution more close to the global minimum than the Nelder-Mead direct search method used alone.
A multi-physical model of actuation response in dielectric gels
Li, Bo; Chang, LongFei; Asaka, Kinji; Chen, Hualing; Li, Dichen
2016-12-01
Actuation deformation of a dielectric gel is attributed to: the solvent diffusion, the electrical polarization and material hyperelasticity. A multi-physical model, coupling electrical and mechanical quantities, is established, based on the thermodynamics. A set of constitutive relations is derived as an equation of state for characterization. The model is applied to specific cases as effective validations. Physical and chemical parameters affect the performance of the gel, showing nonlinear deformation and instability. This model offers guidance for engineering application.
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.
Modeling molecular hyperfine line emission
Keto, Eric
2010-01-01
In this paper we discuss two approximate methods previously suggested for modeling hyperfine spectral line emission for molecules whose collisional transitions rates between hyperfine levels are unknown. Hyperfine structure is seen in the rotational spectra of many commonly observed molecules such as HCN, HNC, NH3, N2H+, and C17O. The intensities of these spectral lines can be modeled by numerical techniques such as Lambda-iteration that alternately solve the equations of statistical equilibrium and the equation of radiative transfer. However, these calculations require knowledge of both the radiative and collisional rates for all transitions. For most commonly observed radio frequency spectral lines, only the net collisional rates between rotational levels are known. For such cases, two approximate methods have been suggested. The first method, hyperfine statistical equilibrium (HSE), distributes the hyperfine level populations according to their statistical weight, but allows the population of the rotationa...
Herbuś, K.; Ociepka, P.
2017-08-01
In the work is analysed a sequential control system of a machine for separating and grouping work pieces for processing. Whereas, the area of the considered problem is related with verification of operation of an actuator system of an electro-pneumatic control system equipped with a PLC controller. Wherein to verification is subjected the way of operation of actuators in view of logic relationships assumed in the control system. The actuators of the considered control system were three drives of linear motion (pneumatic cylinders). And the logical structure of the system of operation of the control system is based on the signals flow graph. The tested logical structure of operation of the electro-pneumatic control system was implemented in the Automation Studio software of B&R company. This software is used to create programs for the PLC controllers. Next, in the FluidSIM software was created the model of the actuator system of the control system of a machine. To verify the created program for the PLC controller, simulating the operation of the created model, it was utilized the approach of integration these two programs using the tool for data exchange in the form of the OPC server.
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
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid
2016-07-25
This article presents and compares different approaches to develop reduced order models for the nonlinear von Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. Results among the various reduced-order modes are compared and are also validated by comparing to results of the finite-element model. Further, the reduced order models are employed to capture the forced dynamic response of the microplate under small and large vibration amplitudes. Comparison of the different approaches are made for this case. Keywords: electrically actuated microplates, static analysis, dynamics of microplates, diaphragm vibration, large amplitude vibrations, nonlinear dynamics
Modeling and Control for Giant Magnetostrictive Actuators with Rate-Dependent Hysteresis
Ping Liu
2013-01-01
Full Text Available The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a relevance vector machine (RVM model is proposed for describing the hysteresis nonlinearity under varying input current. It is possible to construct a unique dynamic model in a given rate range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set input signal. Subsequently, a proportional integral derivative (PID control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator (GMA for real-time precise trajectory tracking. Simulations and experiments both verify the effectiveness and the practicality of the proposed modeling and control methods.
Demerdash, N. A.; Nehl, T. W.
1979-01-01
A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.
Longitudinal Absolute Stability of a BWB Aircraft-Pilot System with Saturated Actuator Model
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.
Modeling and optimal vibration control of conical shell with piezoelectric actuators
Wang Weiyuan; Wei Yingjie; Wang Cong; Zou Zhenzhu
2008-01-01
In this paper numerical simulations of active vibration control for conical shell structure with distributed piezoelectric actuators is presented. The dynamic equations of conical shell structure are derived using the finite element model (FEM) based on Mindlin's plate theory. The results of modal calculations with FEM model are accurate enough for engineering applications in comparison with experiment results. The Electromechanical influence of distributed piezoelectric actuators is treated as a boundary condition for estimating the control force. The independent modal space control (IMSC) method is adopted and the optimal linear quadratic state feedback control is implemented so that the best control performance with the least control cost can be achieved. Optimal control effects are compared with controlled responses with other non-optimal control parameters. Numerical simulation results are given to demonstrate the effectiveness of the control scheme.
RU Chang-hai; SUN Li-ning; RONG Wei-bin
2008-01-01
Aiming at the limitation of control accuracy caused by hysteresis and creep for a piezoelectric actuator, the hysteresis phenomenon is explained based on the microscopic polarization mechanism and domain wall theory. Then a control model based on polarization is established, which can reduce the hysteresis and creep remarkablely. The experimental results show that the polarization control method is with more linearity and less hysteresis compared with the voltage control method.
Aeroacoustic Calculations of Wind Turbine Noise with the Actuator Line/ Navier-Stokes Technique
Debertshäuser, Harald; Shen, Wen Zhong; Zhu, Wei Jun
2016-01-01
to the local conditions and airfoil data. In the acoustic solver, the aeroacoustics is simulated by: (1) calculating the noise source using the improved engineering model (IBPM) based on the model developed by Brook, Pope and Marcolini (BPM); (2) introducing the noise source with an expected range...
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets.
Bradley, Stuart
2015-11-20
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.
Leigh, Timothy D.; Zimmerman, David C.
1991-01-01
Experiments have shown that piezoceramic materials display a nonlinear relationship between the applied electric field and the actuation strain. This relationship also displays a substantial hysteresis upon reversal of the applied field. In this paper, piezoceramic actuator models are incorporated into the structural equations of motion to arrive at a set of nonlinear actively controlled structural equations of motion. A new implicit algorithm for determining the time history of the actively controlled structure is presented. The algorithm employs the trapezoidal rule for stepping the equations forward in time. The algorithm is compared to an explicit algorithm and is shown to provide greater numerical accuracy. In addition, the numerical stability and convergence characteristics are presented via example. The new algorithm displays convergence and stability properties that are comparable to the standard trapezoidal rule used for dynamic systems without hysteresis.
An analytical model for electrode-ceramic interaction in multilayer piezoelectric actuators
B. L. Wang; J. C. Han
2007-01-01
The present paper develops an analytical model for multi-electrodes in multi-layered piezoelectric actuators, in which the electrodes are vertical to and terminated at the edges of the medium and electroelastic field concentrations ahead of the electrodes in the multilayer piezoelectric actuators are examined. By considering a representative unit in realistic multilayers, the problem is formulated in terms of electric potential between the electrode tips and results in a system of singular integral equations in which the electric potential is taken as unknown function. Effects are investigated of electrode spacing and piezoelectric coupling on the singular electroelastic fields at the electrode tips, and closed-form expressions are given for the electromechanical field near the electrode tips. Exact solution for un-coupled dielectrics is provided, where no piezoelectric coupling is present.
Finite element modeling and fabrication of an SMA-SMP shape memory composite actuator
Souri, Mohammad
Shape memory alloys and polymers have been extensively researched recently because of their unique ability to recover large deformations. Shape memory polymers (SMPs) are able to recover large deformations compared to shape memory alloys (SMAs), although SMAs have higher strength and are able to generate more stress during recovery. This project focuses on procedure for fabrication and Finite Element Modeling (FEM) of a shape memory composite actuator. First, SMP was characterized to reveal its mechanical properties. Specifically, glass transition temperature, the effects of temperature and strain rate on compressive response and recovery properties of shape memory polymer were studied. Then, shape memory properties of a NiTi wire, including transformation temperatures and stress generation, were investigated. SMC actuator was fabricated by using epoxy based SMP and NiTi SMA wire. Experimental tests confirmed the reversible behavior of fabricated shape memory composites. (Abstract shortened by ProQuest.).
Patre, Parag; Joshi, Suresh M.
2011-01-01
Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.
Krecinic, F.; Duc, T. Chu; Lau, G. K.; Sarro, P. M.
2008-06-01
This paper presents simulation and experimental characterization of an electro-thermally actuated micro gripper. This micro actuator can conceptually be seen as a bi-morph structure of SU-8 and silicon, actuated by thermal expansion of the polymer. The polymer micro gripper with an embedded comb-like silicon skeleton is designed to reduce unwanted out-of-plane bending of the actuator, while offering a large gripper stroke. The temperature and displacement field of the micro gripper structure is determined using a two-dimensional finite element analysis. This analysis is compared to experimental data from steady-state and transient measurements of the integrated heater resistance, which depends on the average temperature of the actuator. The stability of the polymer actuator is evaluated by recording the transient behaviour of the actual jaw displacements. The maximum single jaw displacement of this micro gripper design is 34 µm at a driving voltage of 4 V and an average actuator temperature of 170 °C. The transient thermal response is modelled by a first-order system with a characteristic time constant of 11.1 ms. The simulated force capability of the device is 0.57 mN per µm jaw displacement.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102
Khan, S H [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Cai, M [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Grattan, K T V [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Kajan, K [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Honeywood, M [Sortex Limited, Pudding Mill Lane, London E15 2PJ (United Kingdom); Mills, S [Sortex Limited, Pudding Mill Lane, London E15 2PJ (United Kingdom)
2005-01-01
Electromagnetic (EM) solenoid actuators are widely used in many applications such as the automobile, aerospace, printing and food industries where repetitive, often high-speed linear or rotating motions are required. In some of these applications they are used as highspeed 'switching' valves for switching pneumatic channels. This paper describes the finite element (FE) modelling and design of high-speed solenoid actuators. Operating at frequencies between 150-300 Hz, these actuators are unique in terms of the large force they produce (8-15 N) and the requirement for very long lifetime (2-5 billion cycles). The complex nature of electromagnetic, motional and thermal problems is discussed. The methodologies for FE modelling of such high-performance actuators are developed and discussed. These are used for modelling, design, performance evaluation and prediction of the above high-speed actuators. Modelling results showing some of the key design features of the actuators are presented in terms of force produced as a function of various design parameters.
Murali Muniraj
2015-01-01
Full Text Available A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.
Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin
2016-07-01
Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.
Abel, Julianna; Luntz, Jonathan; Brei, Diann
2012-08-01
Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S. [Kalsi Engineering, Inc., Sugar Land, TX (United States)
1996-12-01
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.
Absolute stability for the lateral-directional BWB model with rate limited actuator
Ionel IORGA
2012-06-01
Full Text Available In this paper the authors present a study regarding the interaction between the human pilot and the aircraft which may result in a dangerous phenomenon called Pilot Induced Oscillations (PIO, in the context of the lateral directional motion. The theoretical model of the airplane used is a Blended Wing Body (BWB configuration and the human operator is expressed by the Synchronous Pilot Model (represented by a simple gain. The Popov criterion, in the case of the infinite parameter, is applied in order to investigate the absolute stability of the pilot-airplane linearized system in the presence of the rate saturation of the actuator.
Tracking control of piezoelectric actuators using a polynomial-based hysteresis model
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-06-01
A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.
Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle
Vimal Rau Aparow
2016-01-01
Full Text Available In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.
Hybrid Swarm Algorithms for Parameter Identification of an Actuator Model in an Electrical Machine
Ying Wu
2011-01-01
Full Text Available Efficient identification and control algorithms are needed, when active vibration suppression techniques are developed for industrial machines. In the paper a new actuator for reducing rotor vibrations in electrical machines is investigated. Model-based control is needed in designing the algorithm for voltage input, and therefore proper models for the actuator must be available. In addition to the traditional prediction error method a new knowledge-based Artificial Fish-Swarm optimization algorithm (AFA with crossover, CAFAC, is proposed to identify the parameters in the new model. Then, in order to obtain a fast convergence of the algorithm in the case of a 30 kW two-pole squirrel cage induction motor, we combine the CAFAC and Particle Swarm Optimization (PSO to identify parameters of the machine to construct a linear time-invariant(LTI state-space model. Besides that, the prediction error method (PEM is also employed to identify the induction motor to produce a black box model with correspondence to input-output measurements.
High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.
Gu, Guoying; Zhu, Limin
2010-08-01
In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.
Vahid Hassani
2012-01-01
Full Text Available One of the major problems occurring in many technical applications is the presence of the hysteretic behavior in sensors and actuators, which causes a nonlinear relationship between input and output variables in such devices. Since the nonlinear phenomenon of hysteresis degrades the performance of the piezoelectric materials and piezoelectric drive mechanisms, for example, in positioning control framework, it has to be characterized in order to mitigate the effect of the nonlinearity in the devices. This paper is aimed to characterize and model the hysteresis in typical piezoelectric actuators under load-free and preloaded circumstances incorporating the inertial effect of the system. For this purpose, the piezoelectric actuator is modeled as a mass-spring-damper system, which is expressed in terms of a stop operator as one of the essential yet efficient hysteresis operators in the Prandtl-Ishlinskii (PI model. The reason of utilizing the stop operator in this study is for the sake of control purposes, as the stop operator plays as the inverse of the play operator in the PI model and can be used in a feed-forward controller scheme to suppress the effect of hysteresis in general control framework. The results reveal that this model exhibits better correspondence to the measurement output compared to that of the classical PI model.
National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...
Alzahrani, Bandar A.; Alghamdi, Abdulmalik A. A.
2003-06-01
This note reviews the commonest and simplest theoretical models used in modelling one-dimensional smart structures. These models can be used for any type of induced strain; however, the piezoelectric actuator is used here as a typical active element. A numerical example is given to show the differences among these models especially as regards the strain induced in the beam.
Design and modeling of a novel fibrous shape memory alloy (SMA) actuator
Shahinpoor, Mohsen; Wang, Guoping
1994-05-01
Presented is a novel design of a composite linear actuator utilizing a parallel array of contractile shape-memory alloy (SMA) wires. The fiber bundle of SMA wires is either circumscribed inside a helical compression spring with flat heads or are in parallel with a number of helical compression springs, end-capped by two parallel circular plates with embedded electrodes to which the ends of the SMA wires are secured. Thus, the wires can be electrically heated and subsequently contracted to compress the helical compression spring. Upon cooling the SMA wires expand and allow the helical compression spring to tightly stretch them to their initial length. Design details are first fully described. Steps involved in the fabrication of a number of these composite SMA actuators are then elaborated on. A number of interesting heat transfer phenomena are observed. In essence the dynamic behavior of the actuator depends on the interaction between the current supplied to the wires and the rate of heat transfer from the wires due to convection and radiation. A design model is finally presented for the dynamic response of contractile fiber bundles embedded in or around elastic springs that are either linear helical compression springs, hyperelastic springs such as rubberlike materials, or nonlinear springs such as air. The fiber bundle is assumed to consist of a parallel array of contractile fibers made from contractile shape-memory alloy (SMA) wires. The proposed model considers the temperature- induced contraction of the fibers due to resistive heating of the shape-memory wires. Results of both dynamic computer simulation and dynamics of a prototype model built in our laboratory indicate a fairly good comparison.
LES of wind farm response to transient scenarios using a high fidelity actuator disk model
Moens, M.; Duponcheel, M.; Winckelmans, G.; Chatelain, P.
2016-09-01
Large eddy simulations coupled to Actuator Disks are used to investigate wake effects in wind farms. An effort is made on the wind turbine model: it uses the prevailing velocities at each point of the disk to estimate the aerodynamic loads and is improved using a tip-loss correction and realistic control schemes. This accurate and efficient tool is used to study the wind farm response in terms of flow and power production during an unsteady scenario: this work focuses on an emergency shutdown of one rotor inside a wind farm.
The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification
Groothuis, Stefan; Rusticelli, Giacomo; Zucchelli, Andrea; Stramigioli, Stefano; Carloni, Raffaella
In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission
Analysis of Foot Slippage Effects on an Actuated Spring-mass Model of Dynamic Legged Locomotion
Yizhar Or
2016-04-01
Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb’s friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets
Stuart Bradley
2015-11-01
Full Text Available Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings” to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.
Assembly line performance and modeling
Rane, Arun B; Sunnapwar, Vivek K
2017-01-01
Automobile sector forms the backbone of manufacturing sector. Vehicle assembly line is important section in automobile plant where repetitive tasks are performed one after another at different workstations...
Laib, Khaled; Megnous, Ahmed Rhéda; Pham, Minh Tu; Lin-Shi, Xuefang
2016-01-01
This report presents an averaged model and nonlinear observer for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The averaged model is elaborated which has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a sliding mode observer is designed using the piston's position and the pressure measurements in one of the chambers to estimate the piston velocity and the pressure in the other ...
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP.
Bouchaala, Adam M.
2015-01-01
We investigate the dynamics of electrically actuated Micro and Nano (Carbon nanotube (CNT)) cantilever beams implemented as resonant sensors for mass detection of biological elements. The beams are modeled using an Euler-Bernoulli beam theory including the nonlinear electrostatic forces and the added biological elements, which are modeled as a discrete point mass. A multi-mode Galerkin procedure is utilized to derive a reduced-order model, which is used for the dynamic simulations. The frequency shifts due to added mass of Escherichia coli (E. coli) and Prostate Specific Antigen (PSA) are calculated for the primary and higher order modes of vibrations. Also, analytical expressions of the natural frequency shift under dc voltage and added mass have been developed. We found that using higher-order modes of vibration of MEMS beams or miniaturizing the size of the beam to Nano scale leads to significant improved sensitivity. © Springer International Publishing Switzerland 2015.
A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle
Orr, Jeb S.
2011-01-01
A comprehensive set of motion equations for a multi-actuated flight vehicle is presented. The dynamics are derived from a vector approach that generalizes the classical linear perturbation equations for flexible launch vehicles into a coupled three-dimensional model. The effects of nozzle and aerosurface inertial coupling, sloshing propellant, and elasticity are incorporated without restrictions on the position, orientation, or number of model elements. The present formulation is well suited to matrix implementation for large-scale linear stability and sensitivity analysis and is also shown to be extensible to nonlinear time-domain simulation through the application of a special form of Lagrange s equations in quasi-coordinates. The model is validated through frequency-domain response comparison with a high-fidelity planar implementation.
Minami Takato
2014-07-01
Full Text Available 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 the piezoelectric element. The millimetre-size robot is fitted with six legs, three on either side of the developed actuator, and can walk on uneven surfaces like an insect. The three leg parts on each side are connected by a linking mechanism. The control system is a hardware neuron model constructed from analogue electronic circuits that mimic the behaviour of biological neurons. The output signal ports of the controller are connected to the multilayer piezoelectric element. This robot system requires no specialized software programs or A/D converters. The rotation speed of the rotary actuator reaches 60 rpm at an applied neuron frequency of 25 kHz during the walking motion. The width, length and height of the robot are 4.0, 4.6 and 3.6 mm, respectively. The motion speed is 180 mm/min.
Hamid Moeenfard; Mohammad Taghi Ahmadian
2012-01-01
In this paper,the effect of van der Waals (vdW)force on the pull-in behavior of electrostatically actuated nano/micromirrors is investigated.First,the minimum potential energy principle is utilized to find the equation governing the static behavior of nano/microminror under electrostatic and vdW forces.Then,the stability of static equilibrium points is analyzed using the energy method.It is found that when there exist two equilibrium points,the smaller one is stable and the larger one is unstable.The effects of different design parameters on the mirror's pull-in angle and pull-in voltage are studied and it is found that vdW force can considerably reduce the stability limit of the mirror.At the end,the nonlinear equilibrium equation is solved numerically and analytically using homotopy perturbation method (HPM).It is observed that a sixth order perturbation approximation can precisely model the mirror's behavior.The resuits of this paper can be used for stable operation design and safe fabrication of torsional nano/micro actuators.
Two-spring model for active compression textiles with integrated NiTi coil actuators
Holschuh, B.; Newman, D.
2015-03-01
This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (\\gt 29.6 kPa) while minimizing (\\lt 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications.
Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network
Alexander Hošovský
2015-01-01
Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.
Breton, S.P.; Watters, C.S.; Masson, C. [Ecole de Technologie Superieure, Montreal, PQ (Canada)
2010-07-01
This presentation discussed the model rotor experiments under controlled conditions (MEXICO) project. The experiments are being conducted in the largest wind tunnel in Europe in order to determine optimal yaw and pitch angles for wind turbines as well as to test the performance of blade aerodynamic profiles and rotor instrumentation. Data obtained during the experiments are used to determine velocity component points in order to develop a greater understanding of wind turbine aerodynamics and improve calculation methods. Blade element momentum (BEM) computational fluid dynamics (CFD) and vortex wake codes are used in the program, which includes an actuator surface method embedded in a customized CFD finite element method. To date, the project has validated various models with experimental data, and mapped the induced velocities upwind and downwind from rotors. Further research is being conducted to compare experimental results with other results in the literature related to blade loading, root bending moments, and detailed flow characteristics. Charts of experimental results were included. tabs., figs.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Eid Mohamed
2012-01-01
Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC) engines. Applications of solenoid valve actuators in (IC) engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA) uses solenoid to actuate valve movement independently for the application of (IC) engine. In this work presents the...
Analysis of the giant magnetostrictive actuator with strong bias magnetic field
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.
Assembly line performance and modeling
Rane, Arun B.; Sunnapwar, Vivek K.
2017-03-01
Automobile sector forms the backbone of manufacturing sector. Vehicle assembly line is important section in automobile plant where repetitive tasks are performed one after another at different workstations. In this thesis, a methodology is proposed to reduce cycle time and time loss due to important factors like equipment failure, shortage of inventory, absenteeism, set-up, material handling, rejection and fatigue to improve output within given cost constraints. Various relationships between these factors, corresponding cost and output are established by scientific approach. This methodology is validated in three different vehicle assembly plants. Proposed methodology may help practitioners to optimize the assembly line using lean techniques.
Stellar model atmospheres with magnetic line blanketing
Kochukhov, O; Shulyak, D
2004-01-01
Model atmospheres of A and B stars are computed taking into account magnetic line blanketing. These calculations are based on the new stellar model atmosphere code LLModels which implements direct treatment of the opacities due to the bound-bound transitions and ensures an accurate and detailed description of the line absorption. The anomalous Zeeman effect was calculated for the field strengths between 1 and 40 kG and a field vector perpendicular to the line of sight. The model structure, high-resolution energy distribution, photometric colors, metallic line spectra and the hydrogen Balmer line profiles are computed for magnetic stars with different metallicities and are discussed with respect to those of non-magnetic reference models. The magnetically enhanced line blanketing changes the atmospheric structure and leads to a redistribution of energy in the stellar spectrum. The most noticeable feature in the optical region is the appearance of the 5200 A depression. However, this effect is prominent only in ...
Tabesh, Ahmadreza; Fréchette, Luc G.
2008-10-01
The analytical model presented in this paper describes the energy conversion mechanism of a piezoelectric beam (bimorph) under small-deflection static and vibrating conditions. The model provides an improved approach to design and analyze the performance of piezoelectric actuators and energy harvesters (sensors). Conventional models assume a linear voltage distribution over the piezoelectric beam thickness, which is shown here to be invalid. The proposed modeling method improves accuracy by using a quadratic voltage distribution. The equivalent capacitance of a beam shows a 40% discrepancy between a conventional model and the proposed model for PZT5A material. This inaccuracy level is not negligible, especially when the design of micro-power electrical energy harvesting is concerned. The method solves simultaneously the solid mechanics and Maxwell's equations with the constitutive equations for piezoelectric materials. The paper also proposes a phasor-based procedure for measuring the damping of a piezoelectric beam. An experimental setup is developed to verify the validity of the model. The experimental results confirm the accuracy of the improved model and also reveal limitations in using models for small deflections.
Dichromatic confusion lines and color vision models.
Fry, G A
1986-12-01
An attempt has been made to explain how dichromatic confusion lines can be used in building a model for color vision. In the König color vision model the fundamental colors are located on the mixture diagram at the copunctal points for protanopes, deuteranopes, and tritanopes. In Fry's model the copunctal points fall on the alychne and cannot represent the fundamental colors. On a constant luminance diagram the confusion lines for the different dichromats are sets of parallel lines. This arrangement of the confusion lines can be explained in terms of a zone theory of color vision.
Holland, Scott D.
1994-01-01
The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.
Modeling of effects of matrix on actuation characteristics of embedded shape memory alloy wires
CUI Xiao-long; ZHENG Yan-jun; CUI Li-shan
2005-01-01
Effects of matrix properties on the actuation characteristics of embedded shape memory alloy wires were studied. The coefficient of thermal expansion and the modulus of matrix have significant effect on the maximum recovery stress. The thermal strain rate of the SMA wires upon heating is more sensitive to the matrix properties than the stress rate does. Additional fibers embedded in the matrix have significant effect on the stress distribution between the SMA wires and the matrix, and thus affect the interface quality significantly. Fibers with negative thermal expansion coefficient are beneficial to the interface between shape memory alloy wires and the epoxy matrix. All conclusions based on the numerical modeling can find experimental supports.
Advancements in Actuated Musical Instruments
Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert
2011-01-01
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 instrument...... that these instruments enable. We look at some of the conceptual and perceptual issues introduced by actuated musical instruments, and finally we propose some directions in which such research may be headed in the future.......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...... are physical instruments that have been endowed with virtual qualities controlled by a computer in real-time but which are nevertheless tangible. These instruments provide intuitive and engaging new forms of interaction. They are different from traditional (acoustic) and fully automated (robotic) instruments...
Aagaard Madsen, Helge; Larsen, Torben J.; Schmidt Paulsen, Uwe
2013-01-01
The paper presents the implementation of the Actuator Cylinder (AC) flow model in the HAWC2 aeroelastic code originally developed for simulation of Horizontal Axis Wind Turbine (HAWT) aeroelasticity. This is done within the DeepWind project where the main objective is to explore the competitivene...
Positioning magnetorheological actuator
Mikhailov, Valery; Bazinenkov, Alexey; Akimov, Igor [Bauman Moscow State Technical University, 2-nd Baumanskaia st. 5, MT-11, 105005, Moscow (Russian Federation); Borin, Dmitry [Technische Universitaet Dresden, Chair of Magnetofluiddynamics, 01062, Dresden (Germany)], E-mail: mikhailov@bmstu.ru
2009-02-01
In this work we consider a construction of a positioning magnetorheological actuator based on bellow units, as well as dynamical model, which include such elements as a magnetically hysteresis, pressure loses in hydraulic system, nonlinearity of rheological behaviour of working fluid. Two operating modes of positioning actuator are taken into account and transients are presented. Dynamical modelling shows possibility for the improvement of a real control system and ensure of submicron precision of positioning with millisecond time of response.
Habib, Tufail
2012-01-01
investigation of Electro-mechanical actuator at simulated pressure conditions for a single cylinder engine. For this purpose, a scaled down actuator with reduced armature lift and high stiffness springs are being used. Experiments are conducted to measure valve release timings, transition times and contact...
Habib, Tufail
2012-01-01
In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about investig...
Haigen Yang
2015-01-01
Full Text Available In order to accurately model the hysteresis and dynamic characteristics of piezoelectric stack actuators (PSAs, consider that a linear force and a hysteresis force will be generated by piezoelectric wafers under the voltage applied to a PSA, and the total force suffering from creep will result in the forced vibration of the two-degree-of-freedom mass-spring-damper system composed of the equivalent mass, stiffness, and damping of the piezoelectric wafers and the bonding layers. A modified comprehensive model for PSAs is put forward by using a linear function, an asymmetrical Bouc-Wen hysteresis operator, and a creep function to model the linear force, the hysteresis force, and the creep characteristics, respectively. In this way, the effect of the bonding layers on the hysteresis and dynamic characteristics of PSAs can be analyzed via the modified comprehensive model. The experimental results show that the modified comprehensive model for PSAs with the corresponding parameter identification method can accurately portray the hysteresis and dynamic characteristics of PSAs fabricated by different layering/stacking processes. Finally, the theoretical analyzing on utilizing the modified comprehensive model to linearize the hysteresis characteristics and design the dynamic characteristics of PSAs is given.
Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots
S, Arumugom; V, Ponselvan
2009-01-01
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-06
Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved.
Xingwu Zhang
2016-01-01
Full Text Available Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT is used and no Inverse Fast Fourier Transform (IFFT is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved.
Digital Model of Railway Electric Traction Lines
Garg, Rachana; Mahajan, Priya; Kumar, Parmod
2016-08-01
The characteristic impedance and propagation constant define the behavior of signal propagation over the transmission lines. The digital model for railway traction lines which includes railway tracks is developed, using curve fitting technique in MATLAB. The sensitivity of this model has been computed with respect to frequency. The digital sensitivity values are compared with the values of analog sensitivity. The developed model is useful for digital protection, integrated operation, control and planning of the system.
Digital Model of Railway Electric Traction Lines
Garg, Rachana; Mahajan, Priya; Kumar, Parmod
2017-08-01
The characteristic impedance and propagation constant define the behavior of signal propagation over the transmission lines. The digital model for railway traction lines which includes railway tracks is developed, using curve fitting technique in MATLAB. The sensitivity of this model has been computed with respect to frequency. The digital sensitivity values are compared with the values of analog sensitivity. The developed model is useful for digital protection, integrated operation, control and planning of the system.
The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations
Shen, Wen Zhong; Zhang, J.H.; Sørensen, Jens Nørkær
2009-01-01
This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along...... the chord of the airfoils. The distribution of body force is determined from a set of predefined functions that depend on angle of attack and airfoil shape. The predefined functions are curve fitted using pressure distributions obtained either from viscous-inviscid interactive codes or from full Navier...
Arriola, David; Thielecke, Frank
2017-09-01
Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.
Louis, J.P.
2004-07-01
The modeling of a system to be automatized is a key step for the determination of the control laws because these laws are based on inverse models deduced from direct models. The ideal example is the DC actuator, the simpleness of which allows to directly shift from the modeling to the control law. For AC actuators, the modeling tools are based on the classical hypotheses: linearity, first harmonics, symmetry. They lead to very efficient models which allow to study the properties in dynamical and permanent regime of the most important actuators: synchronous motors, asynchronous motors, voltage inverters. Some extensions to other kind of machines which does not fulfill the classical hypotheses are also proposed: synchronous machines with non-sinusoidal field distribution and asynchronous machines in saturated regime. (J.S.)
Narasimhan, Sriram; Roychoudhury, Indranil; Balaban, Edward; Saxena, Abhinav
2010-01-01
Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this approach does not work very well when it is not feasible to create analytic relations describing all the observed data, e.g., for vibration data which is usually sampled at very high rates and requires very detailed finite element models to describe its behavior. In such cases, features (in time and frequency domains) that contain diagnostic information are extracted from the data. Since this is a computationally intensive process, it is not efficient to extract all the features all the time. In this paper we present an approach that combines the analytic model-based and feature-driven diagnosis approaches. The analytic approach is used to reduce the set of possible faults and then features are chosen to best distinguish among the remaining faults. We describe an implementation of this approach on the Flyable Electro-mechanical Actuator (FLEA) test bed.
Boz, Utku; Basdogan, Ipek
2015-12-01
Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.
Rizzello, G.; Hodgins, M.; Naso, D.; York, A.; Seelecke, S.
2015-09-01
This paper presents a modeling approach of an actuator system based on a dielectric electro-active polymer (DEAP) circular membrane mechanically loaded with a mass and a linear spring. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A mass and a linear spring are used to pre-load the membrane, allowing stroke in the out-of-plane direction. The development of mathematical models which accurately describe the nonlinear coupling between electrical and mechanical dynamics is a fundamental step in order to design model-based, high-precision position control algorithms operating in high-frequency regimes (up to 150 Hz). The knowledge of the nonlinear electrical dynamics of the actuator driving circuit can be exploited during the control system design in order to achieve desirable features, such as higher modeling accuracy for high-frequency actuation, self-sensing or control energy minimization. This work proposes a physical model of the DEAP actuator system which couples both electrical and mechanical dynamics occurring during the actuation process. By means of numerous experiments, it is shown that the model can be used to predict both actuator current and displacement, and therefore to increase the overall displacement prediction accuracy with respect to actuator models which neglect electrical behavior.
ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT
SONG Qi; JIANG Zhe; HAN Jianda
2007-01-01
A novel fault-tolerant adaptive control methodology against the actuator faults is proposed.The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.
The k-ε-fP model applied to double wind turbine wakes using different actuator disk force methods
Laan, van der, Paul Maarten; Sørensen, Niels N.; Réthoré, Pierre-Elouan
2015-01-01
The newly developed k-ε-fP eddy viscosity model is applied to double wind turbine wake configurations in a neutral atmospheric boundary layer, using a Reynolds-Averaged Navier–Stokes solver. The wind turbines are represented by actuator disks. A proposed variable actuator disk force method...... is employed to estimate the power production of the interacting wind turbines, and the results are compared with two existing methods: a method based on tabulated airfoil data and a method based on the axial induction from 1D momentum theory. The proposed method calculates the correct power, while the other...... two methods overpredict it. The results of the k-ε-fP eddy viscosity model are also compared with the original k-ε eddy viscosity model and large-eddy simulations. Compared to the large-eddy simulations-predicted velocity and power deficits, the k-ε-fP is superior to the original k-ε model...
Han, Ping
2017-01-01
A novel Giant Magnetostrictive Actuator (GMA) experimental system with Fiber Bragg Grating (FBG) sensing technique and its modeling method based on data driven principle are proposed. The FBG sensors are adopted to gather the multi-physics fields' status data of GMA considering the strong nonlinearity of the Giant Magnetostrictive Material and GMA micro-actuated structure. The feedback features are obtained from the raw dynamic status data, which are preprocessed by data fill and abnormal value detection algorithms. Correspondingly the Least Squares Support Vector Machine method is utilized to realize GMA online nonlinear modeling with data driven principle. The model performance and its relative algorithms are experimentally evaluated. The model can regularly run in the frequency range from 10 to 1000 Hz and temperature range from 20 to 100 °C with the minimum prediction error stable in the range from -1.2% to 1.1%.
A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model
Labib Omar El-Farouk E.
2016-01-01
Full Text Available Aerial vehicles have been investigated recently in different contexts, due to their high potential of utilization in multiple application areas. Different mechanisms can be used for aerial vehicles actuation, such as the rotating multi-blade systems (Multi-Copters and more recently flapping wings. Flapping wing robots have attracted much attention from researchers in recent years. In this study, a simple dual-actuated flapping mechanism is proposed for actuating a flapping wing robot. The mechanism is designed, simulated and validated in both simulation and experiments. A roll controlling approach is proposed to control the roll angle of the robot via controlling the speeds of both motors actuating each of the wings. The results achieved are validated experimentally, and are promising opening the door for further investigation using our proposed system
Single actuator wave-like robot (SAW): design, modeling, and experiments.
Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz
2016-07-01
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.
Lambert, Tyler Ross; Gurley, Austin; Beale, David
2017-03-01
Shape memory alloys (SMA) can be used to create actuators that are simple, high strength, and inexpensive. These benefits come at the cost of low electrical efficiency, moderate lifetime, and complex mechanical behavior that makes them difficult to design into new applications and products. To improve the integration of SMA actuators—in particular thin SMA wires heated by passing electric current through them—into modern mechanical applications, we have created tools for modeling SMA mechanical and thermal behavior in dynamic systems and under feedback controls. Thermo-electro-mechanical constitutive models are implemented in a multibody dynamics software where they are easily applied to an actuator emplaced in a multibody dynamic system. Mechanical behavior is modeled with 1D constitutive equations. The material state determines the electrical resistivity of the material which drives ohmic heating, while thermal cooling is based on a heat transfer analysis of thin cylinders. These models contain states which are very difficult to measure experimentally (such as crystal phase fraction) and thus provide insight into the material behavior and design that experimental results cannot offer. This thermomechanical model is used in conjunction with sliding mode control—historically difficult to simulate in numerically integrated models—to develop a working ball-on-a-beam setup in which the ball position is controlled via current passed through an SMA wire and with application of an original self-sensing method. The constitutive model is developed in the multibody dynamics software MSC ADAMS and validated through the simulation of the same system.
Dynamics of droplet motion under electrowetting actuation.
Annapragada, S Ravi; Dash, Susmita; Garimella, Suresh V; Murthy, Jayathi Y
2011-07-05
The static shape of droplets under electrowetting actuation is well understood. The steady-state shape of the droplet is obtained on the basis of the balance of surface tension and electrowetting forces, and the change in the apparent contact angle is well characterized by the Young-Lippmann equation. However, the transient droplet shape behavior when a voltage is suddenly applied across a droplet has received less attention. Additional dynamic frictional forces are at play during this transient process. We present a model to predict this transient behavior of the droplet shape under electrowetting actuation. The droplet shape is modeled using the volume of fluid method. The electrowetting and dynamic frictional forces are included as an effective dynamic contact angle through a force balance at the contact line. The model is used to predict the transient behavior of water droplets on smooth hydrophobic surfaces under electrowetting actuation. The predictions of the transient behavior of droplet shape and contact radius are in excellent agreement with our experimental measurements. The internal fluid motion is explained, and the droplet motion is shown to initiate from the contact line. An approximate mathematical model is also developed to understand the physics of the droplet motion and to describe the overall droplet motion and the contact line velocities.
Kwak, Moon K.; Heo, Seok; Jeong, Moonsan
2009-04-01
This paper is concerned with the dynamic modelling, active vibration controller design and experiments for a cylindrical shell equipped with piezoelectric sensors and actuators. The dynamic model was derived by using Rayleigh-Ritz method based on the Donnel-Mushtari shell theory. The actuator equations which relate the applied voltages to the generalized force and sensor equations which relate the generalized displacements to the sensor output voltages for the piezoelectric wafer were derived based on the pin-force model. The equations of motion along with the piezoelectric sensor equations were then reduced to modal forms considering the modes of interest. An aluminium shell was fabricated to demonstrate the effectiveness of the modelling and control techniques. The boundary conditions at both ends of the shell were assumed to be a shear diaphragm in the numerical analysis. Theoretical natural frequencies of the aluminium shell were then calculated and compared to experimental result. They were in good agreement with experimental result for the first two free-vibration modes. The multi-input and multi-output positive position feedback controller, which can cope with the first two vibration modes, was designed based on the block-inverse theory and was implemented digitally using the DSP board. The experimental results showed that vibrations of the cylindrical shell can be successfully suppressed by the piezoelectric actuator and the proposed controller.
Model identification of terfenol-D magnetostrictive actuator for precise positioning control
Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah
2016-04-01
Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.
Nansai, Shunsuke; Mohan, Rajesh Elara; Tan, Ning; Rojas, Nicolas; Iwase, Masami
2015-01-01
The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanic...
Towards Accurate Modeling of Moving Contact Lines
Holmgren, Hanna
2015-01-01
A main challenge in numerical simulations of moving contact line problems is that the adherence, or no-slip boundary condition leads to a non-integrable stress singularity at the contact line. In this report we perform the first steps in developing the macroscopic part of an accurate multiscale model for a moving contact line problem in two space dimensions. We assume that a micro model has been used to determine a relation between the contact angle and the contact line velocity. An intermediate region is introduced where an analytical expression for the velocity exists. This expression is used to implement boundary conditions for the moving contact line at a macroscopic scale, along a fictitious boundary located a small distance away from the physical boundary. Model problems where the shape of the interface is constant thought the simulation are introduced. For these problems, experiments show that the errors in the resulting contact line velocities converge with the grid size $h$ at a rate of convergence $...
Meller, Michael; Chipka, Jordan; Volkov, Alexander; Bryant, Matthew; Garcia, Ephrahim
2016-11-03
Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.
Ruzziconi, Laura
2013-06-10
We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped-clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical analysis, which is able to describe and predict all the main relevant aspects of the experimental response. Extensive experimental investigation is conducted, where the main imperfections coming from microfabrication are detected, the first four experimental natural frequencies are identified and the nonlinear dynamics are explored at increasing values of electrodynamic excitation, in a neighborhood of the first symmetric resonance. Several backward and forward frequency sweeps are acquired. The nonlinear behavior is highlighted, which includes ranges of multistability, where the nonresonant and the resonant branch coexist, and intervals where superharmonic resonances are clearly visible. Numerical simulations are performed. Initially, two single mode reduced-order models are considered. One is generated via the Galerkin technique, and the other one via the combined use of the Ritz method and the Padé approximation. Both of them are able to provide a satisfactory agreement with the experimental data. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Their computational efficiency is discussed in detail, since this is an essential aspect for systematic local and global simulations. Finally, the theoretical analysis is further improved and a two-degree-of-freedom reduced-order model is developed, which is also capable of capturing the measured second symmetric superharmonic resonance. Despite the apparent simplicity, it is shown that all the proposed reduced-order models are able to describe the experimental complex nonlinear dynamics of the device accurately and properly, which validates the proposed theoretical approach. © 2013 IOP Publishing Ltd.
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. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.
Model to Design Drip Hose Lateral Line
Ludwig, Rafael; Cury Saad, João Carlos
2014-05-01
Introduction The design criterion for non-pressure compensating drip hose is normally to have 10% of flow variation (Δq) in the lateral line, corresponding to 20% of head pressure variation (ΔH). Longer lateral lines in drip irrigation systems using conventional drippers provide cost reduction, but it is necessary to obtain to the uniformity of irrigation [1]. The use of Δq higher levels can provide longer lateral lines. [4] proposes the use of a 30% Δq and he found that this value resulted in distribution uniformity over 80%. [1] considered it is possible to extend the lateral line length using two emitters spacing in different section. He assumed that the spacing changing point would be at 40% of the total length, because this is approximately the location of the average flow according with [2]. [3] found that, for practical purposes, the average pressure is located at 40% of the length of the lateral line and that until this point it has already consumed 75% of total pressure head loss (hf ). In this case, the challenge for designers is getting longer lateral lines with high values of uniformity. Objective The objective of this study was to develop a model to design longer lateral lines using non-pressure compensating drip hose. Using the developed model, the hypotheses to be evaluated were: a) the use of two different spacing between emitters in the same lateral line allows longer length; b) it is possible to get longer lateral lines using high values of pressure variation in the lateral lines since the distribution uniformity stays below allowable limits. Methodology A computer program was developed in Delphi® based on the model developed and it is able to design lateral lines in level using non-pressure compensating drip hose. The input data are: desired distribution uniformity (DU); initial and final pressure in the lateral line; coefficients of relationship between emitter discharge and pressure head; hose internal diameter; pipe cross-sectional area
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.
Quang Truong, Dinh; Ahn, Kyoung Kwan
2014-07-01
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique.
Nissle, Sebastian; Hübler, Moritz; Gurka, Martin
2016-04-01
For actuation purposes active hybrid structures made of fiber reinforced polymers (FRP) and shape memory alloys (SMA) enable substantial savings concerning weight, space and cost. Such structures allow realizing new functions which are more or less impossible with commonly used systems consisting of the structure and the actuator as separated elements, e.g. morphing winglets in aeronautics. But there are also some challenges that still need to be addressed. For the successful application of SMA FRP composites a precise control of temperature is essential, as this is the activating quantity to reach the required deformation of the structure without overloading the active material. However, a direct measurement of the temperature is difficult due to the complete integration of SMA in the hybrid structure. Also the deformation of the structure which depends on the temperature, the stiffness of the hybrid structure and external loads is hard to determine. An opportunity for controlling the activation is provided by the special behavior of the electrical resistance of SMA. During the phase transformation of the SMA - also causing the actuation travel - the resistance drops with rising temperature. This behavior can be exploited for control purposes, especially as the electrical resistance can be easily measured during the activation done by Joule heating. As shown in this contribution, theoretical modelling and experimental tests provide a load-independent self-sensing control-concept of SMA-FRP-hybrid-structures.
Rotary actuator for space applications
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.
Shahab, S.; Erturk, A.
2016-10-01
Bio-inspired hydrodynamic thrust generation using smart materials has received growing attention over the past few years to enable improved maneuverability and agility, small form factor, reduced power consumption, and ease of fabrication in next-generation aquatic swimmers. In order to develop a high-fidelity model to predict the electrohydroelastic dynamics of macro-fiber composite (MFC) piezoelectric structures, in this work, mixing rules-based (i.e. rule of mixtures) electroelastic mechanics formulation is coupled with the global electroelastic dynamics based on the Euler-Bernoulli kinematics and nonlinear fluid loading based on Morison’s semi-empirical model. The focus is placed on the dynamic actuation problem for the first two bending vibration modes under geometrically and materially linear, hydrodynamically nonlinear behavior. The electroelastic and dielectric properties of a representative volume element (piezoelectric fiber and epoxy matrix) between two subsequent interdigitated electrodes are correlated to homogenized parameters of MFC bimorphs and validated for a set of MFCs that have the same overhang length but different widths. Following this process of electroelastic model development and validation, underwater actuation experiments are conducted for different length-to-width aspect ratios (L/b) in quiescent water, and the empirical drag and inertia coefficients are extracted from Morison’s equation to establish the electrohydroelastic model. The repeatability of these empirical coefficients is demonstrated for experiments conducted using aluminum cantilevers of different aspect ratios with a focus on the first two bending modes. The convergence of the nonlinear electrohydroelastic Euler-Bernoulli-Morison model to its hydrodynamically linear counterpart for increased L/b values is also reported. The proposed model, its harmonic balance analysis, and experimental results can be used not only for underwater piezoelectric actuation, but also for
Yu, Tianliang; Lesieutre, George A.; Griffin, Steven F.; Brzozowski, Daniel P.; Sassoon, Aaron M.
2017-04-01
Synthetic jet actuators are of interest for potential applications to active flow control and thermal management. Resonant piezoelectric-diaphragm-type configurations are commonly considered. Modeling of such actuators remains a challenge due to complexities associated with both electro-elastic and fluid-structure coupling, as well as potential non-linearities in both. A key metric for synthetic jet performance is the time-averaged jet momentum. Linear lumped-element modeling is an approach that has demonstrated the ability to predict jet momentum in terms of input frequency and voltage; however, it neglects nonlinearity and increasing losses at high amplitude. Full electro-elastic-fluidic finite element modeling makes the most accurate prediction but is computationally expensive for design and optimization purposes. The assumed-modes method provides an energy-based low-order model which captures electro-elastic and acoustic-structure couplings with adequate accuracy. Tri-laminar circular plates under clamped boundary conditions were modeled using the assumed-modes method. Maximization of jet momentum is considered via the maximization of surrogate device metrics: free volume displacement, effective blocking pressure, strain energy, and device coupling coefficient. The driving frequency of the actuator is treated as a constraint in the optimization which nominally matches the fundamental acoustic natural frequency of the cylindrical cavity. Device configurations were obtained for various polycrystalline and single crystal piezoelectric materials, driven at 10% of their coercive fields in the model. The optimal configurations approximate a simply-supported circular plate with complete piezo coverage. The relative merits of individual materials were also discerned from the optimization results. The low mechanical loss factor of PZT8 enables high output at resonance, while high loss factor and low stiffness limit the utility of PVDF in this application. Due to a
Modeling and characterization of multiple coupled lines
Tripathi, Alok
1999-10-01
A configuration-oriented circuit model for multiple coupled lines in an inhomogeneous medium is developed and presented in this thesis. This circuit model consists of a network of uncoupled transmission lines and is readily modeled with simulation tools like LIBRA© and SPICE ©. It provides an equivalent circuit representation which is simple and topologically meaningful as compared to the model based on modal decomposition. The configuration-oriented model is derived by decomposing the immittance matrices associated with an n coupled line 2n-port system. Time- and frequency- domain simulations of typical coupled line multiports are included to exemplify the utility of the model. The model is useful for the simulation and design of general single and multilayer coupled line components, such as filters and couplers, and for the investigation of signal integrity issues including crosstalk in interconnects associated with high speed digital and mixed signal electronic modules and packages. It is shown that multiconductor lossless structures in an inhomogeneous medium can be characterized by multiport time-domain reflection (MR) measurements. A synthesis technique of an equivalent lossless (non-dispersive) uniform multiconductor n coupled lines (UMCL) 2n-port system from the measured discrete time-domain reflection response is presented. This procedure is based on the decomposition of the characteristic immittance matrices of the UMCL in terms of partial mode immittance matrices. The decomposition scheme leads to the discrete transition matrix function of a UMCL 2n-port system. This in turn establishes a relationship between the normal-mode parameters of the UMCL and the measured impulse reflection and transmission response. Equivalence between the synthesis procedure presented in this thesis and the solution of a special form of an algebraic Riccati matrix equation whose solution can lead to the normal-mode parameters and a real termination network is illustrated. In
Statistical Model Checking for Product Lines
ter Beek, Maurice H.; Legay, Axel; Lluch Lafuente, Alberto
2016-01-01
average cost of products (in terms of the attributes of the products’ features) and the probability of features to be (un)installed at runtime. The product lines must be modelled in QFLan, which extends the probabilistic feature-oriented language PFLan with novel quantitative constraints among features......We report on the suitability of statistical model checking for the analysis of quantitative properties of product line models by an extended treatment of earlier work by the authors. The type of analysis that can be performed includes the likelihood of specific product behaviour, the expected...... and on behaviour and with advanced feature installation options. QFLan is a rich process-algebraic specification language whose operational behaviour interacts with a store of constraints, neatly separating product configuration from product behaviour. The resulting probabilistic configurations and probabilistic...
Magnetic Actuators and Sensors
Brauer, John R.
2005-12-01
Magnetic actuators and sensors are needed to enable computer and manual control of motion.Â Magnetic actuators allow a small electrical signal to move small or large objects.Â To sense the amount of motion, magnetic sensors areÂ frequently used.Â This book provides the most up-to-date coverage of topics important to modern engineers, both electrical and mechanical. The author includes the latest findings and design techniques from computer models.Â The latest software tools are used.
Photoionisation modelling of the broad line region
King, Anthea
2016-08-01
Two of the most fundamental questions regarding the broad line region (BLR) are "what is its structure?" and "how is it moving?" Baldwin et al. (1995) showed that by summing over an ensemble of clouds at differing densities and distances from the ionising source we can easily and naturally produce a spectrum similar to what is observed for AGN. This approach is called the `locally optimally emitting clouds' (LOC) model. This approach can also explain the well-observed stratification of emission lines in the BLR (e.g. Clavel et al. 1991, Peterson et al. 1991, Kollatschny et al. 2001) and `breathing' of BLR with changes in the continuum luminosity (Netzer & Mor 1990, Peterson et al. 2014) and is therefore a generally accepted model of the BLR. However, LOC predictions require some assumptions to be made about the distribution of the clouds within the BLR. By comparing photoionization predictions, for a distribution of cloud properties, with observed spectra we can infer something about the structure of the BLR and distribution of clouds. I use existing reverberation mapping data to constrain the structure of the BLR by observing how individual line strengths and ratios of different lines change in high and low luminosity states. I will present my initial constraints and discuss the challenges associated with the method.
Resonant Transmission Line Method for Econophysics models
Raptis, T E
2016-01-01
In a recent paper [1304.6846], Racorean introduced a formal similarity of the Black-Sholes stock pricing model with a Schr\\"odinger equation. We use a previously introduced method of a resonant transmission line for arbitrary 2nd order Sturm-Liouville problems to attack the same problem from a different perspective revealing some deep structures in the naturally associated eigenvalue problem.
Sensor and actuator modeling of a realistic wheeled mobile robot simulator
José Gonçalves; José Lima; Hélder Filipe Pinto de Oliveira; Paulo José Cerqueira Gomes da Costa
2008-01-01
This paper describes the sensor and actuator modelingof a realistic wheeled mobile robot simulator. The motivationof developing such simulator is to produce a personalizedversatile tool that allows production and validationof robot software reducing considerably the developmenttime. The mobile robot simulator was developed in ObjectPascal with its dynamics based on the ODE (OpenDynamics Engine), allowing to develop robot software fora three wheel omnidirectional robot equipped with Infra-Red ...
Spaggiari, Andrea; Dragoni, Eugenio; Tuissi, Ausonio
2014-07-01
This work aims at the experimental characterization and modeling validation of shape memory alloy (SMA) Negator springs. According to the classic engineering books on springs, a Negator spring is a spiral spring made of strip of metal wound on the flat with an inherent curvature such that, in repose, each coil wraps tightly on its inner neighbor. The main feature of a Negator springs is the nearly constant force displacement behavior in the unwinding of the strip. Moreover the stroke is very long, theoretically infinite, as it depends only on the length of the initial strip. A Negator spring made in SMA is built and experimentally tested to demonstrate the feasibility of this actuator. The shape memory Negator spring behavior can be modeled with an analytical procedure, which is in good agreement with the experimental test and can be used for design purposes. In both cases, the material is modeled as elastic in austenitic range, while an exponential continuum law is used to describe the martensitic behavior. The experimental results confirms the applicability of this kind of geometry to the shape memory alloy actuators, and the analytical model is confirmed to be a powerful design tool to dimension and predict the spring behavior both in martensitic and austenitic range.
Edwards, C. L.; Boone, B. G.; Levine, W. S.; Davis, C. C.
2007-04-01
The availability of recently developed MEMS micro-mirror technology provides an opportunity to replace macro-scale actuators for free-space laser beamsteering in lidar and communication systems. Such an approach is under investigation at the Johns Hopkins University Applied Physics Laboratory for use on space-based platforms. Precision modeling of mirror pointing and its dynamics are critical to optimal design and control of MEMS beamsteerers. Beginning with Hornbeck's torque approach, this paper presents a first-principle, analytically closed-form torque model for an electro-statically actuated two-axis (tip-tilt) MEMS structure. An Euler dynamic equation formulation describes the gimbaled motion as a coupled pair of damped harmonic oscillators with a common forcing function. Static physical parameters such as MEMS mirror dimensions, facet mass, and height are inputs to the model as well as dynamic harmonic oscillator parameters such as damping and restoring constants fitted from measurements. A Taylor series expansion of the torque function provides valuable insights into basic one dimensional as well as two dimensional MEMS behavior, including operational sensitivities near "pull-in." The model also permits the natural inclusion and analysis of pointing noise sources such as electrical drive noise, platform vibration, and molecular Brownian motion. MATLAB and SIMULINK simulations illustrate performance sensitivities, controllability, and physical limitations, important considerations in the design of optimal pointing systems.
Modelling of asymmetric nebulae. II. Line profiles
Morisset, C
2006-01-01
We present a tool, VELNEB_3D, which can be applied to the results of 3D photoionization codes to generate emission line profiles, position-velocity maps and 3D maps in any emission line by assuming an arbitrary velocity field. We give a few examples, based on our pseudo-3D photoionization code NEBU_3D (Morisset, Stasinska and Pena, 2005) which show the potentiality and usefulness of our tool. One example shows how complex line profiles can be obtained even with a simple expansion law if the nebula is bipolar and the slit slightly off-center. Another example shows different ways to produce line profiles that could be attributed to a turbulent velocity field while there is no turbulence in the model. A third example shows how, in certain circumstances, it is possible to discriminate between two very different geometrical structures -- here a face-on blister and its ``spherical impostor'' -- when using appropriate high resolution spectra. Finally, we show how our tool is able to generate 3D maps, similar to the ...
FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS
无
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.
Zhu, Wu-Le; Zhu, Zhiwei; Shi, Yi; Wang, Xinwei; Guan, Kaimin; Ju, Bing-Feng
2016-11-01
In this paper, a new piezo-actuated XY parallel compliant mechanism for large workspace nano-positioning with decoupled motions is developed by incorporating a novel Z-shaped flexure hinge (ZFH)-based mechanism into the mirror-symmetrically distributed structure. The bridge-type mechanism and two-stage leverage mechanisms serve as preliminary displacement amplifiers, while further amplification with motion transfer and decoupled output motions are achieved by means of the ZFH mechanism. Based on finite element theory, a high-precision analytical model of the XY compliant mechanism is established by considering all the connecting linkages as flexible components. Through the improved differential evolution algorithm, the optimized compliant mechanism is capable of performing millimeter-scale workspace nano-positioning with decoupled motions. In addition, the input displacement unbalance, resulting from the lateral force which has potential to damage the piezoelectric actuators, is markedly lowered to a negligible value. The performance of the fabricated compliant mechanism with optimized parameters is investigated to well agree with both the analytical model and ANSYS simulation. In addition, based on the inverse kinematics derived from the model and experimental results, different elliptical vibration trajectories are accurately acquired.
Kumar, Parikshith K.; Desai, Uri; Chatzigeorgiou, George; Lagoudas, Dimitris C.; Monroe, James; Karaman, Ibrahim; Noebe, Ron; Bigelow, Glen
2010-01-01
The present work is focused on studying the cycling actuation behavior of HTSMAs undergoing simultaneous creep and transformation. For the thermomechanical testing, a high temperature test setup was assembled on a MTS frame with the capability to test up to temperatures of 600 C. Constant stress thermal cycling tests were conducted to establish the actuation characteristics and the phase diagram for the chosen HTSMA. Additionally, creep tests were conducted at constant stress levels at different test temperatures to characterize the creep behavior of the alloy over the operational range. A thermodynamic constitutive model is developed and extended to take into account a) the effect of multiple thermal cycling on the generation of plastic strains due to transformation (TRIP strains) and b) both primary and secondary creep effects. The model calibration is based on the test results. The creep tests and the uniaxial tests are used to identify the viscoplastic behavior of the material. The parameters for the SMA properties, regarding the transformation and transformation induced plastic strain evolutions, are obtained from the material phase diagram and the thermomechanical tests. The model is validated by predicting the material behavior at different thermomechanical test conditions.
Active vibration control of a composite wing model using PZT sensors/actuators and virtex: 4 FPGAs
Prakash, Shashikala; Venkatasubramanyam, D. V.; Krishnan, Bharath; Pavate, Aravind; Kabra, Hemant
2009-07-01
The reduction of vibration in Aircraft/Aerospace structures as well as helicopter fuselage is becoming increasingly important. A traditional approach to vibration control uses passive techniques which are relatively large, costly and ineffective at low frequencies. Active Vibration Control (AVC), apart from having benefits in size, weight, volume and cost, efficiently attenuates low frequency vibration. Hitherto this was being achieved using high speed Digital Signal Processors (DSPs). But the throughput requirements of general purpose DSPs have increased very much and the Field Programmable Gate Arrays (FPGAs) have emerged as an alternative. The silicon resources of an FPGA lead to staggering performance gains i.e. they are 100 times faster than DSPs. In the present paper Active Vibration Control of a Composite Research Wing Model is investigated using Piezo electric patches as sensors and PZT bimorph actuators collocated on the bottom surface as secondary actuators. Attempt has been made to realize the State - of - the - Art Active Vibration Controller using the Xilinx System Generator on VIRTEX - 4 FPGA. The control has been achieved by implementing the Filtered-X Least Mean Square (FXLMS) based adaptive filter on the FPGA. Single channel real time control has been successfully implemented & tested on the composite research wing model.
Cevher Ak
2014-01-01
Full Text Available This study presents an inverse approach to obtain a relation between applied voltage and displacement of the midpoint of fixed-fixed beam actuator. The approach has two main sections. The first one is the inverse design of a model to replace real action of upper beam under electrostatic force. The formula obtained from the first section does not comprise the residual stress and gives very small errors when there is no residual stress on the upper electrode. So, the second part was carried out to add this important system variable into the formula. Likewise, inverse solution was again applied in the later section. The final formula demonstrates that pull-in limit of clamped-clamped actuator is to be at around 40% of original spacing that is in agreement with simulation and previous experimental results. Its percentage errors are within 2% when compared with simulations that are based on finite element method (FEM. The results are comparable to numerical solutions received from diverse distributed models which require more calculation power in electrostatic and structural domains. On top of that, our formula is valid for all displacements from original position up to pull-in limit.
Modeling Transmission Line Networks Using Quantum Graphs
Koch, Trystan; Antonsen, Thomas
Quantum graphs--one dimensional edges, connecting nodes, that support propagating Schrödinger wavefunctions--have been studied extensively as tractable models of wave chaotic behavior (Smilansky and Gnutzmann 2006, Berkolaiko and Kuchment 2013). Here we consider the electrical analog, in which the graph represents an electrical network where the edges are transmission lines (Hul et. al. 2004) and the nodes contain either discrete circuit elements or intricate circuit elements best represented by arbitrary scattering matrices. Including these extra degrees of freedom at the nodes leads to phenomena that do not arise in simpler graph models. We investigate the properties of eigenfrequencies and eigenfunctions on these graphs, and relate these to the statistical description of voltages on the transmission lines when driving the network externally. The study of electromagnetic compatibility, the effect of external radiation on complicated systems with numerous interconnected cables, motivates our research into this extension of the graph model. Work supported by the Office of Naval Research (N0014130474) and the Air Force Office of Scientific Research.
Line emission from H II blister models
Rubin, R. H.
1984-01-01
Numerical techniques to calculate the thermal and geometric properties of line emission from H II 'blister' regions are presented. It is assumed that the density distributions of the H II regions are a function of two dimensions, with rotational symmetry specifying the shape in three-dimensions. The thermal and ionization equilibrium equations of the problem are solved by spherical modeling, and a spherical sector approximation is used to simplify the three-dimensional treatment of diffuse ionizing radiation. The global properties of H II 'blister' regions near the edges of a molecular cloud are simulated by means of the geometry/density distribution, and the results are compared with observational data. It is shown that there is a monotonic increase of peak surface brightness from the i = 0 deg (pole-on) observational position to the i = 90 deg (edge-on) position. The enhancement of the line peak intensity from the edge-on to the pole-on positions is found to depend on the density, stratification, ionization, and electron temperature weighting. It is found that as i increases, the position of peak line brightness of the lower excitation species is displaced to the high-density side of the high excitation species.
Wastegate Actuator Modeling and Tuning of a PID Controller for Boost Pressure Control
Thomasson, Andreas
2009-01-01
In some turbochargers, boost pressure is reduced by opening the wastegate valve. In a modern turbo charged car, the most common way for opening the wastegate is with a pneumatic actuator and an air control solenoid, controlled by the ECU. In the control systems studied the ECU utilizes a static feedforward and a PID controller, for the purpose of making the boost pressure follow its reference value. With no systematic method for tuning the controller, this can be time consuming, and a set of ...
Experimental measurements and numerical modeling of a thermostress convection-based actuator
Fowee, Katherine; Ibrayeva, Aizhan; Strongrich, Andrew; Alexeenko, Alina
2016-11-01
The capability of gas actuation using thermal gradients in a rarefied gas flow is demonstrated for arrays of interdigitated hot and cold vanes. The force acting on the cold vane array is quantified using a microNewton torsional balance over a range of pressures between 3.8 mTorr to 900 mTorr. Simulations are carried out using the SPARTA direct simulation monte carlo software to elucidate the mechanisms governing force production. Both experimental and numerical results are non-dimensionalized and fitted using the linear least-squares method. These correlations facilitate prediction of performance for dynamically similar geometries.
Microprocessor controlled proof-mass actuator
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.
Large Scale Magnetostrictive Valve Actuator
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.
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.
Yang, Chenye; Liu, Sanwei; Xie, Xin; Livermore, Carol
2016-12-01
The design, analytical modelling, finite element analysis (FEA), and experimental characterization of a microelectromechanical system (MEMS) out-of-plane (vertical) translational piezoelectric lead-zirconate-titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Three types of bimorph actuators with different electrode patterns (with spiral tethers half actuated, fully actuated with uniform polarity, or fully actuated with reversed polarity) are designed and modelled. The two actuators with the highest predicted performance (half actuated and fully actuated with uniform polarity) are implemented and characterized. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Analytical modelling and FEA are used to analyze and predict the actuators’ displacements and blocking forces. Experimental measurements of the deflections and blocking forces of actuators with full uniform actuation and half actuation validate the design. At an applied voltage of 110 V, the out-of-plane deflections of the actuators with half actuation and full uniform actuation are measured at about 17 µm and 29 µm respectively, in good agreement with analytical predictions of 17.3 µm and 34.2 µm and FEA predictions of 17.1 µm and 25.8 µm. The blocking force for devices with half-actuated tethers is predicted to be 12 mN (analytical) and 10 mN (FEA), close to the experimental value of 9 mN. The blocking force for devices with full uniform actuation is predicted to be 23 mN (analytical) and 17 mN (FEA), as compared with 15 mN in experiments.
Shunsuke Nansai
2015-01-01
Full Text Available The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.
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.
Ghanbari, Mina; Hossainpour, Siamak; Rezazadeh, Ghader
2015-11-01
This paper deals with the analysis of a novel micro-electromechanical sensor for measurement of microscale fluid physical properties. The proposed sensor is made up of a micro-beam with one end fixed and a micro-plate as a sensing element at its free end, which is immersed in a microscale fluid media. As fluids show different behavior in microscale than in macroscale, the microscale fluid media have been modeled based on micro-polar theory. So non-classical properties of fluid that are absent in macroscale flows need to be measured. In order to actuate the sensor longitudinally, an AC voltage is applied to the piezoelectric layers on the upper and lower surfaces of the micro-beam. Coupled governing partial differential equations of motion of the fluid field and longitudinal vibration of the micro-beam have been derived based on micro-polar theory. The obtained governing differential equations with time-varying boundary conditions have been simplified and transformed to an enhanced form with homogenous boundary conditions. Then, they have been discretized over the beam and fluid domain using Galerkin-based reduced-order model. The dynamic response of the sensing element for different piezoelectric actuation voltages and different exciting frequencies has been studied. It has been shown that by investigating damping and inertial effect fluid loading on response of the micro-beam, properties of a microscale fluid can be measured. At the end, effects of geometrical parameters of the sensor on the response of sensing element have been studied.
On line contribution functions and examining spectral line formation in 3D model stellar atmospheres
Amarsi, Anish Mayur
2015-01-01
Line contribution functions are useful diagnostics for studying spectral line formation in stellar atmospheres. I derive an expression for the contribution function to the abso- lute flux depression that emerges from three-dimensional box-in-a-star model stellar atmospheres. I illustrate the result by comparing the local thermodynamic equilibrium (LTE) spectral line formation of the high-excitation permitted OI777nm lines with the non-LTE case.
2D Ising Model with a Defect Line
Cabra, D C
1994-01-01
We study the two-dimensional Ising model with a defect line and evaluate multipoint energy correlation functions using non-perturbative field-theoretical methods. We also discuss the evaluation of the two spin correlator on the defect line.
Inverse optimal control for speed-varying path following of marine vessels with actuator dynamics
Qu, Yang; Xu, Haixiang; Yu, Wenzhao; Feng, Hui; Han, Xin
2017-06-01
A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.
Hu, Yongxiang; Cheng, Han; Xu, Jiaxi; Yao, Zhenqiang
2017-08-01
The modeling of laser-induced forward transfer process (LIFT) is helpful to understand and optimize its complex transfer process. In this work, a coupling model is developed to investigate the dynamic response of a thin polymer layer used as the release layer in the blister-actuated LIFT. In this model, the vapor pressure generated by nanosecond laser irradiation is computed through coupling with the transient vapor volume obtained from different step durations to simulate the dynamic blister formation. And the model is validated by experiments on polyimide film irradiated with different laser fluences, which is found to be capable of providing a consistent prediction of blister profiles under several laser conditions. The calibrated energy conversion ratios imply that laser pulse energy is mainly allocated for the heating and vaporizing of polymers, but increasing laser fluence can make this expense gradually saturated to allow more pulse energy to increase the vapor pressure. Transient pressure development from the coupling model is observed to increase rapidly within the pulse duration, but then to decrease because of vapor expansion. Forward velocity in axial direction is also observed to increase with laser fluence. The maximum velocity is possible to exceed the sound velocity under a high laser fluence. And the thin polymer layer is more preferred to obtain a high transfer velocity.
A Network Model for Parallel Line Balancing Problem
Recep Benzer; Hadi Gökçen; Tahsin Çetinyokus; Hakan Çerçioglu
2007-01-01
Gökçen et al. (2006) have proposed several procedures and a mathematical model on single-model (product) assembly line balancing (ALB) problem with parallel lines. In parallel ALB problem, the goal is to balance more than one assembly line together. In this paper, a network model for parallel ALB problem has been proposed and illustrated on a numerical example. This model is a new approach for parallel ALB and it provides a different point of view for i...
Properties of 3-dimensional line location models
Brimberg, Jack; Juel, Henrik; Schöbel, Anita
2002-01-01
We consider the problem of locating a line with respect to some existing facilities in 3-dimensional space, such that the sum of weighted distances between the line and the facilities is minimized. Measuring distance using the l\\_p norm is discussed, along with the special cases of Euclidean...
Properties of 3-dimensional line location models
Brimberg, Jack; Juel, Henrik; Schöbel, Anita
2002-01-01
We consider the problem of locating a line with respect to some existing facilities in 3-dimensional space, such that the sum of weighted distances between the line and the facilities is minimized. Measuring distance using the l\\_p norm is discussed, along with the special cases of Euclidean...
Modeling operational behavior of a disassembly line
Kizilkaya, Elif A.; Gupta, Surendra M.
2004-12-01
In this paper we present a dynamic kanban (pull) system specifically developed for disassembly lines. This type of kanban system is much more complex than the traditional kanban system used in assembly lines. For instance, unlike the assembly line where the external demand occurs only at the last station, the demands in the disassembly case also occur at any of the intermittent stations. The reason is that as a product moves on the disassembly line, various parts are disassembled at every station and accumulated at that station. Therefore, there are as many demand sources as there are number of parts. We consider a case example involving the end-of-life products. Based on the precedence relationships and other criteria such as hazardous properties of the parts, we balance the disassembly line. The results of the disassembly line-balancing problem (DLBP) are used as input to the proposed dynamic kanban system for disassembly line (DKSDL). We compare the performance of the DKSDL to the modified kanban system for disassembly line (MKSDL), which was previously introduced by the authors. We show, via simulation, that the DKSDL is far superior to MKSDL considered.
Minh Khang Phan; Jichul Shin
2016-01-01
Numerical simulation of unsteady flow control over an oscillating NACA0012 airfoil is investigated. Flow actuation of a turbulent flow over the airfoil is provided by low current DC sur-face glow discharge plasma actuator which is analytically modeled as an ion pressure force pro-duced in the cathode sheath region. The modeled plasma actuator has an induced pressure force of about 2 kPa under a typical experiment condition and is placed on the airfoil surface at 0%chord length and/or at 10%chord length. The plasma actuator at deep-stall angles (from 5° to 25°) is able to slightly delay a dynamic stall and to weaken a pressure fluctuation in down-stroke motion. As a result, the wake region is reduced. The actuation effect varies with different plasma pulse frequen-cies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70%by a selec-tive operation of the plasma actuator with various plasma frequencies and locations as the angle of attack changes. Active flow control which is a key advantageous feature of the plasma actuator reveals that a dynamic stall phenomenon can be controlled by the surface plasma actuator with less power consumption if a careful control scheme of the plasma actuator is employed with the opti-mized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.
Smart Tendon Actuated Flexible Actuator
Md. Masum Billah
2015-01-01
Full Text Available We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM or to one particular type of the incompletely restrained positioning mechanism (IRPM where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.
Edwin, L.; Mazzoleni, A.; Gemmer, T.; Ferguson, S.
2017-03-01
Planetary surface exploration technology over the past few years has seen significant advancements on multiple fronts. Robotic exploration platforms are becoming more sophisticated and capable of embarking on more challenging missions. More unconventional designs, particularly transforming architectures that have multiple modes of locomotion, are being studied. This work explores the capabilities of one such novel transforming rover called the Transforming Roving-Rolling Explorer (TRREx). Biologically inspired by the armadillo and the golden-wheel spider, the TRREx has two modes of locomotion: it can traverse on six wheels like a conventional rover on benign terrain, but can transform into a sphere when necessary to negotiate steep rugged slopes. The ability to self-propel in the spherical configuration, even in the absence of a negative gradient, increases the TRREx's versatility and its concept value. This paper describes construction and testing of a prototype cylindrical TRREx that demonstrates that "actuated rolling" can be achieved, and also presents a dynamic model of this prototype version of the TRREx that can be used to investigate the feasibility and value of such self-propelled locomotion. Finally, we present results that validate our dynamic model by comparing results from computer simulations made using the dynamic model to experimental results acquired from test runs using the prototype.
Toward standardization of EAP actuators test procedures
Fernandez, Diego; Moreno, Luis; Baselga, Juan
2005-05-01
Since the field of Electroactive Polymers (EAP) actuators is fairly new there are no standard testing processes for such intelligent materials. This drawback can seriously limit the scope of application of EAP actuators, since the targeted industrial sectors (aerospace, biomedical...) demand high reliability and product assurance. As a first iteration two elements are required to define a test standard for an EAP actuator: a Unit Tester, and a Component Specification. In this paper a EAP Unit Tester architecture is presented along with the required classification of measurements to be included in the EAP actuator Component Specification. The proposed EAP Unit Tester allows on-line monitoring and recording of the following properties of the specimen under test: large deformation, small tip displacement, temperature at the electrodes, weight of the specimen, voltage and current driven into the EAP, load being applied to the actuator, output voltage of the EAP in sensing operation and mode of operation (structure/sensor/actuator/smart). The measurements are taken simultaneously, in real-time. The EAP Unit Tester includes a friendly Graphical User Interface. It uses embedded Excel tools to visualize data. In addition, real-time connectivity with MATLAB allows an easy testing of control algorithms. A novel methodology to measure the properties of EAP specimens versus a variable load is also presented. To this purpose a force signals generator in the range of mN was developed. The device is based on a DC mini-motor. It generates an opposing force to the movement of the EAP actuator. Since the device constantly opposes the EAP actuator movement it has been named Digital Force Generator (DFG). The DFG design allows simultaneous length and velocity measuring versus different load signals. By including such a device in the EAP Unit Tester the most suitable application for the specimen under test can be easily identified (vibration damper, large deformation actuator, large
The Four Intersection-and-Difference Model for Line-Line Topological Relations
DENG Min; LI Zhilin; LI Guangqiang; ZHANG Xuesong
2007-01-01
The description of line-line topological relations is still an unsolved issue although much effort has been done. The problem is involved in many practical applications such as spatial query, spatial analysis and cartographic generalization. To develop a sound and effective approach to describe line-line relations, it is first necessary to define the topology of an individual line, i.e., local topology. The concept of connective degree is used for the identification of topological differences in the geometric structure of a line. The general topological definition of a line is given, i.e., endpoints set and interior point set. This definition can be applied to the embedded spaces of different dimensions, whether co-dimension is equal to or larger than zero. On this basis, a generic model called the 4 intersection-and-difference is set up for the description of basic line-line topological relations, upon which a conceptual neighborhood graph is built with consideration of topological distance. It is concluded that the proposed model can represent the property of topological changes, and basic relations between line segments in IR1 and IR2.
Marjanovic, N.; Mirocha, J. D.; Chow, F. K.
2013-12-01
In this work, we examine the performance of a generalized actuator disk (GAD) model embedded within the Weather Research and Forecasting (WRF) atmospheric model to study wake effects on successive rows of turbines at a North American wind farm. These wake effects are of interest as they can drastically reduce down-wind energy extraction and increase turbulence intensity. The GAD, which is designed for turbulence-resolving simulations, is used within downscaled large-eddy simulations (LES) forced with mesoscale simulations and WRF's grid nesting capability. The GAD represents the effects of thrust and torque created by a wind turbine on the atmosphere within a disk representing the rotor swept area. The lift and drag forces acting on the turbine blades are parameterized using blade-element theory and the aerodynamic properties of the blades. Our implementation permits simulation of turbine wake effects and turbine/airflow interactions within a realistic atmospheric boundary layer flow field, including resolved turbulence, time-evolving mesoscale forcing, and real topography. The GAD includes real-time yaw and pitch control to respond realistically to changing flow conditions. Simulation results are compared to SODAR data from operating wind turbines and an already existing WRF mesoscale turbine drag parameterization to validate the GAD parameterization.
Wai, Rong-Jong; Yang, Zhi-Wei
2008-10-01
This paper focuses on the development of adaptive fuzzy neural network control (AFNNC), including indirect and direct frameworks for an n-link robot manipulator, to achieve high-precision position tracking. In general, it is difficult to adopt a model-based design to achieve this control objective due to the uncertainties in practical applications, such as friction forces, external disturbances, and parameter variations. In order to cope with this problem, an indirect AFNNC (IAFNNC) scheme and a direct AFNNC (DAFNNC) strategy are investigated without the requirement of prior system information. In these model-free control topologies, a continuous-time Takagi-Sugeno (T-S) dynamic fuzzy model with online learning ability is constructed to represent the system dynamics of an n-link robot manipulator. In the IAFNNC, an FNN estimator is designed to tune the nonlinear dynamic function vector in fuzzy local models, and then, the estimative vector is used to indirectly develop a stable IAFNNC law. In the DAFNNC, an FNN controller is directly designed to imitate a predetermined model-based stabilizing control law, and then, the stable control performance can be achieved by only using joint position information. All the IAFNNC and DAFNNC laws and the corresponding adaptive tuning algorithms for FNN weights are established in the sense of Lyapunov stability analyses to ensure the stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by dc servomotors are given to verify the effectiveness and robustness of the proposed methodologies. In addition, the superiority of the proposed control schemes is indicated in comparison with proportional-differential control, fuzzy-model-based control, T-S-type FNN control, and robust neural fuzzy network control systems.
Final report : compliant thermo-mechanical MEMS actuators, LDRD #52553.
Walraven, Jeremy Allen; Baker, Michael Sean; Headley, Thomas Jeffrey; Plass, Richard Anton
2004-12-01
Thermal actuators have proven to be a robust actuation method in surface-micromachined MEMS processes. Their higher output force and lower input voltage make them an attractive alternative to more traditional electrostatic actuation methods. A predictive model of thermal actuator behavior has been developed and validated that can be used as a design tool to customize the performance of an actuator to a specific application. This tool has also been used to better understand thermal actuator reliability by comparing the maximum actuator temperature to the measured lifetime. Modeling thermal actuator behavior requires the use of two sequentially coupled models, the first to predict the temperature increase of the actuator due to the applied current and the second to model the mechanical response of the structure due to the increase in temperature. These two models have been developed using Matlab for the thermal response and ANSYS for the structural response. Both models have been shown to agree well with experimental data. In a parallel effort, the reliability and failure mechanisms of thermal actuators have been studied. Their response to electrical overstress and electrostatic discharge has been measured and a study has been performed to determine actuator lifetime at various temperatures and operating conditions. The results from this study have been used to determine a maximum reliable operating temperature that, when used in conjunction with the predictive model, enables us to design in reliability and customize the performance of an actuator at the design stage.
Wind adaptive modeling of transmission lines using minimum description length
Jaw, Yoonseok; Sohn, Gunho
2017-03-01
The transmission lines are moving objects, which positions are dynamically affected by wind-induced conductor motion while they are acquired by airborne laser scanners. This wind effect results in a noisy distribution of laser points, which often hinders accurate representation of transmission lines and thus, leads to various types of modeling errors. This paper presents a new method for complete 3D transmission line model reconstruction in the framework of inner and across span analysis. The highlighted fact is that the proposed method is capable of indirectly estimating noise scales, which corrupts the quality of laser observations affected by different wind speeds through a linear regression analysis. In the inner span analysis, individual transmission line models of each span are evaluated based on the Minimum Description Length theory and erroneous transmission line segments are subsequently replaced by precise transmission line models with wind-adaptive noise scale estimated. In the subsequent step of across span analysis, detecting the precise start and end positions of the transmission line models, known as the Point of Attachment, is the key issue for correcting partial modeling errors, as well as refining transmission line models. Finally, the geometric and topological completion of transmission line models are achieved over the entire network. A performance evaluation was conducted over 138.5 km long corridor data. In a modest wind condition, the results demonstrates that the proposed method can improve the accuracy of non-wind-adaptive initial models on an average of 48% success rate to produce complete transmission line models in the range between 85% and 99.5% with the positional accuracy of 9.55 cm transmission line models and 28 cm Point of Attachment in the root-mean-square error.
Stalbaum, Tyler; Shen, Qi; Kim, Kwang J.
2017-04-01
Ionic polymer-metal composite (IPMC) is a promising material for soft-robotic actuator and sensor applications. This material system offers large deformation response for low input voltage and has an aptitude for operation in hydrated environments. Researchers have been developing IPMC actuators and sensors for applications with examples of self-sensing actuators, artificial fish fins and biomimicry of other aquatic lifeforms, and in medical operations such as in guided catheter devices. IPMCs have been developed in a range of geometric configurations, with tube or cylindrical and flat-plate rectangular as the most common shapes. Several mathematical and physics-based models have been developed for describing the transduction effects of IPMCs. In this work, the underlying theories of electromechanical and mechanoelectrical transduction in IPMCs are discussed, and simulated results of frequency response and shear response are presented. A model backbone is utilized which is primarily based on ion-transport and charge dynamics within the polymer membrane. The electromechanical model, that is with an IPMC as an actuator, is caused when an electric field is applied across the membrane causing ionic migration and swelling in the polymer membrane, which is based on the Poisson-Nernst-Planck equations and solid mechanics models. The mechanoelectric model is similar in underlying physics; however, the primary mechanisms of transduction are of different significance, where anion concentrations are as important as cations. COMSOL Multiphysics is utilized for simulations. Example applications of the modeling framework are presented. The simulated results provide additional support for the underlying physics theories discussed.
Goal Model Integration for Tailoring Product Line Development Processes
Arfan Mansoor
2016-07-01
Full Text Available Many companies rely on the promised benefits of product lines, targeting systems between fully custom made software and mass products. Such customized mass products account for a large number of applications automatically derived from a product line. This results in the special importance of product lines for companies with a large part of their product portfolio based on their product line. The success of product line development efforts is highly dependent on tailoring the development process. This paper presents an integrative model of influence factors to tailor product line development processes according to different project needs, organizational goals, individual goals of the developers or constraints of the environment. This model integrates goal models, SPEM models and requirements to tailor development processes.
Mechanics of Actuated Disc Cutting
Dehkhoda, Sevda; Detournay, Emmanuel
2017-02-01
This paper investigates the mechanics of an actuated disc cutter with the objective of determining the average forces acting on the disc as a function of the parameters characterizing its motion. The specific problem considered is that of a disc cutter revolving off-centrically at constant angular velocity around a secondary axis rigidly attached to a cartridge, which is moving at constant velocity and undercutting rock at a constant depth. This model represents an idealization of a technology that has been implemented in a number of hard rock mechanical excavators with the goal of reducing the average thrust force to be provided by the excavation equipment. By assuming perfect conformance of the rock with the actuated disc as well as a prescribed motion of the disc (perfectly rigid machine), the evolution of the contact surface between the disc and the rock during one actuation of the disc can be computed. Coupled with simple cutter/rock interaction models that embody either a ductile or a brittle mode of fragmentation, these kinematical considerations lead to an estimate of the average force on the cartridge and of the partitioning of the energy imparted by the disc to the rock between the actuation mechanism of the disc and the translation of the cartridge on which the actuated disc is attached.
Tornado risk model for transmission line design
Milford, RV
1997-11-01
Full Text Available is in combination with ice loading. The wind load used in most codes of practice and design recommendations for transmission line design have until recently been based almost exclusively on large-scale wind storms, which may include severe storms such as hurricanes...
Modeling and Simulation of SMA Wire Actuator%SMA驱动丝的建模与仿真
杨士斌; 徐敏
2012-01-01
研究SMA动力学优化模型,针对形状记忆合金(SMA)驱动丝具有强非线性、迟滞效应等特性,为设计SMA驱动丝的自适应结构,提出建立SMA驱动丝模型并提供高效的仿真方法.采用有限元软件实现了受轴向载荷的SMA驱动丝的仿真建模.对本构模型是根据自由能的一维热-力学耦合模型,可以同时复现形状记忆效应和超弹性.数值仿真能够引起材料相变的非均匀温度和应变分布.仿真结果表明,建立热-力学耦合模型,可为设计SMA驱动丝的自适应结构计算提供可靠依据.%Shape memory alloy (SMA) shows high nonlinear and hysteretic phenomenon. In order to design SMA based adaptive structure, it is necessary to model and simulate the wire actuator in an efficient way. A thermo - mechanical model of SMA wire under uniaxial loading was implemented in finite element codes. The constitutive model is a one dimensional model which based on free energy and motivated by statistical thermodynamics. The model has the ability to represent both shape memory effect and pseudoelasticity. The numerical simulations can capture the inhomogeneous thermal and strain distribution which triggers the phase transformation locally. After investigation under different convective boundary conditions, the result shows that an obvious stroke lost happened in fixed temperature case comparing with adiabatic thermal boundary conditions which come from the thermo-mechanical coupling effect.
Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.
2016-09-01
Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental
Electromagnetic rotational actuation.
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.
Refreshable Braille Displays Using EAP Actuators
Bar-Cohen, Yoseph
2010-01-01
Refreshable Braille can help visually impaired persons benefit from the growing advances in computer technology. The development of such displays in a full screen form is a great challenge due to the need to pack many actuators in small area without interferences. In recent years, various displays using actuators such as piezoelectric stacks have become available in commercial form but most of them are limited to one line Braille code. Researchers in the field of electroactive polymers (EAP) investigated methods of using these materials to form full screen displays. This manuscript reviews the state of the art of producing refreshable Braille displays using EAP-based actuators..
Refreshable Braille displays using EAP actuators
Bar-Cohen, Yoseph
2010-04-01
Refreshable Braille can help visually impaired persons benefit from the growing advances in computer technology. The development of such displays in a full screen form is a great challenge due to the need to pack many actuators in small area without interferences. In recent years, various displays using actuators such as piezoelectric stacks have become available in commercial form but most of them are limited to one line Braille code. Researchers in the field of electroactive polymers (EAP) investigated methods of using these materials to form full screen displays. This manuscript reviews the state of the art of producing refreshable Braille displays using EAP-based actuators.
Crossing the Phantom divide line in the Chaplygin gas model
Sadjadi, H Mohseni
2009-01-01
The role of the interaction in crossing the phantom divide line in the Chaplygin gas model is discussed. We obtain some general properties of the interactions that allow the model to arrive at the phantom divide line. We show that these properties put some conditions on the ratio of dark matter to dark energy density.
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...
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.
Hydrostatic grounding line parameterization in ice sheet models
H. Seroussi
2014-06-01
Full Text Available Modeling of grounding line migration is essential to simulate accurately the behavior of marine ice sheets and investigate their stability. Here, we assess the sensitivity of numerical models to the parameterization of the grounding line position. We run the MISMIP3D benchmark experiments using a two-dimensional shelfy-stream approximation (SSA model with different mesh resolutions and different sub-element parameterizations of grounding line position. Results show that different grounding line parameterizations lead to different steady state grounding line positions as well as different retreat/advance rates. Our simulations explain why some vertically depth-averaged model simulations exhibited behaviors similar to full-Stokes models in the MISMIP3D benchmark, while the vast majority of simulations based on SSA showed results deviating significantly from full-Stokes results. The results reveal that differences between simulations performed with and without sub-element parameterization are as large as those performed with different approximations of the stress balance equations and that the reversibility test can be passed at much lower resolutions than the steady-state grounding line position. We conclude that fixed grid models that do not employ such a parameterization should be avoided, as they do not provide accurate estimates of grounding line dynamics, even at high spatial resolution. For models that include sub-element grounding line parameterization, a mesh resolution lower than 2 km should be employed.
Effective Actuation: High Bandwidth Actuators and Actuator Scaling Laws
2007-11-02
piezo elements mounted on structural members and devices that exhibited aeroacoustic resonance. The former type of actuator ( piezo ) was considered...Raman and Kibens (Raman et al. 2000). These experiments involved high-frequency forcing applied to low-speed flows using wedge piezo actuators and... Subharmonic Interaction and Wall Influence," AIAA- 86-1047, May, 1986. Davis, S. A., 2000, "The manipulation of large and small flow structures in single and
Observations and modelling of line intensity ratios of OV multiplet lines for ? - ?
Kato, T.; Rachlew-Källne, E.; Hörling, P.; Zastrow, K.-D.
1996-09-01
Line intensity ratios of OV multiplet lines for the 0953-4075/29/18/019/img3 (J = 2,1,0) transitions are studied using a collisional radiative model and the results are compared with measurements from the reversed field pinch experiments Extrap T1 and T2 at KTH. The measured line intensity ratios deviate from the predictions of the model and the possible causes for the discrepancy are discussed with regard to errors in rate coefficients and non-quasi-steady state.
Active vibration control using DEAP actuators
Sarban, Rahimullah; Jones, Richard W.
2010-04-01
Dielectric electro-active polymer (DEAP) is a new type of smart material, which has the potential to be used to provide effective actuation for a wide range of applications. The properties of DEAP material place it somewhere between those of piezoceramics and shape memory alloys. Of the range of DEAP-based actuators that have been developed those having a cylindrical configuration are among the most promising. This contribution introduces the use of a tubular type DEAP actuator for active vibration control purposes. Initially the DEAP-based tubular actuator to be used in this study, produced by Danfoss PolyPower A/S, is introduced along with the static and dynamic characteristics. Secondly an electromechanical model of the tubular actuator is briefly reviewed and its ability to model the actuator's hysteresis characteristics for a range of periodic input signals at different frequencies demonstrated. The model will be used to provide hysteresis compensation in future vibration isolation studies. Experimental active vibration control using the actuator is then examined, specifically active vibration isolation of a 250 g mass subject to shaker generated 'ground vibration'. An adaptive feedforward control strategy is used to achieve this. The ability of the tubular actuator to reject both tonal and broadband random vibratory disturbances is then demonstrated.
Modeling of overhead transmission lines for lightning overvoltage calculations
Martinez-Velasco, J.A.; Castro-Aranda, F.
2010-10-15
This article discussed the modelling of overhead transmission lines for lightning overvoltage calculations. Such a model must include those parts of the line that get involved when a lightning return stroke hits a wire or a tower and that have some influence on the voltage developed across insulator strings. Modelling guidelines differ depending on whether the goal is to estimate overvoltages or to determine arrester energy stresses. Modelling guidelines were summarized for each component, including shield wires and phase conductors; transmission line towers; insulators; phase voltages at the instant lightning hits the line; surge arresters; and the lightning stroke. The applied Monte Carlo procedure was summarized. For line span models, a constant-parameter model generally suffices when the goal is to calculate overvoltages across insulators or to obtain the flashover rate, but a frequency-dependent parameter model is necessary to estimate the energy discharged by arresters. The model selected for representing towers can have some influence on both flashover rates and arrester energy stresses. The representation of footing impedances is critical for calculating overvoltages and arrester energy stresses, but different modelling techniques produce significantly different results. The models are limited in that the corona effect is not included in the line models, the voltages induced by the electric and magnetic fields of lightning channels to shield wires and phase conductors are neglected, and the footing models are too simple, but they are nonetheless realistic approaches for simulating lightning effects. 2 tabs., 9 figs.
Pneumatic Variable Series Elastic Actuator.
Zheng, Hao; Wu, Molei; Shen, Xiangrong
2016-08-01
Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.
Intelligent Hydraulic Actuator and Exp-based Modelling of Losses in Pumps and .
Zhang, Muzhi
A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed.......A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed....
Intelligent Hydraulic Actuator and Exp-based Modelling of Losses in Pumps and .
Zhang, Muzhi
A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed....
Actuator disk model of wind farms based on the rotor average wind speed
Han, Xing Xing; Xu, Chang; Liu, De You;
2016-01-01
Due to difficulty of estimating the reference wind speed for wake modeling in wind farm, this paper proposes a new method to calculate the momentum source based on the rotor average wind speed. The proposed model applies volume correction factor to reduce the influence of the mesh recognition...
A Network Model for Parallel Line Balancing Problem
Recep Benzer
2007-01-01
Full Text Available Gökçen et al. (2006 have proposed several procedures and a mathematical model on single-model (product assembly line balancing (ALB problem with parallel lines. In parallel ALB problem, the goal is to balance more than one assembly line together. In this paper, a network model for parallel ALB problem has been proposed and illustrated on a numerical example. This model is a new approach for parallel ALB and it provides a different point of view for interested researchers.
Pneumatic Rotary Actuator Angle Control System
王鹏; 彭光正; 伍清河
2003-01-01
Based on the adaptive control method, a kind of parameter adjustor was used to control pneumatic rotary actuator to track the expected output. The system uses electropneumatic proportional valve as control device, which adjusts the gas flow of actuator 's two cavities, then changes the pressure of cavity and pushes the piston of actuator to move, so the rotary actuator 's axis can be made to revolve to the required angle at last. According to the characteristic of pneumatic system, the control system was described with a fourth-order mathematic model. The control rule is deduced by model reference adaptive control method. By the result of experiment, it was proved that by using the adaptive control method, the output of rotary actuator could track the expected value timely and accurately.
A methodology for identification and control of electro-mechanical actuators.
Tutunji, Tarek A; Saleem, Ashraf
2015-01-01
Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.
SMA actuators for morphing wings
Brailovski, V.; Terriault, P.; Georges, T.; Coutu, D.
An experimental morphing laminar wing was developed to prove the feasibility of aircraft fuel consumption reduction through enhancement of the laminar flow regime over the wing extrados. The morphing wing prototype designed for subsonic cruise flight conditions (Mach 0.2 … 0.3; angle of attack - 1 … +2∘), combines three principal subsystems: (1) flexible extrados, (2) rigid intrados and (3) an actuator group located inside the wing box. The morphing capability of the wing relies on controlled deformation of the wing extrados under the action of shape memory alloys (SMA) actuators. A coupled fluid-structure model of the morphing wing was used to evaluate its mechanical and aerodynamic performances in different flight conditions. A 0.5 m chord and 1 m span prototype of the morphing wing was tested in a subsonic wind tunnel. In this work, SMA actuators for morphing wings were modeled using a coupled thermo-mechanical finite element model and they were windtunnel validated. If the thermo-mechanical model of SMA actuators presented in this work is coupled with the previously developed structureaerodynamic model of the morphing wing, it could serve for the optimization of the entire morphing wing system.
Minas Bakalchev
2015-10-01
Full Text Available The perception of elements in a system often creates their interdependence, interconditionality, and suppression. The lines from a basic geometrical element have become the model of a reductive world based on isolation according to certain criteria such as function, structure, and social organization. Their traces are experienced in the contemporary world as fragments or ruins of a system of domination of an assumed hierarchical unity. How can one release oneself from such dependence or determinism? How can the lines become less “systematic” and forms more autonomous, and less reductive? How is a form released from modernistic determinism on the new controversial ground? How can these elements or forms of representation become forms of action in the present complex world? In this paper, the meaning of lines through the ideas of Le Corbusier, Leonidov, Picasso, and Hitchcock is presented. Spatial research was made through a series of examples arising from the projects of the architectural studio “Residential Transformations”, which was a backbone for mapping the possibilities ranging from playfulness to exactness, as tactics of transformation in the different contexts of the contemporary world.
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets
Bradley, Stuart
2015-01-01
.... 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...
Analysis of Foot Slippage Effects on an Actuated Spring-mass Model of Dynamic Legged Locomotion
Yizhar Or; Moti Moravia
2016-01-01
The classical model of spring-loaded inverted pendulum (SLIP) and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals...
Mirocha, J. D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Kosovic, B. [National Center for Atmospheric Research, Boulder, CO (United States); Aitken, M. L. [Univ. of Colorado, Boulder, CO (United States); Lundquist, J. K. [Univ. of Colorado, Boulder, CO (United States); National Renewable Energy Lab., Golden, CO (United States)
2014-01-10
A generalized actuator disk (GAD) wind turbine parameterization designed for large-eddy simulation (LES) applications was implemented into the Weather Research and Forecasting (WRF) model. WRF-LES with the GAD model enables numerical investigation of the effects of an operating wind turbine on and interactions with a broad range of atmospheric boundary layer phenomena. Numerical simulations using WRF-LES with the GAD model were compared with measurements obtained from the Turbine Wake and Inflow Characterization Study (TWICS-2011), the goal of which was to measure both the inflow to and wake from a 2.3-MW wind turbine. Data from a meteorological tower and two light-detection and ranging (lidar) systems, one vertically profiling and another operated over a variety of scanning modes, were utilized to obtain forcing for the simulations, and to evaluate characteristics of the simulated wakes. Simulations produced wakes with physically consistent rotation and velocity deficits. Two surface heat flux values of 20 W m^{–2} and 100 W m^{–2} were used to examine the sensitivity of the simulated wakes to convective instability. Simulations using the smaller heat flux values showed good agreement with wake deficits observed during TWICS-2011, whereas those using the larger value showed enhanced spreading and more-rapid attenuation. This study demonstrates the utility of actuator models implemented within atmospheric LES to address a range of atmospheric science and engineering applications. In conclusion, validated implementation of the GAD in a numerical weather prediction code such as WRF will enable a wide range of studies related to the interaction of wind turbines with the atmosphere and surface.
Hybrid Multi-Physics Modeling of an Ultra-Fast Electro-Mechanical Actuator
Ara Bissal
2015-12-01
Full Text Available The challenges of an HVDC breaker are to generate impulsive forces in the order of hundreds of kilonewtons within fractions of a millisecond, to withstand the arising internal mechanical stresses and to transmit these forces via an electrically-insulating device to the contact system with minimum time delay. In this work, several models were developed with different levels of complexity, computation time and accuracy. Experiments were done with two mushroom-shaped armatures to validate the developed simulation models. It was concluded that although the electromagnetic force generation mechanism is highly sensitive to the mechanical response of the system, the developed first order hybrid model is able to predict the performance of the breaker with good accuracy.
Simulation of a MW rotor equipped with vortex generators using CFD and an actuator shape model
Troldborg, Niels; Zahle, Frederik; Sørensen, Niels N.
2015-01-01
This article presents a comparison of CFD simulations of the DTU 10 MW reference wind turbine with and without vortex generators installed on the inboard part of the blades. The vortex generators are modelled by introducing body forces determined using a modified version of the so-called BAY mode...
Darula, Radoslav; Stein, George Juraj; Kallesøe, Carsten Skovmose
2012-01-01
Electromechanical systems for vibration control exhibit complex non-linear behaviour. Therefore advanced mathematical tools and appropriate simplifications are required for their modelling. To properly understand the dynamics of such a non-linear system, it is necessary to identify the parameters...
Five Mass Power Transmission Line of a Ship Computer Modelling
Kazakoff Alexander Borisoff
2016-03-01
Full Text Available The work, presented in this paper, appears to be a natural continuation of the work presented and reported before, on the design of power transmission line of a ship, but with different multi-mass model. Some data from the previous investigations are used as a reference data, mainly from the analytical investigations, for the developed in the previ- ous study, frequency and modal analysis of a five mass model of a power transmission line of a ship. In the paper, a profound dynamic analysis of a concrete five mass dynamic model of the power transmission line of a ship is performed using Finite Element Analysis (FEA, based on the previously recommended model, investigated in the previous research and reported before. Thus, the partially validated by frequency analysis five mass model of a power transmission line of a ship is subjected to dynamic analysis. The objective of the work presented in this paper is dynamic modelling of a five mass transmission line of a ship, partial validation of the model and von Mises stress analysis calculation with the help of Finite Element Analysis (FEA and comparison of the derived results with the analytically calculated values. The partially validated five mass power transmission line of a ship can be used for definition of many dy- namic parameters, particularly amplitude of displacement, velocity and acceleration, respectively in time and frequency domain. The frequency behaviour of the model parameters is investigated in frequency domain and it corresponds to the predicted one.
Golovin, Y.; Golovin, D.; Klyachko, N.; Majouga, A.; Kabanov, A.
2017-02-01
Various plausible acceleration mechanisms of drug release from nanocarriers composed of a single-domain magnetic nanoparticle core with attached long macromolecule chains activated by low frequency non-heating alternating magnetic field (AMF) are discussed. The most important system characteristics affecting the AMF exposure impact are determined. Impact of several reasonable mechanisms is estimated analytically or obtained using numerical modeling. Some conditions providing manifold release acceleration as a result from exposure in AMF are found.
Active noise control - Piezoceramic actuators in fluid/structure interaction models
Banks, H. T.; Fang, W.; Smith, R. C.
1991-01-01
A model for a 2-D acoustic cavity with a flexible boundary (a beam) controlled via piezoceramic patches producing bending moments in the beam is considered. The associated control problem for this fluid/structure interaction system to reduce the acoustic pressure in the cavity involves unbounded control inputs. Approximation methods in the context of an LQR state space formulation are discussed, and numerical results are presented to demonstrate the effectiveness of this approach in computing feedback controls for noise reduction.
Reachability and Real-Time Actuation Strategies for the Active SLIP Model
2015-06-01
3325–3332. [2] R. Blickhan, The spring-mass model for running and hopping, Journal of Biomechanics 22 (1989), no. 11/12 1217–1227. [3] R. Blickhan and R...Biomimetics 7 (2012), no. 1 016006. [20] A. Seyfarth, H. Geyer, M. Günther, and R. Blickhan, A movement criterion for running , Journal of Biomechanics 35...AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES 14. ABSTRACT Running and hopping follow similar patterns
Genetic Algorithm Approaches for Actuator Placement
Crossley, William A.
2000-01-01
This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.
Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM
Behrouz Najjari
2012-07-01
Full Text Available In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Two common control policies to track valve position, a Proportional Integrator (PI based on Pulse Width Modulation (PWM and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC.
Zhang Ying; Ye Liang; Yang Shuo
2015-01-01
A method combining rotor actuator disk model and embedded grid technique is pre-sented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is con-sidered in terms of the momentum it impacts to the fluid around it;transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for‘donor searching’ and‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS) time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
Zhang Ying
2015-02-01
Full Text Available A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching’ and ‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
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
Propagation of microwaves in gradient transmission lines: exactly solvable model
Shvartsburg, A. B.; Silin, N. V.
2015-08-01
Propagation of microwaves along the transmission line with smoothly continuously distributed capacitance and inductance (gradient transmission line) is considered in the framework of an exactly solvable model. The appearance of strong heterogeneity-induced plasma-like dispersion in gradient transmission line determined by the sizes and shapes of these distributions, is visualized by means of this model. Owing to this dispersion the energy transport in the line discussed can be ensured by both travelling and evanescent microwave modes, characterized by the real and imaginary wave numbers, respectively. The reflectance spectra for microwaves, incident on this heterogeneous transition section located between two homogeneous sections of transmission line are presented, the antireflection properties of this section are demonstrated. The interference of evanescent and anti-evanescent microwave modes is shown to provide the effective weakly attenuated energy transfer in the tunneling regime. The analogy between this microwave system and gradient nano-optical photonic barrier in revealed.
Propagation models for non line-of-sight scenarios
Tasu, A. S.; Anchidin, L.; Tamas, R.; Petrescu, T.
2016-12-01
The log-normal propagation model is usually applied for scenarios including a line-of-sight path. However, there are many cases that do not include such a propagation path, e.g. indoor transmission and disaster situations, when radio waves have to penetrate trough ruins. In this paper, we show that the log-normal model can also be applied for non line-of-sight transmission. Both indoor scenario and trough-ruins scenario, are investigated.
Model driven product line engineering : core asset and process implications
Azanza Sesé, Maider
2011-01-01
Reuse is at the heart of major improvements in productivity and quality in Software Engineering. Both Model Driven Engineering (MDE) and Software Product Line Engineering (SPLE) are software development paradigms that promote reuse. Specifically, they promote systematic reuse and a departure from craftsmanship towards an industrialization of the software development process. MDE and SPLE have established their benefits separately. Their combination, here called Model Driven Product Line Engin...
Model-driven and software product line engineering
Royer, Jean-Claude
2013-01-01
Many approaches to creating Software Product Lines have emerged that are based on Model-Driven Engineering. This book introduces both Software Product Lines and Model-Driven Engineering, which have separate success stories in industry, and focuses on the practical combination of them. It describes the challenges and benefits of merging these two software development trends and provides the reader with a novel approach and practical mechanisms to improve software development productivity.The book is aimed at engineers and students who wish to understand and apply software product lines
Theory and Circuit Model for Lossy Coaxial Transmission Line
Genoni, T. C.; Anderson, C. N.; Clark, R. E.; Gansz-Torres, J.; Rose, D. V.; Welch, Dale Robert
2017-04-01
The theory of signal propagation in lossy coaxial transmission lines is revisited and new approximate analytic formulas for the line impedance and attenuation are derived. The accuracy of these formulas from DC to 100 GHz is demonstrated by comparison to numerical solutions of the exact field equations. Based on this analysis, a new circuit model is described which accurately reproduces the line response over the entire frequency range. Circuit model calculations are in excellent agreement with the numerical and analytic results, and with finite-difference-time-domain simulations which resolve the skindepths of the conducting walls.
Williamson, Matthew M.
1995-01-01
This thesis presents the design, construction, control and evaluation of a novel for controlled actuator. Traditional force controlled actuators are designed from the premise that 'Stiffer is better'. This approach gives a high bandwidth system, prone to problems of contact instability, noise, and low power density. The actuator presented in this thesis is designed from the premise that 'Stiffness isn't everything'. The actuator, which incorporates a series elastic element, trades off achievable bandwidth for gains in stable, low noise force control, and protection against shock loads. This thesis reviews related work in robot force control, presents theoretical descriptions of the control and expected performance from a series elastic actuator, and describes the design of a test actuator constructed to gather performance data. Finally the performance of the system is evaluated by comparing the performance data to theoretical predictions.
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.
Updating parameters of the chicken processing line model
Kurowicka, Dorota; Nauta, Maarten; Jozwiak, Katarzyna
2010-01-01
A mathematical model of chicken processing that quantitatively describes the transmission of Campylobacter on chicken carcasses from slaughter to chicken meat product has been developed in Nauta et al. (2005). This model was quantified with expert judgment. Recent availability of data allows...... of the chicken processing line model....
Magnetic actuators and sensors
Brauer, John R
2014-01-01
An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva
Haas, Edwin Gerard; Beauman, Ronald; Palo, Jr., Stefan
2013-01-29
The invention provides a device and method for actuating electrical switches remotely. The device is removably attached to the switch and is actuated through the transfer of a user's force. The user is able to remain physically removed from the switch site obviating need for protective equipment. The device and method allow rapid, safe actuation of high-voltage or high-current carrying electrical switches or circuit breakers.
Modelling lightning caused transmission line outages in Alberta
Wu, M.; Shen, S.S.P. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mathematical and Statistical Sciences; Koval, D.O. [Alberta Univ., Edmonton, AB (Canada). Dept. of Electrical Engineering
2005-07-01
The characteristics of lightning and the relationship between lightning and transmission line outages is not fully understood by utility planners. This study used 20 year data sets of lightning events to investigate the spatial and temporal patterns of lightning in Alberta. Studies of geographical and temporal characteristics of lightning caused transmission line outages for several voltage level transmission lines were also examined. A lasso regression variable selection procedure and Cp criterion were used to model the duration of the lightning-caused transmission line outages as a function of weather and lightning patterns. The province was divided into 110 by 110 grids, and lightning variables were calculated for each cell. All the lightning variables for each cell were then averaged based on their areas. The overall cloud-ground lightning flashes 20-year mean frequency and the physical locations of power transmission lines were then plotted. Estimated probability density functions of the duration of lightning caused transmission line outages were classified by their voltage levels. The study showed that the characteristics of the lightning caused outages were different for different voltage levels of the transmission lines. Results suggested that the findings will have a significant impact on the accuracy of reliability methodologies that use the average duration of transmission line outages in their calculations. It was concluded that the new methodology can be applied to any transmission line system operating in a unique geographical environmental area. 11 refs., 3 tabs., 5 figs.
Actuator environmental stability
Yoshikawa, Shoko; Farrell, Michael
2000-06-01
Various configurations of piezoelectric high strain actuators are available in the market. The influence of humidity at high temperature is not well documented, even though it is an important consideration for actuator performance. This paper describes the testing and results of two different families of actuators; QuickPack products and multilayer actuators, tested under two environments; room temperature low humidity and elevated temperature and humidity (80°C/80%RH). A constant DC load was applied to the QP10N andand QP10Ni products in free condition, while positive only AC field was applied to multilayer actuators, under pre-stressed condition. High field IR was used as the main tool to determine the health of QuickPack products, whereas, in-situ displacement was measured to monitor the health of multilayer actuators. As expected, in both families of actuators, it was shown that the actuator life is significantly reduced when specimens are exposed to humidity at elevated temperature. Improvement of the humidity barrier, thus less moisture penetration, even when electrodes do not contain silver, is expected to prolong life of actuators.
Electrostatically Driven Nanoballoon Actuator.
Barzegar, Hamid Reza; Yan, Aiming; Coh, Sinisa; Gracia-Espino, Eduardo; Dunn, Gabriel; Wågberg, Thomas; Louie, Steven G; Cohen, Marvin L; Zettl, Alex
2016-11-09
We demonstrate an inflatable nanoballoon actuator based on geometrical transitions between the inflated (cylindrical) and collapsed (flattened) forms of a carbon nanotube. In situ transmission electron microscopy experiments employing a nanoelectromechanical manipulator show that a collapsed carbon nanotube can be reinflated by electrically charging the nanotube, thus realizing an electrostatically driven nanoballoon actuator. We find that the tube actuator can be reliably cycled with only modest control voltages (few volts) with no apparent wear or fatigue. A complementary theoretical analysis identifies critical parameters for nanotube nanoballoon actuation.
UWB channel modeling for indoor line-of-sight environment
无
2007-01-01
SV/IEEE 802.15.3a model has been the standard model for Ultra-wide bandwidth (UWB) indoor non-line-of-sight (NLOS) wireless propagation, but for line-of-sight (LOS) case, it is not well defined. In this paper, a new statistical distribution model exclusively used for LOS environment is proposed based on investigation of the experimental data. By reducing the number of the visible random arriving clusters, the model itself and the parameters estimating of the corresponding model are simplified in comparison with SV/IEEE 802.15.3a model. The simulation result indicates that the proposed model is more accurate in modeling smallscale LOS environment than SV/IEEE 802.15.3a model when considering cumulative distribution functions(CDFs) for the three key channel impulse response (CIR) statistics.
Nebular Continuum and Line Emission in Stellar Population Synthesis Models
Byler, Nell; Conroy, Charlie; Johnson, Benjamin D
2016-01-01
Accounting for nebular emission when modeling galaxy spectral energy distributions (SEDs) is important, as both line and continuum emission can contribute significantly to the total observed flux. In this work, we present a new nebular emission model integrated within the Flexible Stellar Population Synthesis code that computes the total line and continuum emission for complex stellar populations using the photoionization code Cloudy. The self-consistent coupling of the nebular emission to the matched ionizing spectrum produces emission line intensities that correctly scale with the stellar population as a function of age and metallicity. This more complete model of galaxy SEDs will improve estimates of global gas properties derived with diagnostic diagrams, star formation rates based on H$\\alpha$, and stellar masses derived from NIR broadband photometry. Our models agree well with results from other photoionization models and are able to reproduce observed emission from H II regions and star-forming galaxies...
Tip loss correction for actuator / Navier Stokes computations
Shen, Wen Zhong; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming
2004-01-01
The new tip loss correction, initially developed for ID BEM computations [1], is now extended to 2D Actuator Disc / Navier-Stokes (AD/NS) computations and 3D Actuator Line / Navier-Stokes (AL/NS) computations. As shown in the paper, the tip loss correction is an important and necessary step...
Nebular Continuum and Line Emission in Stellar Population Synthesis Models
Byler, Nell; Dalcanton, Julianne J.; Conroy, Charlie; Johnson, Benjamin D.
2017-05-01
Accounting for nebular emission when modeling galaxy spectral energy distributions (SEDs) is important, as both line and continuum emissions can contribute significantly to the total observed flux. In this work, we present a new nebular emission model integrated within the Flexible Stellar Population Synthesis code that computes the line and continuum emission for complex stellar populations using the photoionization code Cloudy. The self-consistent coupling of the nebular emission to the matched ionizing spectrum produces emission line intensities that correctly scale with the stellar population as a function of age and metallicity. This more complete model of galaxy SEDs will improve estimates of global gas properties derived with diagnostic diagrams, star formation rates based on Hα, and physical properties derived from broadband photometry. Our models agree well with results from other photoionization models and are able to reproduce observed emission from H ii regions and star-forming galaxies. Our models show improved agreement with the observed H ii regions in the Ne iii/O ii plane and show satisfactory agreement with He ii emission from z = 2 galaxies, when including rotating stellar models. Models including post-asymptotic giant branch stars are able to reproduce line ratios consistent with low-ionization emission regions. The models are integrated into current versions of FSPS and include self-consistent nebular emission predictions for MIST and Padova+Geneva evolutionary tracks.
Özer, Ahmet Özkan
2016-04-01
An infinite dimensional model for a three-layer active constrained layer (ACL) beam model, consisting of a piezoelectric elastic layer at the top and an elastic host layer at the bottom constraining a viscoelastic layer in the middle, is obtained for clamped-free boundary conditions by using a thorough variational approach. The Rao-Nakra thin compliant layer approximation is adopted to model the sandwich structure, and the electrostatic approach (magnetic effects are ignored) is assumed for the piezoelectric layer. Instead of the voltage actuation of the piezoelectric layer, the piezoelectric layer is proposed to be activated by a charge (or current) source. We show that, the closed-loop system with all mechanical feedback is shown to be uniformly exponentially stable. Our result is the outcome of the compact perturbation argument and a unique continuation result for the spectral problem which relies on the multipliers method. Finally, the modeling methodology of the paper is generalized to the multilayer ACL beams, and the uniform exponential stabilizability result is established analogously.
Multikanban model for disassembly line with demand fluctuation
Udomsawat, Gun; Gupta, Surendra M.; Al-Turki, Yousef A. Y.
2004-02-01
In recent years, the continuous growth in consumer waste and dwindling natural resources has seriously threatened the environment. Realizing this, several countries have passed regulations that force manufacturers not only to manufacture environmentally conscious products, but also to take back their used products from consumers so that the components and materials recovered from the products may be reused and/or recycled. Disassembly plays an important role in product recovery. A disassembly line is perhaps the most suitable setting for disassembly of products in large quantities. Because a disassembly line has a tendency to generate excessive inventory, employing a kanban system can reduce the inventory level and let the system run more efficiently. A disassembly line is quite different from an assembly line. For example, not only can the demand arrive at the last station, it can also arrive at any of the other stations in the system. The demand for a component on the disassembly line could fluctuate widely. In fact, there are many other complicating matters that need to be considered to implement the concept of kanbans in such an environment. In this paper, we discuss the complications that are unique to a disassembly line. We discuss the complications in utilizing the conventional production control mechanisms in a disassembly line setting. We then show how to overcome them by implementing kanbans in a disassembly line setting with demand fluctuation and introduce the concept of multi-kanban mechanism. We demonstrate its effectiveness using a simulation model. An example is presented to illustrate the concept.
Analytical Model for High Impedance Fault Analysis in Transmission Lines
S. Maximov
2014-01-01
Full Text Available A high impedance fault (HIF normally occurs when an overhead power line physically breaks and falls to the ground. Such faults are difficult to detect because they often draw small currents which cannot be detected by conventional overcurrent protection. Furthermore, an electric arc accompanies HIFs, resulting in fire hazard, damage to electrical devices, and risk with human life. This paper presents an analytical model to analyze the interaction between the electric arc associated to HIFs and a transmission line. A joint analytical solution to the wave equation for a transmission line and a nonlinear equation for the arc model is presented. The analytical model is validated by means of comparisons between measured and calculated results. Several cases of study are presented which support the foundation and accuracy of the proposed model.
Ideal Coulomb Plasma Approximation in Line Shape Models: Problematic Issues
Joel Rosato
2014-06-01
Full Text Available In weakly coupled plasmas, it is common to describe the microfield using a Debye model. We examine here an “artificial” ideal one-component plasma with an infinite Debye length, which has been used for the test of line shape codes. We show that the infinite Debye length assumption can lead to a misinterpretation of numerical simulations results, in particular regarding the convergence of calculations. Our discussion is done within an analytical collision operator model developed for hydrogen line shapes in near-impact regimes. When properly employed, this model can serve as a reference for testing the convergence of simulations.
Mooring Model Experiment and Mooring Line Force Calculation
向溢; 谭家华; 杨建民; 张承懿
2001-01-01
Mooring model experiment and mooring line tension determination are of significance to the design of mooring systems and berthing structures. This paper mainly involves: (a) description and analysis of a mooring model experiment;(b) derivation of static equilibrium equations for a moored ship subjected to wind, current and waves; (c) solution of mo.oring equations with the Monte Carlo method; (d) qualitative analysis of effects of pier piles on mooring line forces. Special emphasis is placed on the derivation ofstatic equilibrium equations, solution method and the mooring model experiment.
Another lesson from plants: the forward osmosis-based actuator.
Edoardo Sinibaldi
Full Text Available Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW. Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
Another lesson from plants: the forward osmosis-based actuator.
Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara
2014-01-01
Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.
2016-06-01
Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.
Pneumatically actuated hand tool
Cool, J.C.; Rijnsaardt, K.A.
1996-01-01
Abstract of NL 9401195 (A) Pneumatically actuated hand tool for carrying out a mechanical operation, provided with an exchangeable gas cartridge in which the gas which is required for pneumatic actuation is stored. More particularly, the hand tool is provided with at least one pneumatic motor, at
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,
Spooled packaging of shape memory alloy actuators
Redmond, John A.
A vast cross-section of transportation, manufacturing, consumer product, and medical technologies rely heavily on actuation. Accordingly, progress in these industries is often strongly coupled to the advancement of actuation technologies. As the field of actuation continues to evolve, smart materials show significant promise for satisfying the growing needs of industry. In particular, shape memory alloy (SMA) wire actuators present an opportunity for low-cost, high performance actuation, but until now, they have been limited or restricted from use in many otherwise suitable applications by the difficulty in packaging the SMA wires within tight or unusually shaped form constraints. To address this packaging problem, SMA wires can be spool-packaged by wrapping around mandrels to make the actuator more compact or by redirecting around multiple mandrels to customize SMA wire pathways to unusual form factors. The goal of this dissertation is to develop the scientific knowledge base for spooled packaging of low-cost SMA wire actuators that enables high, predictable performance within compact, customizable form factors. In developing the scientific knowledge base, this dissertation defines a systematic general representation of single and multiple mandrel spool-packaged SMA actuators and provides tools for their analysis, understanding, and synthesis. A quasi-static analytical model distills the underlying mechanics down to the three effects of friction, bending, and binding, which enables prediction of the behavior of generic spool-packaged SMA actuators with specifiable geometric, loading, frictional, and SMA material parameters. An extensive experimental and simulation-based parameter study establishes the necessary understanding of how primary design tradeoffs between performance, packaging, and cost are governed by the underlying mechanics of spooled actuators. A design methodology outlines a systematic approach to synthesizing high performance SMA wire actuators
Conjugated Polymers as Actuators: Modes of Actuation
Skaarup, Steen
The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...
Conjugated polymers as actuators: modes of actuation
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...
Smart Grid Network Transmission Line RLC Modelling Using Random Power Line Synthesis Scheme
Ezennaya S.O
2013-07-01
Full Text Available This work proposes Random Power line Synthesis (RPLS as a quicker computational approach to solving RLC parameters of a modern smart grid transmission network. Since modern grid systems provide a holistic perspective of modern grid development, it is obvious that a transmission network that is ageing cannot serve the expanded load demand. The need to revoltionalize the traditional transmission model while exploiting basic electrical theories and principles in Smart Grid (SG architecture necessitated this paper. This work seeks to address the RLC parameter modelling for SG template to provision dynamic power in Nigerian context. Other schemes of transmission RLC modelling were studied as well as outlining their limitations. Consequently, we then proposed a fuzzy smart grid framework for RLC computation and developed a proposed SG overhead transmission line from its conductor characteristics and tower geometry considering the RLC parameters of the conductor while applying RPLS to generate the parameter metrics.
Rigorous theoretical derivation of lumped models to transmission line systems
Zhao Jixiang
2012-01-01
By virtue of the negative electric parameter concept,i.e.negative lumped resistance,inductance,conductance and capacitance (N-RLGC),the lumped equivalent models of transmission line systems,including the circuit model,two-port π-network and T-network,are given.We start from the N-segment-ladder-like equivalent networks composed distributed parameters,and achieve the input impedance in the form of a continued fraction.Utilizing the continued fraction theory,the expressions of input impedance are obtained under three kinds of extreme cases,i.e.the load impedances are equal to zero,infinity and characteristic impedance,respectively.When the number of segment N is limited to infinity,they are transformed to lumped elements.Comparison between the distributed model and lumped model of transmission lines,the expression of tanh yd,which is the key term in the transmission line equations,are obtained by RLGC,furthermore,according to input admittance,admittance matrix and ABCD matrix of transmission lines,the lumped equivalent circuit models,π-networks and T-networks have been given.The models are verified in the frequency and time domain,respectively,showing that the models are accurate and efficient.
Mechatronics and Bioinspiration in Actuator Design and Control
J. L. Pons
2008-01-01
Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.
30 CFR 250.433 - What are the diverter actuation and testing requirements?
2010-07-01
...-control systems and control stations. You must also flow-test the vent lines. (a) For drilling operations... operations with a subsea BOP stack, you must actuate the diverter system within 7 days after the previous actuation. (c) You must alternate actuations and tests between control stations....
Some Results On The Modelling Of TSS Manufacturing Lines
Viorel MÎNZU
2000-12-01
Full Text Available This paper deals with the modelling of a particular class of manufacturing lines, governed by a decentralised control strategy so that they balance themselves. Such lines are known as “bucket brigades” and also as “TSS lines”, after their first implementation, at Toyota, in the 70’s. A first study of their behaviour was based upon modelling as stochastic dynamic systems, which emphasised, in the frame of the so-called “Normative Model”, a sufficient condition for self-balancing, that means for autonomous functioning at a steady production rate (stationary behaviour. Under some particular conditions, a simulation analysis of TSS lines could be made on non-linear block diagrams, showing that the state trajectories are piecewise continuous in between occurrences of certain discrete events, which determine their discontinuity. TSS lines may therefore be modelled as hybrid dynamic systems, more specific, with autonomous switching and autonomous impulses (jumps. A stability analysis of such manufacturing lines is allowed by modelling them as hybrid dynamic systems with discontinuous motions.
Aspect-Oriented Model-Driven Software Product Line Engineering
Groher, Iris; Voelter, Markus
Software product line engineering aims to reduce development time, effort, cost, and complexity by taking advantage of the commonality within a portfolio of similar products. The effectiveness of a software product line approach directly depends on how well feature variability within the portfolio is implemented and managed throughout the development lifecycle, from early analysis through maintenance and evolution. This article presents an approach that facilitates variability implementation, management, and tracing by integrating model-driven and aspect-oriented software development. Features are separated in models and composed of aspect-oriented composition techniques on model level. Model transformations support the transition from problem to solution space models. Aspect-oriented techniques enable the explicit expression and modularization of variability on model, template, and code level. The presented concepts are illustrated with a case study of a home automation system.
Bagherpoor, H M; Salmasi, Farzad R
2015-07-01
In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance.
Modelling line emission of deuterated H3+ from prestellar cores
Sipilä, O.; Hugo, E.; Harju, J.; Asvany, O.; Juvela, M.; Schlemmer, S.
2010-01-01
Context. The depletion of heavy elements in cold cores of interstellar molecular clouds can lead to a situation where deuterated forms of H3+ are the most useful spectroscopic probes of the physical conditions. Aims: The aim is to predict the observability of the rotational lines of H2D+ and D2H+ from prestellar cores. Methods: Recently derived rate coefficients for the H3+ + H2 isotopic system were applied to the “complete depletion” reaction scheme to calculate abundance profiles in hydrostatic core models. The ground-state lines of H2D+(o) (372 GHz) and D2H+(p) (692 GHz) arising from these cores were simulated. The excitation of the rotational levels of these molecules was approximated by using the state-to-state coefficients for collisions with H2. We also predicted line profiles from cores with a power-law density distribution advocated in some previous studies. Results: The new rate coefficients introduce some changes to the complete depletion model, but do not alter the general tendencies. One of the modifications with respect to the previous results is the increase of the D3+ abundance at the cost of other isotopologues. Furthermore, the present model predicts a lower H2D+ (o/p) ratio, and a slightly higher D2H+ (p/o) ratio in very cold, dense cores, as compared with previous modelling results. These nuclear spin ratios affect the detectability of the submm lines of H2D+(o) and D2H+(p). The previously detected H2D+ and D2H+ lines towards the core I16293E, and the H2D+ line observed towards Oph D can be reproduced using the present excitation model and the physical models suggested in the original papers.
Biomimetic photo-actuation: progress and challenges
Dicker, Michael P. M.; Weaver, Paul M.; Rossiter, Jonathan M.; Bond, Ian P.; Faul, Charl F. J.
2016-04-01
Photo-actuation, such as that observed in the reversible sun-tracking movements of heliotropic plants, is produced by a complex, yet elegant series of processes. In the heliotropic leaf movements of the Cornish Mallow, photo-actuation involves the generation, transport and manipulation of chemical signals from a distributed network of sensors in the leaf veins to a specialized osmosis driven actuation region in the leaf stem. It is theorized that such an arrangement is both efficient in terms of materials use and operational energy conversion, as well as being highly robust. We concern ourselves with understanding and mimicking these light driven, chemically controlled actuating systems with the aim of generating intelligent structures which share the properties of efficiency and robustness that are so important to survival in Nature. In this work we present recent progress in mimicking these photo-actuating systems through remote light exposure of a metastable state photoacid and the resulting signal and energy transfer through solution to a pH-responsive hydrogel actuator. Reversible actuation strains of 20% were achieved from this arrangement, with modelling then employed to reveal the critical influence hydrogel pKa has on this result. Although the strong actuation achieved highlights the progress that has been made in replicating the principles of biomimetic photo-actuation, challenges such as photoacid degradation were also revealed. It is anticipated that current work can directly lead to the development of high-performance and low-cost solartrackers for increased photovoltaic energy capture and to the creation of new types of intelligent structures employing chemical control systems.
A spine-sheath model for strong-line blazars
2015-01-01
We have developed a quasi-analytical model for the production of radiation in strong-line blazars, assuming a spine-sheath jet structure. The model allows us to study how the spine and sheath spectral components depend on parameters describing the geometrical and physical structure of "the blazar zone". We show that typical broad-band spectra of strong-line blazars can be reproduced by assuming the magnetization parameter to be of order unity and reconnection to be the dominant dissipation me...
Models of Five Absorption Line Systems Along the Line of Sight Toward PG0117+213
Masiero, J R; Ding, J; Churchill, C W; Kacprzak, G G
2005-01-01
We present our investigation into the physical conditions of the gas in five intervening quasar absorption line systems along the line of sight toward the quasar PG 0117+213, with redshifts of z=0.57, z=0.72, z=1.04, z=1.32 and z=1.34. Photoionization modeling of HST, Keck I, and Palomar data, using the code Cloudy, is employed to derive densities and metallicities of the multiple phases of gas required to fit the absorption profile for each system. We discuss the implications of these models for galaxy evolution, including the interpretation of ``CIV deficiency'' and damped Lyman alpha absorbers (DLAs), and the relationships between galaxy morphology, galaxy luminosity, and absorption signature.
A spine-sheath model for strong-line blazars
Sikora, Marek; Rutkowski, Mieszko; Begelman, Mitchell C.
2016-04-01
We have developed a quasi-analytical model for the production of radiation in strong-line blazars, assuming a spine-sheath jet structure. The model allows us to study how the spine and sheath spectral components depend on parameters describing the geometrical and physical structure of `the blazar zone'. We show that typical broad-band spectra of strong-line blazars can be reproduced by assuming the magnetization parameter to be of order unity and reconnection to be the dominant dissipation mechanism. Furthermore, we demonstrate that the spine-sheath model can explain why γ-ray variations are often observed to have much larger amplitudes than the corresponding optical variations. The model is also less demanding of jet power than one-zone models, and can reproduce the basic features of extreme γ-ray events.
A spine-sheath model for strong-line blazars
Sikora, Marek; Begelman, Mitchell
2015-01-01
We have developed a quasi-analytical model for the production of radiation in strong-line blazars, assuming a spine-sheath jet structure. The model allows us to study how the spine and sheath spectral components depend on parameters describing the geometrical and physical structure of "the blazar zone". We show that typical broad-band spectra of strong-line blazars can be reproduced by assuming the magnetization parameter to be of order unity and reconnection to be the dominant dissipation mechanism. Furthermore, we demonstrate that the spine-sheath model can explain why gamma-ray variations are often observed to have much larger amplitudes than the corresponding optical variations. The model is also less demanding of jet power than one-zone models, and can reproduce the basic features of extreme gamma-ray events.
Cryogenic Piezoelectric Actuator
Jiang, Xiaoning; Cook, William B.; Hackenberger, Wesley S.
2009-01-01
In this paper, PMN-PT single crystal piezoelectric stack actuators and flextensional actuators were designed, prototyped and characterized for space optics applications. Single crystal stack actuators with footprint of 10 mm x10 mm and the height of 50 mm were assembled using 10 mm x10mm x0.15mm PMN-PT plates. These actuators showed stroke > 65 - 85 microns at 150 V at room temperature, and > 30 microns stroke at 77 K. Flextensional actuators with dimension of 10mm x 5 mm x 7.6 mm showed stroke of >50 microns at room temperature at driving voltage of 150 V. A flextensional stack actuator with dimension of 10 mm x 5 mm x 47 mm showed stroke of approx. 285 microns at 150 V at room temperature and > 100 microns at 77K under driving of 150 V should be expected. The large cryogenic stroke and high precision of these actuators are promising for cryogenic optics applications.
Kim, Dae-Kwan; Han, Jae-Hung; Kwon, Ki-Jung
2009-02-01
In the present study, a biomimetic flexible flapping wing was developed on a real ornithopter scale by using macro-fiber composite (MFC) actuators. With the actuators, the maximum camber of the wing can be linearly changed from -2.6% to +4.4% of the maximum chord length. Aerodynamic tests were carried out in a low-speed wind tunnel to investigate the aerodynamic characteristics, particularly the camber effect, the chordwise flexibility effect and the unsteady effect. Although the chordwise wing flexibility reduces the effective angle of attack, the maximum lift coefficient can be increased by the MFC actuators up to 24.4% in a static condition. Note also that the mean values of the perpendicular force coefficient rise to a value of considerably more than 3 in an unsteady aerodynamic flow region. Additionally, particle image velocimetry (PIV) tests were performed in static and dynamic test conditions to validate the flexibility and unsteady effects. The static PIV results confirm that the effective angle of attack is reduced by the coupling of the chordwise flexibility and the aerodynamic force, resulting in a delay in the stall phenomena. In contrast to the quasi-steady flow condition of a relatively high advance ratio, the unsteady aerodynamic effect due to a leading edge vortex can be found along the wing span in a low advance ratio region. The overall results show that the chordwise wing flexibility can produce a positive effect on flapping aerodynamic characteristics in quasi-steady and unsteady flow regions; thus, wing flexibility should be considered in the design of efficient flapping wings.
On the Interface Formation Model for Dynamic Triple Lines
Bothe, Dieter
2015-01-01
This paper revisits the theory of Y. Shikhmurzaev on forming interfaces as a continuum thermodynamical model for dynamic triple lines. We start with the derivation of the balances for mass, momentum, energy and entropy in a three-phase fluid system with full interfacial physics, including a brief review of the relevant transport theorems on interfaces and triple lines. Employing the entropy principle in the form given in [Bothe & Dreyer, Acta Mechanica, doi:10.1007/s00707-014-1275-1] but extended to this more general case, we arrive at the entropy production and perform a linear closure, except for a nonlinear closure for the sorption processes. Specialized to the isothermal case, we obtain a thermodynamically consistent mathematical model for dynamic triple lines and show that the total available energy is a strict Lyapunov function for this system.
Transmission line matrix modelling of thermal injuries to skin.
Aliouat Bellia, S; Saidane, A; Hamou, A; Benzohra, M; Saiter, J M
2008-08-01
A numerical model based on the transmission line matrix method is presented for the quantitative prediction of skin burn resulting from exposure of a specific region of human skin surface to a high temperature heat source. Transient temperatures were numerically estimated by Pennes' bioheat equation, and the damage function denoting the extent of burn was calculated using the Arrhenius assumptions for protein damage rate. A two-dimensional transmission line matrix model was used to predict the effects of exposure time and structure thicknesses on the transient temperature distribution and damage extent. Compared with other numerical sources the transmission line matrix results revealed good agreement, suggesting that this method may be an effective tool for the thermal diagnostic of burns.
The Family Problem: Hints from Heterotic Line Bundle Models
Constantin, Andrei; Mishra, Challenger
2015-01-01
Within the class of heterotic line bundle models, we argue that N=1 vacua which lead to a small number of low-energy chiral families are preferred. By imposing an upper limit on the volume of the internal manifold, as required in order to obtain finite values of the four-dimensional gauge couplings, and validity of the supergravity approximation we show that, for a given manifold, only a finite number of line bundle sums are consistent with supersymmetry. By explicitly scanning over this finite set of line bundle models on certain manifolds we show that, for a sufficiently small volume of the internal manifold, the family number distribution peaks at small values, consistent with three chiral families. The relation between the maximal number of families and the gauge coupling is discussed, which hints towards a possible explanation of the family problem.
Considerations for contractile electroactive materials and actuators
Rasmussen, Lenore; Schramm, David; Rasmussen, Paul; Mullally, Kevin; Meixler, Lewis D.; Pearlman, Daniel; Kirk, Alice
2011-04-01
Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.
Considerations for Contractile Electroactive Materials and Actuators
Lenore Rasmussen, David Schramm, Paul Rasmussen, Kevin Mullaly, Ras Labs, LLC, Intelligent Materials for Prosthetics & Automation, Lewis D. Meixler, Daniel Pearlman and Alice Kirk
2011-05-23
Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.
Smart actuators for active vibration control
Pourboghrat, Farzad; Daneshdoost, Morteza
1998-07-01
In this paper, the design and implementation of smart actuators for active vibration control of mechanical systems are considered. A smart actuator is composed of one or several layers of piezo-electric materials which work both as sensors and actuators. Such a system also includes micro- electronic or power electronic amplifiers, depending on the power requirements and applications, as well as digital signal processing systems for digital control implementation. In addition, PWM type micro/power amplifiers are used for control implementation. Such amplifiers utilize electronic switching components that allow for miniaturization, thermal efficiency, cost reduction, and precision controls that are robust to disturbances and modeling errors. An adaptive control strategy is then developed for vibration damping and motion control of cantilever beams using the proposed smart self-sensing actuators.
Traceability for Model Driven, Software Product Line Engineering
Anquetil, N.; Grammel, B.; Galvao Lourenco da Silva, I.; Noppen, J.A.R.; Shakil Khan, S.; Arboleda, H.; Rashid, A.; Garcia, A.
2008-01-01
Traceability is an important challenge for software organizations. This is true for traditional software development and even more so in new approaches that introduce more variety of artefacts such as Model Driven development or Software Product Lines. In this paper we look at some aspect of the int
Numerical Modelling of the Segmental Lining of Underground Structures
Akbar Salemi
2014-12-01
Full Text Available There are several methods for analysing the behaviour of underground structures under different loading conditions. Most of these methods have many simplifications; therefore, in some cases, the results are too conservative and a very high safety factor, usually of more than 2 is needed. On the other hand, for stability analysis and the designing of support systems, these methods consider segmental lining and its joints as a uniform lining or a lining with pin connections. In this study, numerical modelling of the segmental lining of a tunnel was analysed using a sensitivity analysis of the static modelling. The numerical results were obtained by using a finite difference method (FLAC2D. Using this form of analysis, a new simple methodology was introduced so that more reliable results can be obtained. By comparing the frame analysis results obtained by the SAP2000 software with those obtained by the proposed method, it was concluded that the suggested method can be used as a simple and reasonable approach for the segmental lining of underground structures such as tunnels.
Lignarolo, Lorenzo E.M.; Mehta, Dhruv; Stevens, Richard J.A.M.
2016-01-01
stereoscopic Particle Image Velocimetry was employed to obtain the velocity field and turbulence statistics in the near wake of a two-bladed wind turbine model and of a porous disc, which mimics the numerical actuator used in the simulations. Researchers have been invited to simulate the experimental case......In this paper we report the results of a workshop organised by the Delft University of Technology in 2014, aiming at the comparison between different state-of-the-art numerical models for the simulation of wind turbine wakes. The chosen benchmark case is a wind tunnel measurement, where...... based on the disc drag coefficient and the inflow characteristics. Four large eddy simulation (LES) codes from different institutions and a vortex model are part of the comparison. The purpose of this benchmark is to validate the numerical predictions of the flow field statistics in the near wake...
Actuator characterization of a man-portable precision maneuver concept
Ilmars Celmins
2014-06-01
Full Text Available The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.
Actuator characterization of a man-portable precision maneuver concept
Ilmars CELMINS; Frank E.FRESCONI; Bryant P.NELSON
2014-01-01
The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating) actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.
Point-actuated aperture antenna development
Angelino, Marc; Washington, Gregory N.
2001-08-01
Consistent changes in both commercial and military satellite needs have created the need for antennas with additional flexibility. Military surveillance may require the ability to focus the radiation pattern to increase the bandwidth or resolution in a certain area. Commercial satellites may need to change coverage area to meet evolving consumer needs or to compensate for adverse weather or atmospheric conditions. Recent studies on active antennas have shown that the far field radiation pattern can be changed by altering the shape of the sub reflector. In this research, we control the antenna far field radiation pattern by controlling the shape of the sub reflector using numerous point actuators placed perpendicular to the reflector surface. The PZT stack coupled with a stick-slip mechanism give the point actuators used in this design an advantage over similar studies using PZT bimorph or PVDF actuators to generate the actuation force in that the displacement can be maintained without the continuous application of voltage. An electromechanical model is used to describe the motion of the stack, and the stick slip mechanism is modeled similar to power screw-type actuators. A combined finite element/electromagnetic analysis code is used to determine the desired shape of the reflector, and the corresponding actuator displacements. The final shape of the reflector is verified using stereo photogrammetry.
2D-model of oxygen emissions lines for Europa
Cessateur, Gaël; Barthelemy, Mathieu; Lilensten, Jean; Rubin, Martin; Maggiolo, Romain; De Keyser, Johan
2017-04-01
The Jovian moon Europa is an interesting case study as an archetype for icy satellites, and will be one of the primary targets of the ESA JUICE mission which should be launched in 2022. Hosting a thin neutral gas atmosphere mainly composed of O2 and H2O, Europa can be studied by its airglow and dayglow emissions. A 1D photochemistry model has first been developed to assess the impact of the solar UV flux on the visible emission, such as the red and green oxygen lines (Cessateur et al. 2016). For limb polar viewing, red line emissions can reach a few hundreds of Rayleigh close to the surface. The impact of the precipitating electrons has also been studied. The density and temperature of the electrons are first derived from the multifluid MHD model from Rubin et al. (2015). A 2D emission model has thus been developed to estimate the airglow emissions. When electrons are the major source of the visible emissions, the solar UV flux can be responsible for up to 15% of those emissions for some specific line of sight. Oxygen emission lines in the UV have also been considered, such as 130.5 and 135.6 nm. For the latter, we did estimate some significant line emissions reaching 700 Rayleigh for a polar limb viewing angle close to the surface. Oxygen emission lines are significant (higher than 10 R) for altitudes lower than 100 km for all lines, except for the red line emissions where emissions are still above 10 R up to 200 km from the surface. A sensitivity study has also been performed in order to assess the impact of the uncertainties relative to the dissociative-excitation cross sections. Cessateur G, Barthelemy M & Peinke I. Photochemistry-emission coupled model for Europa and Ganymede. J. Space Weather Space Clim., 6, A17, 2016 Rubin, M., et al. Self-consistent multifluid MHD simulations of Europa's exospheric interaction with Jupiter's magnetosphere, J. Geophys. Res. Space Physics, 120, 3503-3524, 2015
Pinera, Alex
2013-01-01
This invention is a magnetically actuated seal in which either a single electromagnet, or multiple electromagnets, are used to control the seal's position. This system can either be an open/ close type of system or an actively controlled system.
Magnetically Actuated Seal Project
National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...
Muscle Motion Solenoid Actuator
Obata, Shuji
It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.
Tendon Driven Finger Actuation System
Ihrke, Chris A. (Inventor); Reich, David M. (Inventor); Bridgwater, Lyndon (Inventor); Linn, Douglas Martin (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor); Abdallah, Muhammad E. (Inventor);
2013-01-01
A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
Actuation of polypyrrole nanowires
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.
Compact electrostatic comb actuator
Rodgers, M. Steven; Burg, Michael S.; Jensen, Brian D.; Miller, Samuel L.; Barnes, Stephen M.
2000-01-01
A compact electrostatic comb actuator is disclosed for microelectromechanical (MEM) applications. The actuator is based upon a plurality of meshed electrostatic combs, some of which are stationary and others of which are moveable. One or more restoring springs are fabricated within an outline of the electrostatic combs (i.e. superposed with the moveable electrostatic combs) to considerably reduce the space required for the actuator. Additionally, a truss structure is provided to support the moveable electrostatic combs and prevent bending or distortion of these combs due to unbalanced electrostatic forces or external loading. The truss structure formed about the moveable electrostatic combs allows the spacing between the interdigitated fingers of the combs to be reduced to about one micron or less, thereby substantially increasing the number of active fingers which can be provided in a given area. Finally, electrostatic shields can be used in the actuator to substantially reduce unwanted electrostatic fields to further improve performance of the device. As a result, the compact electrostatic comb actuator of the present invention occupies only a fraction of the space required for conventional electrostatic comb actuators, while providing a substantial increase in the available drive force (up to one-hundred times).
Actuation of polypyrrole nanowires
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.
Actuation of polypyrrole nanowires.
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.
Electrostatic repulsive out-of-plane actuator using conductive substrate.
Wang, Weimin; Wang, Qiang; Ren, Hao; Ma, Wenying; Qiu, Chuankai; Chen, Zexiang; Fan, Bin
2016-10-07
A pseudo-three-layer electrostatic repulsive out-of-plane actuator is proposed. It combines the advantages of two-layer and three-layer repulsive actuators, i.e., fabrication requirements and fill factor. A theoretical model for the proposed actuator is developed and solved through the numerical calculation of Schwarz-Christoffel mapping. Theoretical and simulated results show that the pseudo-three-layer actuator offers higher performance than the two-layer and three-layer actuators with regard to the two most important characteristics of actuators, namely, driving force and theoretical stroke. Given that the pseudo-three-layer actuator structure is compatible with both the parallel-plate actuators and these two types of repulsive actuators, a 19-element two-layer repulsive actuated deformable mirror is operated in pseudo-three-layer electrical connection mode. Theoretical and experimental results demonstrate that the pseudo-three-layer mode produces a larger displacement of 0-4.5 μm for a dc driving voltage of 0-100 V, when compared with that in two-layer mode.
Simulation and Performance of Brushless DC Motor Actuators.
1985-12-01
AD-RI63 725 SIMULATION AND PERFORMANCE OF IRUSHLESS DC MOTOR ACTUATORS(U) NAVAL POSTGRADUATE SCHOOL MONTEREY CA A GERDA DEC 85 NPS69-85-628 M...California Progress Report SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS IN SUPPORT OF THE PROGRAM "ADVANCED MISSILE CONTROL DEVICES"I of...34.’ SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS SUMMARY The simulation model for a Brushless D.C. Motor and the associated * commutation power
Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source
Senzaki Shinji
2016-01-01
Full Text Available A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the proposed analytical model can predict the behaviour of the tested actuator.
Cavarec, P.E.
2002-11-15
The aim of this thesis is the study and the conception of splitted structures of global coil synchronous machines for the maximization of specific torque or thrust. This concept of machine, called multi-air gap, is more precisely applied to the elaboration of a new linear multi-rods actuator. It is clearly connected to the context of direct drive solutions. First, a classification of different electromagnetic actuator families gives the particular place of multi-air gaps actuators. Then, a study, based on geometrical parameters optimizations, underlines the interest of that kind of topology for reaching very high specific forces and mechanical dynamics. A similitude law, governing those actuators, is then extracted. A study of mechanical behaviour, taking into account mechanic (tolerance) and normal forces (guidance), is carried out. Hence, methods for filtering the ripple force, and decreasing the parasitic forces without affecting the useful force are presented. This approach drives to the multi-rods structures. A prototype is then tested and validates the feasibility of that kind of devices, and the accuracy of the magnetic models. This motor, having only eight rods for an active volume of one litre, reaches an electromagnetic force of 1000 N in static conditions. A method for estimate optimal performances of multi-rods actuators under several mechanical stresses is presented. (author)
An Novel Improved Model Free Control Against Actuator Saturation%考虑执行器饱和的改进无模型自适应控制
程志强; 朱纪洪; 袁夏明
2016-01-01
Model free adaptive control (MFAC) is a data-driven based control approach. The advantages of this method lie in low computational complexity, strong robustness and no-need of modeling during its design progress. However, actuator saturation is a problem which is not yet considered in all of the existing MFAC methods. In this paper, a novel improved MFAC method is proposed to deal with the constrains of actuator. Hildreth method is used to solve control output by introducing constraint condition for the critical function of control input, which simplifies the programming progress and reduces the computing load. After that, the stability of the closed-loop system is proved through rigorous analysis. At the end, taking Wood/Berry distillation as the plant, a series of comparative simulation is conducted and the result shows a better performance by using the proposed controller than traditional MFAC methods when actuator saturation exists.%无模型自适应控制(Model free adaptive control, MFAC)是一种数据驱动的控制方法,具有计算简单、鲁棒性强、无需建模等优点。目前无模型自适应控制方法普遍未考虑可能出现的执行器饱和问题。本文针对这一问题,对执行器执行能力存在上限的情况设计了改进算法。该算法通过对控制输入准则函数引入约束条件,使用Hildreth 方法进行数值求解,具有编程简单、计算量小的优点。在此基础上分析并证明了闭环稳定性。最后以蒸馏塔模型为控制对象,通过对比仿真实验验证了算法的有效性。
Closed surface modeling with helical line measurement data
LI Ruqiong; LI Guanghu; WANG Yuhan
2007-01-01
Models for surface modeling of free-form surface and massive data points are becoming an important feature in commercial computer aided design/computer-aided manu- facturing software. However, there are many problems to be solved in this area, especially for closed free-form surface modeling. This article presents an effective method for cloud data closed surface modeling from asynchronous profile modeling measurement. It includes three steps: first, the cloud data are preprocessed for smoothing; second, a helical line is segmented to form triangle meshes; and third, Bezier surface patches are created over a triangle mesh and trimmed to shape on an entire surface. In the end, an illustrative example of shoe last surface modeling is given to show the availability of this method.
Evaluation of burst pressure prediction models for line pipes
Zhu, Xian-Kui, E-mail: zhux@battelle.org [Battelle Memorial Institute, 505 King Avenue, Columbus, OH 43201 (United States); Leis, Brian N. [Battelle Memorial Institute, 505 King Avenue, Columbus, OH 43201 (United States)
2012-01-15
Accurate prediction of burst pressure plays a central role in engineering design and integrity assessment of oil and gas pipelines. Theoretical and empirical solutions for such prediction are evaluated in this paper relative to a burst pressure database comprising more than 100 tests covering a variety of pipeline steel grades and pipe sizes. Solutions considered include three based on plasticity theory for the end-capped, thin-walled, defect-free line pipe subjected to internal pressure in terms of the Tresca, von Mises, and ZL (or Zhu-Leis) criteria, one based on a cylindrical instability stress (CIS) concept, and a large group of analytical and empirical models previously evaluated by Law and Bowie (International Journal of Pressure Vessels and Piping, 84, 2007: 487-492). It is found that these models can be categorized into either a Tresca-family or a von Mises-family of solutions, except for those due to Margetson and Zhu-Leis models. The viability of predictions is measured via statistical analyses in terms of a mean error and its standard deviation. Consistent with an independent parallel evaluation using another large database, the Zhu-Leis solution is found best for predicting burst pressure, including consideration of strain hardening effects, while the Tresca strength solutions including Barlow, Maximum shear stress, Turner, and the ASME boiler code provide reasonably good predictions for the class of line-pipe steels with intermediate strain hardening response. - Highlights: Black-Right-Pointing-Pointer This paper evaluates different burst pressure prediction models for line pipes. Black-Right-Pointing-Pointer The existing models are categorized into two major groups of Tresca and von Mises solutions. Black-Right-Pointing-Pointer Prediction quality of each model is assessed statistically using a large full-scale burst test database. Black-Right-Pointing-Pointer The Zhu-Leis solution is identified as the best predictive model.
A structural model for multimodular NRPS assembly lines.
Marahiel, Mohamed A
2016-02-01
This viewpoint article focuses on the structures of the dissected catalytic domains of non-ribosomal peptide synthetases (NRPSs) associated with substrate selection and activation (A domain), substrate shuttling among the active sites (PCP domain), peptide bond formation (C domain) and product release (TE domain). Structural details of these essential components of the NRPS machinery, integrated in a didomain (PCP-C) and an elongation module (C-A-PCP), were used to generate a model for a multimodular NRPS assembly line.
Mathematical model of delay lines based on magnetostatic waves
E. V. Kudinov
2010-12-01
Full Text Available On the example of the delay line have demonstrated the possibility of applying the principle of decomposition to construct mathematical models of microwave devices using magnetostatic waves (MSW in a magnetized epitaxial ferrite films, which allows for a unified methodological basis and the lowest cost to the experimental optimization design of MSW devices for various applications
Investigations of electronic amplifiers supplying a piezobimorph actuator
Milecki, Andrzej; Regulski, Roman
2016-10-01
Piezoelectric bending actuators, also known as bimorphs, are characterized by very good dynamic properties and by displacements in a range of a few millimeters. Therefore these actuators are used in a wide range of applications. However their usage is limited because they require supplying amplifiers with output voltage of about 200 V, which are rather expensive. This paper presents investigation results of such amplifiers with high voltage output. The model of a piezobending actuator is proposed and implemented in Matlab-Simulink software in order to simulate the behavior of the actuator supplied by the amplifiers. The simulation results are presented and compared with investigation results of high voltage amplifier used for supplying a piezoactuator. The influence of current limitation of operational amplifier on the actuator current is tested. Finally, a low cost audio power amplifier is proposed to control the piezobender actuator (as a cheaper alternative to the high-voltage amplifier) and its investigations results are presented in the paper.
On numerical modelling of contact lines in fluid flows
Pelinovsky, Dmitry E
2013-01-01
We study numerically a reduced model proposed by Benilov and Vynnycky (J. Fluid Mech. 718 (2013), 481), who examined the behavior of a contact line with a 180-degree contact angle between liquid and a moving plate, in the context of a two-dimensional Couette flow. The model is given by a linear fourth-order advection-diffusion equation with an unknown velocity, which is to be determined dynamically from an additional boundary condition at the contact line. The main claim of Benilov and Vynnycky is that for any physically relevant initial condition, there is a finite positive time at which the velocity of the contact line tends to negative infinity, whereas the profile of the fluid flow remains regular. Additionally, it is claimed that the velocity behaves as the logarithmic function of time near the blow-up time. We simulate dynamics of this model under different initial conditions and confirm the first claim. However, we also show that the blow-up behavior is better approximated by a power function, compared...
Active control of interior noise in a large scale cylinder using piezoelectric actuators
Lester, H. C.; Silcox, R. J.
1992-07-01
The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.
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
Modeling of unusual nonlinear behaviors in superconducting microstrip transmission lines
Javadzadeh, S. Mohammad Hassan, E-mail: smh_javadzadeh@ee.sharif.edu [School of Electrical Engineering, Sharif University of Technology, P.O. Box 11365-9363, Tehran (Iran, Islamic Republic of); Farzaneh, Forouhar; Fardmanesh, Mehdi [School of Electrical Engineering, Sharif University of Technology, P.O. Box 11365-9363, Tehran (Iran, Islamic Republic of)
2013-03-15
Highlights: ► Avoiding of considering just quadratic or modulus nonlinearity. ► Proposing a nonlinear model to predict unusual nonlinear behaviors at low temperatures. ► Description of temperature dependency of nonlinear behaviors in superconducting lines. ► Analytical formulation for each parameter in our proposed model. ► Obtaining very good results which shows this model can predict unusual nonlinear behavior. -- Abstract: There are unusual nonlinear behaviors in superconducting materials, especially at low temperatures. This paper describes the procedure to reliably predict this nonlinearity in superconducting microstrip transmission lines (SMTLs). An accurate nonlinear distributed circuit model, based on simultaneously considering of both quadratic and modulus nonlinearity dependences, is proposed. All parameters of the equivalent circuit can be calculated analytically using proposed closed-form expressions. A numerical method based on Harmonic Balance approach is used to predict nonlinear phenomena like intermodulation distortions and third harmonic generations. Nonlinear analyses of the SMTLs at the different temperatures and the input powers have been presented. This proposed model can describe the unusual behaviors of the nonlinearity at low temperatures, which are frequently observed in the SMTLs.
Integrated sensing and actuation of muscle-like actuators
Gisby, T. A.; Xie, S.; Calius, E. P.; Anderson, I. A.
2009-03-01
The excellent overall performance and compliant nature of Dielectric Elastomer Actuators (DEAs) make them ideal candidates for artificial muscles. Natural muscle however is much more than just an actuator, it provides position feedback to the brain that is essential for the body to maintain balance and correct posture. If DEAs are to truly earn the moniker of "artificial muscles" they need to be able to reproduce, if not improve on, this functionality. Self-sensing DEAs are the ideal solution to this problem. This paper presents a system by which the capacitance of a DEA can be sensed while it is being actuated and used for feedback control. This system has been strongly influenced by the desire for portability i.e. designed for use in a battery operated microcontroller based system. It is capable of controlling multiple independent DEAs using a single high voltage power supply. These features are important developments for artificial muscle devices where accuracy and low mass are important e.g. a prosthetic hand or force-feedback surgical tools. A numerical model of the electrical behaviour of the DEA that incorporates arbitrary leakage currents and the impact of arbitrary variable capacitance has been created to model a DEA system. A robust capacitive self-sensing method that uses a slew-rate controlled Pulse Width Modulation (PWM) signal and compensates for the effects of leakage current and variable capacitance is presented. The numerical model is then used to compare the performance of this new method with an earlier method previously published by the authors.
NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY
KE Zunrong; ZHU Yuquan; LING Xuan
2007-01-01
A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.
Optimization of Actuating Origami Networks
Buskohl, Philip; Fuchi, Kazuko; Bazzan, Giorgio; Joo, James; Gregory, Reich; Vaia, Richard
2015-03-01
Origami structures morph between 2D and 3D conformations along predetermined fold lines that efficiently program the form, function and mobility of the structure. By leveraging design concepts from action origami, a subset of origami art focused on kinematic mechanisms, reversible folding patterns for applications such as solar array packaging, tunable antennae, and deployable sensing platforms may be designed. However, the enormity of the design space and the need to identify the requisite actuation forces within the structure places a severe limitation on design strategies based on intuition and geometry alone. The present work proposes a topology optimization method, using truss and frame element analysis, to distribute foldline mechanical properties within a reference crease pattern. Known actuating patterns are placed within a reference grid and the optimizer adjusts the fold stiffness of the network to optimally connect them. Design objectives may include a target motion, stress level, or mechanical energy distribution. Results include the validation of known action origami structures and their optimal connectivity within a larger network. This design suite offers an important step toward systematic incorporation of origami design concepts into new, novel and reconfigurable engineering devices. This research is supported under the Air Force Office of Scientific Research (AFOSR) funding, LRIR 13RQ02COR.
Modeling the Noise for Indoor Power Line Channel
Syed Samser Ali
2013-07-01
Full Text Available Electromagnetic interference, man-made noise, and multipath effects are main causes of bit errors in power-line communication. To design an efficient powerline transmission system, the channel characterization has to be known and this paper deals with a statistical noise model (SNM for the indoor powerline channel in a frequency band from 1 MHz to 30 MHz . The SNM parameters are obtained from large-scale measurements of the noise density spectrum on a real powerline channel. All measurements are between line and neutral at different locations in the same grid. The SNM is used for simulation of the noise density spectrum and offline analysis on the powerline channel
Hydraulic involute cam actuator
Love, Lonnie J.; Lind, Randall F.
2011-11-01
Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.
Actuator concepts and mechatronics
Gilbert, Michael G.; Horner, Garnett C.
1998-06-01
Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.
Fault tolerant linear actuator
Tesar, Delbert
2004-09-14
In varying embodiments, the fault tolerant linear actuator of the present invention is a new and improved linear actuator with fault tolerance and positional control that may incorporate velocity summing, force summing, or a combination of the two. In one embodiment, the invention offers a velocity summing arrangement with a differential gear between two prime movers driving a cage, which then drives a linear spindle screw transmission. Other embodiments feature two prime movers driving separate linear spindle screw transmissions, one internal and one external, in a totally concentric and compact integrated module.
Modeling of nonlocal memory hysteresis in piezoelectric actuators%压电驱动器记忆特性迟滞非线性建模
张桂林; 张承进; 赵学良
2012-01-01
As piezoelectric actuators have poor position accuracy caused by their inherent hysteresis nonlinearities, this paper proposed a new modeling method to precisely describe their hysteresis phenomena. Based on the motion rules of hysteresis curves and the nonlocal memory property of the hysteresis nonlinearity, proposed model modified the modeling errors fitted by parabolic model. To verify the feasibility of the model, an experiment was performed by the PST150/7/40VS12 piezoelectric actuator. Experimental results indicate that for the first order reversal signal, the maximum error is 0. 141 3 μm and the mean-squared error (MSE) is 0. 060 4 μm by using the parabolic model. However, for a more complex signal, those of the parabolic model are 1. 396 0 μm and 0. 856 6 μm, respectively. When using the amended model to predict the actuator response under the above-mentioned complex signal, the maximum prediction error and the mean-squared error are 0. 237 0 μm and 0. 09 μm, respectively. These data demonstrate that the proposed model not only provides a minor-loop i-dentical property, but also offers the nonlocal property and it can precisely predict the hysteresis path for assigned complex input profiles.%考虑压电驱动器固有的迟滞特性对驱动器定位精度的影响,提出了一种精确描述压电驱动器迟滞非线性特性的建模方法.根据迟滞曲线的运动规律,并且考虑迟滞曲线的记忆更新特性,新的迟滞数学模型修正了单纯采用抛物线拟合时的建模误差.为了验证模型的有效性,以PST150/7/40VS12型压电陶瓷驱动器为例进行了试验研究.研究显示,采用抛物线迟滞模型对一阶反转输入信号进行预测时,最大误差为0.141 3 μm,均方误差为0.060 4 μm,对复杂信号模型预测的最大误差为1.396 0 μm,均方误差为0.856 6 μm;采用修正后的模型对文中复杂信号建模时,最大误差为0.237 0 μm,均方误差为0.09 μm.实验结果表明,修正后的
FLUTTER SUPPRESSION USING DISTRIBUTED PIEZOELECTRIC ACTUATORS
无
2000-01-01
The Flutter suppression using distributed piezoelectric actuators has been analyzed and tested. In constructing the finite element equation, effects of piezoelectric matrices are investigated. LQG method is used in designing the control law. In reducing the order of the control law, both balance realization and LK methods are used. For the rational approximation of the unsteady aerodynamic forces LS method is improved. In determining the piezoelectric constants d31 a new dynamic response method is developed. Laser vibrameter is used to pick up the model response and in ground resonance test the model is excited by piezoelectric actuators. Reasonable agreement of the wind tunnel flutter suppression test with calculated results is obtained.
Numerical simulation of mechatronic sensors and actuators
Kaltenbacher, Manfred
2007-01-01
Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.
Line profile modelling for multi-pixel CZT detectors
Chattopadhyay, T.; Vadawale, S. V.; Rao, A. R.; Bhattacharya, D.; Mithun, N. P. S.; Bhalerao, V.
2016-07-01
Cadmium Zinc Telluride (CZT) detectors have been the mainstay for hard X-ray astronomy for its high quantum efficiency, fine energy resolution, near room temperature operation, and radiation hardness. In order to fully utilize the spectroscopic capabilities of CZT detectors, it is important to generate accurate response matrix, which in turn requires precise modelling of the line profiles for the CZT detectors. We have developed a numerical model taking into account the mobility and lifetime of the charge carriers and intrpixel charge sharing for the CZT detectors. This paper describes the details of the modelling along with the experimental measurements of mobility, lifetime and charge sharing fractions for the CZT detector modules of thickness of 5 mm and 2.5 mm pixel size procured from Orbotech Medical Solutions (same modules used in AstroSat-CZTI).
A simple disc wind model for broad absorption line quasars
Higginbottom, N.; Knigge, C.; Long, K. S.; Sim, S. A.; Matthews, J. H.
2013-12-01
Approximately 20 per cent of quasi-stellar objects (QSOs) exhibit broad, blue-shifted absorption lines in their ultraviolet spectra. Such features provide clear evidence for significant outflows from these systems, most likely in the form of accretion disc winds. These winds may represent the `quasar' mode of feedback that is often invoked in galaxy formation/evolution models, and they are also key to unification scenarios for active galactic nuclei (AGN) and QSOs. To test these ideas, we construct a simple benchmark model of an equatorial, biconical accretion disc wind in a QSO and use a Monte Carlo ionization/radiative transfer code to calculate the ultraviolet spectra as a function of viewing angle. We find that for plausible outflow parameters, sightlines looking directly into the wind cone do produce broad, blue-shifted absorption features in the transitions typically seen in broad absorption line (BAL) QSOs. However, our benchmark model is intrinsically X-ray weak in order to prevent overionization of the outflow, and the wind does not yet produce collisionally excited line emission at the level observed in non-BAL QSOs. As a first step towards addressing these shortcomings, we discuss the sensitivity of our results to changes in the assumed X-ray luminosity and mass-loss rate, Ṁwind. In the context of our adopted geometry, Ṁwind ˜ Ṁacc is required in order to produce significant BAL features. The kinetic luminosity and momentum carried by such outflows would be sufficient to provide significant feedback.
Nonmagnetic driver for piezoelectric actuators
Ekhtiari, Marzieh
2014-01-01
Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....
Overview on permanent magnetic actuator
无
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
Rotary actuators for plastic valves
Rudin, M. [Georg Fischer Piping Systems Ltd, Schaffhausen (Switzerland)
2004-07-01
Flexibility and modularity plus a high level of quality are the defining characteristics of this new generation of actuators from Georg Fischer. In conjunction with the new 546 ball valve, the PA 11/PA 21 pneumatic actuators and the EA 11/EA 21 electric actuators form an optimally co-ordinated system. (orig.)
A Simple Disk Wind Model for Broad Absorption Line Quasars
Higginbottom, N; Long, K S; Sim, S A; Matthews, J H
2013-01-01
Approximately 20% of quasi-stellar objects (QSOs) exhibit broad, blue-shifted absorption lines in their ultraviolet spectra. Such features provide clear evidence for significant outflows from these systems, most likely in the form of accretion disk winds. These winds may represent the "quasar" mode of feedback that is often invoked in galaxy formation/evolution models, and they are also key to unification scenarios for active galactic nuclei (AGN) and QSOs. To test these ideas, we construct a simple benchmark model of an equatorial, biconical accretion disk wind in a QSO and use a Monte Carlo ionization/radiative transfer code to calculate the ultraviolet spectra as a function of viewing angle. We find that for plausible outflow parameters, sightlines looking directly into the wind cone do produce broad, blue-shifted absorption features in the transitions typically seen in broad absorption line QSOs. However, our benchmark model is intrinsically X-ray weak in order to prevent overionization of the outflow, an...
Modelling Alkali Line Absorption and Molecular Bands in Cool DAZs
Homeier, D; Allard, F; Hauschildt, P H; Schweitzer, A; Stancil, P C; Weck, P F; Homeier, Derek; Allard, Nicole F.; Allard, France; Hauschildt, Peter H.; Schweitzer, Andreas; Stancil, Phillip C.; Weck, Philippe F.
2005-01-01
Two peculiar stars showing an apparent extremely broadened and strong NaI D absorption have been discovered in surveys for cool white dwarfs by Oppenheimer et al. (2001) and Harris et al. (SDSS, 2003). We discuss the nature of these objects using PHOENIX atmosphere models for metal-poor brown dwarfs/very low mass stars, and new white dwarf LTE and NLTE models for hydrogen- and helium-dominated atmospheres with metals. These include complete molecular formation in chemical equilibrium and a model for the alkali resonance line broadening based on the damping profiles of Allard et al. (2003), as well as new molecular line opacities for metal hydrides. First results of our calculations indicate good agreement with a hydrogen-dominated WD atmosphere with a Na abundance roughly consistent with a state of high accretion. We analyse deviations of the abundances of Na, K, Mg and Ca from the cosmic pattern and comment on implications of these results for standard accretion scenarios.
Efficient material flow in mixed model assembly lines.
Alnahhal, Mohammed; Noche, Bernd
2013-01-01
In this study, material flow from decentralized supermarkets to stations in mixed model assembly lines using tow (tugger) trains is investigated. Train routing, scheduling, and loading problems are investigated in parallel to minimize the number of trains, variability in loading and in routes lengths, and line-side inventory holding costs. The general framework for solving these problems in parallel contains analytical equations, Dynamic Programming (DP), and Mixed Integer Programming (MIP). Matlab in conjunction with LP-solve software was used to formulate the problem. An example was presented to explain the idea. Results which were obtained in very short CPU time showed the effect of using time buffer among routes on the feasible space and on the optimal solution. Results also showed the effect of the objective, concerning reducing the variability in loading, on the results of routing, scheduling, and loading. Moreover, results showed the importance of considering the maximum line-side inventory beside the capacity of the train in the same time in finding the optimal solution.
Generic model for line-of-sight analysis and calibration
Afik, Zvika; Shammas, A.; Schwartz, Roni; Gal, Eli
1991-04-01
1ariy electrooptical (E'O) systems incorporate an inaging sensor and a Line of Sight (LOS) deflection mirror. At a higher system level, such as for fire control or mIssile homing applications, these sensors are required to neasure angular target position very accurately. This work presents ar approach that has been developed for the modeling and calibration of such electrooptical systems. Using a generic system which includes a mirror mounted on a twoaxis LOS steering unit and an imaging sensor, a description of the mathematical model of the system is given here. This model may be used for system performance analyses as well as for developing various algorithms for the calculation of target angular position. The system model uses a number of calibration parameters such as gimbal nonorthogonality and other assembly and production errors. These are obtained from laboratory measurement results via a mathematical calibration model. We explain how the calibration model is developed from the system model. The method shown here can significantly reduce the number of computations and the look-up-table capacity needed in an operational system, as well as reducing the extent of laboratory calibrations usually required.
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.
Electromechanical flight control actuator
1979-01-01
The feasibility of using an electromechanical actuator (EMA) as the primary flight control equipment in aerospace flight is examined. The EMA motor design is presented utilizing improved permanent magnet materials. The necessary equipment to complete a single channel EMA using the single channel power electronics breadboard is reported. The design and development of an improved rotor position sensor/tachometer is investigated.
Airplane Actuation Trade Study
1983-01-01
the electrical subsystem it is anticipated that 270 HVDC will not always be the most efficient power source. Lighting, instrumentation, avionics...sizing considerations all motor loads such as surface control actuators, fuel pumps, ECS fans and pumps, etc., are regarded as powered by 270 HVDC . All
Baumbick, Robert J. (Inventor)
2002-01-01
The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.
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
Piezoelectric actuator renaissance
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.
Thermally Actuated Hydraulic Pumps
Jones, Jack; Ross, Ronald; Chao, Yi
2008-01-01
Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research
Propagation model for non-line-of-sight ultraviolet communication
Luo, Yi-xue; Tang, Xin-yi
2013-08-01
Scattering deflects the ultraviolet ray, and makes it possible to bypass the obstacles between two blocked nodes. To investigate the channel characteristics of this kind of link, models have been developed, and most of them are based on coplanar geometry. Non-coplanar geometry, however, is unavoidable in most actual application. To make sure the influences of this factor, a universal model which describes the channel characteristics of Non-Line-Of-Sight (NLOS) Ultraviolet communication for non-coplanar geometry is developed in this paper. On the basis of classical single-scatter model, this model mainly estimates the impulse response and the pass loss with the transmitter and the receiver cone pointed in arbitrary directions. There are three major contributions in the paper. Firstly, classical single-scatter model and the differences effective scattering volume between coplanar geometry and non-coplanar geometry were described. Trigonometry and optimization techniques were proposed to overcome the restriction that the transmitter and the receiver cone axes lie in the same plane; secondly, a Monte-Carlo (MC) model was constructed to verify the single scatter model; finally numerical simulations and analysis were presented. Numerical simulation shows that the deflection of the transmission or the reception cones(α, α) decreases the signal, this decrease is slight under small deflection, and becomes more serious as deflection increases, finally remarkable when the deflection reaches a threshold. The result shows that a positive correlation exists between the threshold and the source divergence, which means that large source divergence gives better tolerability of the off-axis angle, but worse pulse width. In addition, the influence of deflection can be reduced signally by deflecting the two cones in the same side.MC model draws the similar conclusion approximately. Compared with other models, this model releases the restriction that the
Evolutionary flight and enabling smart actuator devices
Manzo, Justin; Garcia, Ephrahim
2007-04-01
Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.
Kurzeck, Bernhard; Heckmann, Andreas; Wesseler, Christoph; Rapp, Matthias
2014-05-01
Future high-speed trains are the main focus of the DLR research project Next Generation Train. One central point of the research activities is the development of mechatronic track guidance for the two-axle intermediate wagons with steerable, individually powered, independently rotating wheels. The traction motors hereby fulfil two functions; they concurrently are traction drives and steering actuators. In this paper, the influence of the track properties - line layout and track irregularities - on the performance requirements for the guidance actuator is investigated using multi-body models in SIMPACK®. In order to compromise on the design conflict between low wheel wear and low steering torque, the control parameters of the mechatronic track guidance are optimised using the DLR in-house software MOPS. Besides the track irregularities especially the increasing inclination at transition curves defines high actuator requirements due to gyroscopic effects at high speed. After introducing a limiter for the actuating variables into the control system, a good performance is achieved.
Modeling the initial contact line dynamics of dewetting bubbles
Menesses, Mark; Laurent, Matthieu; Bird, James
2016-11-01
When a rising bubble comes to rest beneath a solid horizontal surface, the resulting liquid film dewets to minimize the total free energy of the three phase system. For partially wetting surfaces, the presence of the contact angle yields dynamics which are assumed to be governed by viscous effects. In contrast, the early-time dynamics for drops spreading on partially wetting surfaces are dominated by inertial effects. Motivated by the discrepancy between these two systems, we conduct experiments on dewetting bubbles and find that the short-time dynamics fail to obey purely viscous or inertial scalings. We draw from previously proposed dewetting and spreading models to develop a new model that can rationalize the anomalous scalings that we observe. Our results suggest that the speed that a bubble adheres to a partially wetting surface is set by an interplay of capillary waves and contact line motion. We acknowledge support from ONR, Saint-Gobain, and NSF GRFP.
Post-buckled precompressed (PBP) subsonic micro flight control actuators and surfaces
Barrett, R.; Vos, R.; De Breuker, R.
2007-01-01
This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements to provide much improved actuator performance. These PBP actuator elements are modeled using basic large deflection Euler-beam estimations accounting for laminated plate effects
Active Strokes: Coherent Line Stylization for Animated 3D Models
Bénard, Pierre; Jingwan, Lu; Cole, Forrester; Finkelstein, Adam; Thollot, Joëlle
2012-01-01
Paper session 8: Lines, strokes and textures in 3D; International audience; This paper presents a method for creating coherently animated line drawings that include strong abstraction and stylization effects. These effects are achieved with active strokes: 2D contours that approximate and track the lines of an animated 3D scene. Active strokes perform two functions: they connect and smooth unorganized line samples, and they carry coherent parameterization to support stylized rendering. Line s...
Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices
Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie
2016-09-01
Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.
Bruin, de S.
2008-01-01
The assessment of positional uncertainty in line and area features is often based on uncertainty in the coordinates of their elementary vertices which are assumed to be connected by straight lines. Such an approach disregards uncertainty caused by sampling and approximation of a curvilinear feature
Nanopositioner actuator energy cost and performance
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
Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla
Guo, H. T.; Liao, W. H.
2009-03-01
The objective of this paper is to develop smart actuators for knee braces as assistive devices for helping disabled people to recover their mobility. The actuator functions as motor, clutch, and brake. In the design, magnetorheological (MR) fluids are utilized to generate controllable torque. To decrease the size of the actuator, motor and MR fluids are integrated. MR fluids are filled inside the DC motor based actuator. Additional design factors of smart actuators including influence of permanent magnet on MR fluids and dynamic sealing are also considered. Finite element model of the smart actuator is built and analyzed. A prototype of the smart actuator with two different inner armatures is fabricated and their characteristics are investigated. Torques are compared between simulation and experiments. The results show that the developed smart actuator with multiple functions is promising for assistive knee braces.
Sromovsky, L. A.; Fry, P. M.; Boudon, V.; Campargue, A.; Nikitin, A.
2012-03-01
Recent improvements in high spectral resolution measurements of methane absorption at wavenumbers between 4800 cm-1 and 7919 cm-1 have greatly increased the number of lines with known lower state energies, the number of weak lines, and the number of lines observed at low temperatures (Campargue, A., Wang, L., Kassi, S., Mašát, M., Votava, O. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 1141-1151; Campargue, A., Wang, L., Liu, A.W., Hu, S.M., Kassi, S. [2010]. Chem. Phys. 373, 203-210; Mondelain, D., Kassi, S., Wang, L.C. [2011]. Phys. Chem. Chem. Phys. 13, 7985-7996; Nikitin, A.V. et al. [2011a]. J. Mol. Spectrosc. 268, 93-106; Nikitin, A.V. et al. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 2211-2224; Wang, L., Kassi, S., Campargue, A. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 1130-1140; Wang, L., Kassi, S., Liu, A.W., Hu, S.M., Campargue, A. [2011]. J. Quant. Spectrosc. Radiat. Trans. 112, 937-951), making it possible to fit near-IR spectra of Titan using line-by-line calculations instead of band models (Bailey, J., Ahlsved, L., Meadows, V.S. [2011]. Icarus 213, 218-232; de Bergh, C. et al. [2011]. Planet. Space Sci. doi:10.1016/j.pss.2011.05.003). Using these new results, we compiled an improved line list relative that used by Bailey et al. by updating several spectral regions with either calculated or more recently measured line parameters, revising lower state energy estimates for lines lacking them, and adding room temperature lines to make the list applicable over a wider range of temperatures. We compared current band models with line-by-line calculations using this new line list, both to assess the behavior of band models, and to identify remaining issues with line-by-line calculations when applied to outer planet atmospheres and over a wider range of wavelengths. Comparisons were made for a selection of uniform paths representing outer planet conditions and for representative non-uniform paths within the atmospheres of Uranus, Saturn
Distributed Magnetic Actuators for Fine Shape Control
1988-06-01
Assumptions Appropriate for Use in Finite Element Bean Model for Local Interaction Actuator Schemes . . . . . . . . . . . . 63 36 Definition of Mean...78 A, LIST OF TABLES 1 Physical Paraseters of Bean Model . . . . . . . . . 16 2 Lowest Four Natural Frequencies of35 Element Model...effectiveness calculated using the rigid bean model . The coils are capable of producing adequate forces. As shown earlier, with current densities of 108 A/rn2
On-Line Core Thermal-Hydraulic Model Improvement
In, Wang Kee; Chun, Tae Hyun; Oh, Dong Seok; Shin, Chang Hwan; Hwang, Dae Hyun; Seo, Kyung Won
2007-02-15
The objective of this project is to implement a fast-running 4-channel based code CETOP-D in an advanced reactor core protection calculator system(RCOPS). The part required for the on-line calculation of DNBR were extracted from the source of the CETOP-D code based on analysis of the CETOP-D code. The CETOP-D code was revised to maintain the input and output variables which are the same as in CPC DNBR module. Since the DNBR module performs a complex calculation, it is divided into sub-modules per major calculation step. The functional design requirements for the DNBR module is documented and the values of the database(DB) constants were decided. This project also developed a Fortran module(BEST) of the RCOPS Fortran Simulator and a computer code RCOPS-SDNBR to independently calculate DNBR. A test was also conducted to verify the functional design and DB of thermal-hydraulic model which is necessary to calculate the DNBR on-line in RCOPS. The DNBR margin is expected to increase by 2%-3% once the CETOP-D code is used to calculate the RCOPS DNBR. It should be noted that the final DNBR margin improvement could be determined in the future based on overall uncertainty analysis of the RCOPS.
Kamp, I.; Woitke, P.; Pinte, C.; Tilling, I.; Thi, W.-F.; Menard, F.; Duchene, G.; Augereau, J.-C.
2011-08-01
Aims: We want to understand the chemistry and physics of discs on the basis of a large unbiased and statistically relevant grid of disc models. One of the main goals is to explore the diagnostic power of various gas emission lines and line ratios for deriving main disc parameters such as the gas mass. Methods: We explored the results of the DENT grid (Disk Evolution with Neat Theory) that consists of 300 000 disc models with 11 free parameters. Through a statistical analysis, we searched for correlations and trends in an effort to find tools for disc diagnostic. Results: All calculated quantities like species masses, temperatures, continuum, and line fluxes differ by several orders of magnitude across the entire parameter space. The broad distribution of these quantities as a function of input parameters shows the limitation of using a prototype T Tauri or Herbig Ae/Be disc model. The statistical analysis of the DENT grid shows that CO gas is rarely the dominant carbon reservoir in discs. Models with large inner radii (10 times the dust condensation radius) and/or shallow surface density gradients lack massive gas-phase water reservoirs. Also, 60% of the discs have gas temperatures averaged over the oxygen mass in the range between 15 and 70 K; the average gas temperatures for CO and O differ by less than a factor two. Our study of the observational diagnostics shows that the [C ii] 158 μm fine structure line flux is very sensitive to the stellar UV flux and presence of a UV excess, and that it traces the outer disc radius (Rout). In the submm, the CO low J rotational lines also trace Rout. Low [O i] 63/145 line ratios (line. This occurs mostly for massive non-flaring, settled disc models without UV excess. A combination of the [O i] 63 line and low J CO lines correlates with several disc properties, such as the average O i gas temperature in
Numerical modelling of multimode fibre-optic communication lines
Sidelnikov, O S; Fedoruk, M P [Novosibirsk State University, Novosibirsk (Russian Federation); Sygletos, S; Ferreira, F [Aston University, England, Birmingham, B4 7ET (United Kingdom)
2016-01-31
The results of numerical modelling of nonlinear propagation of an optical signal in multimode fibres with a small differential group delay are presented. It is found that the dependence of the error vector magnitude (EVM) on the differential group delay can be reduced by increasing the number of ADC samples per symbol in the numerical implementation of the differential group delay compensation algorithm in the receiver. The possibility of using multimode fibres with a small differential group delay for data transmission in modern digital communication systems is demonstrated. It is shown that with increasing number of modes the strong coupling regime provides a lower EVM level than the weak coupling one. (fibre-optic communication lines)
DeWall, Kevin G.; Watkins, John C; Nitzel, Michael E.
2006-08-29
Apparatus for actuating a valve includes a support frame and at least one valve driving linkage arm, one end of which is rotatably connected to a valve stem of the valve and the other end of which is rotatably connected to a screw block. A motor connected to the frame is operatively connected to a motor driven shaft which is in threaded screw driving relationship with the screw block. The motor rotates the motor driven shaft which drives translational movement of the screw block which drives rotatable movement of the valve driving linkage arm which drives translational movement of the valve stem. The valve actuator may further include a sensory control element disposed in operative relationship with the valve stem, the sensory control element being adapted to provide control over the position of the valve stem by at least sensing the travel and/or position of the valve stem.
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.
Piezoelectric stack actuator parameter extraction with hysteresis compensation
Zsurzsan, Tiberiu-Gabriel; Mangeot, Charles; Andersen, Michael A. E.;
2014-01-01
The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...... exhibited by piezoelectric ceramics causes losses. Therefore, this paper presents a straightforward method to measure piezoelectric stack actuator equiv- alent parameters that includes nonlinearities. By folding the nonlinearities into a newly-defined cou- pling coefficient, the inherent hysteretic behavior...... of piezoelectric stack actuators can be greatly reduced through precompensation. Experimental results show a fitting accuracy of 98.8 % between the model and measurements and a peak absolute error reduction by a factor of 10 compared to the manufacturer- provided parameter. This method improves both the static...
Exploring dielectric elastomers as actuators for hand tremor suppression
Kelley, Christopher R.; Kauffman, Jeffrey L.
2017-04-01
Pathological tremor results in undesired motion of body parts, with the greatest effect typically occurring in the hands. Since common treatment methods are ineffective in some patients or have risks associated with surgery or side effects, researchers are investigating mechanical means of tremor suppression. This work explores the viability of dielectric elastomers as the actuators in a tremor suppression control system. Dielectric elastomers have many properties similar to human muscle, making them a natural fit for integration into the human biomechanical system. This investigation develops a model of the integrated wrist-actuator system to determine actuator parameters that produce the necessary control authority without significantly affecting voluntary motion. Furthermore, this paper develops a control law for the actuator voltage to increase the effective viscous damping of the system. Simulations show excellent theoretical tremor suppression, demonstrating the potential for dielectric elastomers to suppress tremor while maximizing compatibility between the actuator and the human body.
Design and analysis of repulsive electrostatic driven MEMS actuators
Yao, Jun; Hu, Fangrong; Cai, Dongmei; Jiang, Wenhan
2009-02-01
For many astronomical systems, Adaptive Optics (AO) plays an important role. Here, we report some preliminary studies on MEMS (Micro-Electro-Mechanical-System) Project for micro actuators in AO applications at the Institute of Optics and Electronics, Chinese Academy of Science. This paper presents a few MEMS actuators based on repulsive electrostatic driven mechanism, which can achieve large out-of-plane strokes through eliminating the electrostatic pull-in effect. Design principles, including the layout and the physical dimension of electrodes, and FEA models are illustrated; it provides helpful guidance for designing electrostatic repulsive actuators for being implemented in Deformable Mirrors (DMs). Some repulsive electrostatic driven micro actuators are given, the analysis focus on the displacement versus applied voltage and resonant frequency. Repulsive electrostatic driven actuators can achieve large strokes and high resonant frequencies, they meet the important requirements for DMs.
Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper
Ganesha Udupa
2014-01-01
Full Text Available The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary. In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects. The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results. The actuator is fabricated using compression molding process that includes micromachining of the molds. Experiments conducted show the bending characteristics of the actuator at different pressures. The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity. The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.
Dissolution actuated sample container
Nance, Thomas A.; McCoy, Frank T.
2013-03-26
A sample collection vial and process of using a vial is provided. The sample collection vial has an opening secured by a dissolvable plug. When dissolved, liquids may enter into the interior of the collection vial passing along one or more edges of a dissolvable blocking member. As the blocking member is dissolved, a spring actuated closure is directed towards the opening of the vial which, when engaged, secures the vial contents against loss or contamination.
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...
Varma, Venugopal K.
2001-01-01
An actuator for cycling between first and second positions includes a first shaped memory alloy (SMA) leg, a second SMA leg. At least one heating/cooling device is thermally connected to at least one of the legs, each heating/cooling device capable of simultaneously heating one leg while cooling the other leg. The heating/cooling devices can include thermoelectric and/or thermoionic elements.
Cylindrical Piezoelectric Fiber Composite Actuators
Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.
2008-01-01
The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.
The design and analysis of a MEMS electrothermal actuator
Suocheng, Wang; Yongping, Hao; Shuangjie, Liu
2015-04-01
This paper introduces a type of out-of-plane microelectrothermal actuator, which is based on the principle of bimetal film thermal expansion in the fuse. A polymer SU-8 material and nickel are used as the functional and structural materials of the actuator. Through heating the resistance wire using electricity, the actuator produces out-of-plane motion in the perpendicular axial direction of the device and the bias layer contact with the substrate, completing signal output. Using Coventorware software to establish the three-dimensional model, the geometric structure is optimized and the electrothermal capabilities are determined theoretically. From electrothermal analysis, the actuator's displacement is 18 μm and the temperature rises from 300 to 440 K under a voltage of 5 V and the response time is 5 ms. The actuator's displacement is 20 μm under a 100000 m/s2 acceleration in the accelerating field. In the coupled field, applying a 3 V voltage, the initial temperature is 300 K, while the acceleration is 50000 m/s2, the driving displacement of the actuator is 23 μm, and temperature rises to 400 K. Finally, through checking the stress in different field sources, the maximum stress of the actuator is smaller than the allowable stress of nickel. The results show that the electrothermal actuator has high reliability.
Coalescence-induced droplet actuation
Sellier, Mathieu; Verdier, Claude; Nock, Volker
2011-11-01
This work investigates a little explored driving mechanism to actuate droplets: the surface tension gradient which arises during the coalescence of two droplets of liquid having different compositions and therefore surface tensions. The resulting surface tension gradient gives rise to a Marangoni flow which, if sufficiently large, can displace the droplet. In order to understand, the flow dynamics arising during the coalescence of droplets of different fluids, a model has been developed in the lubrication framework. The numerical results confirm the existence of a self-propulsion window which depends on two dimensionless groups representing competing effects during the coalescence: the surface tension contrast between the droplets which promotes actuation and species diffusion which tends to make the mixture uniform thereby anihilating Marangoni flow and droplet motion. In parallel, experiments have been conducted to confirm this self-propulsion behaviour. The experiment consists in depositing a droplet of distilled water on a ``hydrophilic highway.'' This stripe was obtained by plasma-treating a piece of PDMS shielded in some parts by glass coverslips. This surface functionalization was found to be the most convenient way to control the coalescence. When a droplet of ethanol is deposited near the ``water slug,'' coalescence occurs and a rapid motion of the resulting mixture is observed. The support of the Dumont d'Urville NZ-France Science & Technology program is gratefully acknowledged.
Frequency-dependent Transient Response of an Oscillating Electrically Actuated Droplet
Dash, S.; Kumari, N; Garimella, S V
2012-01-01
The transient response of a millimeter-sized sessile droplet under electrical actuation is experimentally investigated. Under dc actuation, the droplet spreading rate increases as the applied voltage is increased due to the higher electrical forces induced. At sufficiently high dc voltages, competition between the electrical actuation force, droplet inertia, the retarding surface tension force and contact line friction leads to droplet oscillation. The timescale for the droplet to attain its ...
MOSFET Switching Circuit Protects Shape Memory Alloy Actuators
Gummin, Mark A.
2011-01-01
A small-footprint, full surface-mount-component printed circuit board employs MOSFET (metal-oxide-semiconductor field-effect transistor) power switches to switch high currents from any input power supply from 3 to 30 V. High-force shape memory alloy (SMA) actuators generally require high current (up to 9 A at 28 V) to actuate. SMA wires (the driving element of the actuators) can be quickly overheated if power is not removed at the end of stroke, which can damage the wires. The new analog driver prevents overheating of the SMA wires in an actuator by momentarily removing power when the end limit switch is closed, thereby allowing complex control schemes to be adopted without concern for overheating. Either an integral pushbutton or microprocessor-controlled gate or control line inputs switch current to the actuator until the end switch line goes from logic high to logic low state. Power is then momentarily removed (switched off by the MOSFET). The analog driver is suited to use with nearly any SMA actuator.
ter Beek, Maurice H.; Legay, Axel; Lluch Lafuente, Alberto
2015-01-01
We investigate the suitability of statistical model checking techniques for analysing quantitative properties of software product line models with probabilistic aspects. For this purpose, we enrich the feature-oriented language FLAN with action rates, which specify the likelihood of exhibiting...... particular behaviour or of installing features at a specific moment or in a specific order. The enriched language (called PFLAN) allows us to specify models of software product lines with probabilistic configurations and behaviour, e.g. by considering a PFLAN semantics based on discrete-time Markov chains....... The Maude implementation of PFLAN is combined with the distributed statistical model checker MultiVeStA to perform quantitative analyses of a simple product line case study. The presented analyses include the likelihood of certain behaviour of interest (e.g. product malfunctioning) and the expected average...
Modeling and control for PZT micro-displacement Actuator%压电陶瓷微位移驱动器建模与控制
刘泊; 郭建英; 孙永全
2013-01-01
When a white light interferometer is applied to 3D surface microcosmic topographic measurement,the measuring accuracy is effected by the hysteresis and creeping phenomenon generated by the piezoelectric actuator seriously.Therefore,this paper proposes a method to improve the displacement accuracy of the reference mirror along the optical axis direction.The piezoelectric actuator is given,and its displacement detecting circuit,PID closed loop control algorithms,and creep compensation control are studied.First,displacement detecting circuit is established by a position sensitive device and an optical lever,by which the piezoelectric ceramic micro-displacement can be fed back to control the system,then the PID closed-loop control algorithm is established.Furthermore,the creeping characteristics of piezoelectric ceramic is discussed during the measurement.In order to eliminate the creeping phenomenon and improve measurement accuracy,the “voltage creep” compensation model is proposed.Finally,an integer control system based on PID closed-loop control and creep compensation control is established.The micro-displacement of the piezoelectric actuator is measured by a high-precision XL-80 laser interferometer under the two cases of PID closed-loop control and integer control.Experimental results indicate that the displacement error for the former is 0.007 μm,and that for the latter is 0.005 μm,respectively.This method reduces the influence of hysteresis and creeping on measurement results,and meets the requirements of three-dimensioned shape measurement for high accuracy.%考虑利用白光干涉仪进行表面三维形貌测量时压电陶瓷(PZT)的蠕变效应对微位移驱动器位移精度的影响,提出了一种沿参考镜光轴方向提高该驱动器位移精度的方法.系统研究了该驱动器的位移检测回路、PID闭环控制以及蠕变补偿控制;利用光电位置传感器和光学杠杆调节位移检测回路,将压电陶瓷驱动器微位
Macro Fiber Piezocomposite Actuator Poling Study
Werlink, Rudy J.; Bryant, Robert G.; Manos, Dennis
2002-01-01
The performance and advantages of Piezocomposite Actuators are to provide a low cost, in-situ actuator/sensor that is flexible, low profile and high strain per volt performance in the same plane of poled voltage. This paper extends reported data for the performance of these Macrofiber Composite (MFC) Actuators to include 4 progressively narrower Intedigitized electrode configurations with several line widths and spacing ratios. Data is reported for max free strain, average strain per applied volt, poling (alignment of the electric dipoles of the PZT ceramic) voltage vs. strain and capacitance, time to poling voltage 95% saturation. The output strain per volt progressively increases as electrode spacing decreases, with saturation occurring at lower poling voltages. The narrowest spacing ratio becomes prone to voltage breakdown or short circuits limiting the spacing width with current fabrication methods. The capacitance generally increases with increasing poling voltage level but has high sensitivity to factors such as temperature, moisture and time from poling which limit its usefulness as a simple indicator. The total time of applied poling voltage to saturate or fully line up the dipoles in the piezoceramic was generally on the order of 5-20 seconds. Less sensitivity to poling due to the applied rate of voltage increase over a 25 to 500 volt/second rate range was observed.
Actuator Characterization of Man Portable Precision Maneuver Concepts
2014-03-01
brushless DC motors, along with a model of the rotating wing concept and a prototype 40-mm projectile, which was fired through the spark range (14), is... Model Characterization of Brushless DC Motors. IEEE Transactions on Industry Applications 1992, 28 (1), 172–180. 17. Rigatos, G.G. Particle and Kalman...concepts is addressed. Actuator experiments conducted over a variety of conditions validate dynamic models of the actuator and supply the data
National Aeronautics and Space Administration — Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this...
Telescoping cylindrical piezoelectric fiber composite actuator assemblies
Allison, Sidney G. (Inventor); Shams, Qamar A. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox Chattin, legal representative, Melanie L. (Inventor)
2010-01-01
A telescoping actuator assembly includes a plurality of cylindrical actuators in a concentric arrangement. Each cylindrical actuator is at least one piezoelectric fiber composite actuator having a plurality of piezoelectric fibers extending parallel to one another and to the concentric arrangement's longitudinal axis. Each cylindrical actuator is coupled to concentrically-adjacent ones of the cylindrical actuators such that the plurality of cylindrical actuators can experience telescopic movement. An electrical energy source coupled to the cylindrical actuators applies actuation energy thereto to generate the telescopic movement.
Adaptive RBFNN Formation Control of Multi-mobile Robots with Actuator Dynamics
Li Yan-dong
2013-04-01
Full Text Available We study the problem of formation control and trajectory tracking for multiple nonholonomic mobile robots with actuator and formation dynamics. An adaptive neural-network (NN control strategy that integrated kinematic controller with input voltages controller of actuator was proposed. A control law was designed by backstepping technique based on separation-bearing formation control structure of leader-follower. The radial basis function neural network (RBFNN was adopted to achieve on-line estimation for the dynamics nonlinear uncertain part for follower and leader robots. The adaptive robust controller was adopted to compensate modeling errors of NN. This strategy not only overcomed all kinds of uncertainties of mobile robots, but also ensured the desired trajectory tracking of robot formation in the case of maintaining formation. The stability and convergence of the control system were proved by using the Lyapunov theory. The simulation results showed the effectiveness of this proposed method.
Christiansen, Niels Hørbye; Voie, Per Erlend Torbergsen; Høgsberg, Jan Becker
2015-01-01
is by active truncated models. In these models only the very top part of the system is represented by a physical model whereas the behavior of the part below the truncation is calculated by numerical models and accounted for in the physical model by active actuators applying relevant forces to the physical...... model. Hence, in principal it is possible to achieve reliable experimental data for much larger water depths than what the actual depth of the test basin would suggest. However, since the computations must be faster than real time, as the numerical simulations and the physical experiment run...... simultaneously, this method is very demanding in terms of numerical efficiency and computational power. Therefore, this method has not yet proved to be feasible. It has recently been shown how a hybrid method combining classical numerical models and artificial neural networks (ANN) can provide a dramatic...
Self-Latching Piezocomposite Actuator
Wilkie, William K. (Inventor); Bryant, Robert G. (Inventor); Lynch, Christopher S. (Inventor)
2017-01-01
A self-latching piezocomposite actuator includes a plurality of shape memory ceramic fibers. The actuator can be latched by applying an electrical field to the shape memory ceramic fibers. The actuator remains in a latched state/shape after the electrical field is no longer present. A reverse polarity electric field may be applied to reset the actuator to its unlatched state/shape. Applied electric fields may be utilized to provide a plurality of latch states between the latched and unlatched states of the actuator. The self-latching piezocomposite actuator can be used for active/adaptive airfoils having variable camber, trim tabs, active/deformable engine inlets, adaptive or adjustable vortex generators, active optical components such as mirrors that change shapes, and other morphing structures.
Expansion of Collisional Radiative Model for Helium line ratio spectroscopy
Cinquegrani, David; Cooper, Chris; Forest, Cary; Milhone, Jason; Munoz-Borges, Jorge; Schmitz, Oliver; Unterberg, Ezekial
2015-11-01
Helium line ratio spectroscopy is a powerful technique of active plasma edge spectroscopy. It enables reconstruction of plasma edge parameters like electron density and temperature by use of suitable Collisional Radiative Models (CRM). An established approach is successful at moderate plasma densities (~1018m-3 range) and temperature (30-300eV), taking recombination and charge exchange to be negligible. The goal of this work is to experimentally explore limitations of this approach to CRM. For basic validation the Madison Plasma Dynamo eXperiment (MPDX) will be used. MPDX offers a very uniform plasma and spherical symmetry at low temperature (5-20 eV) and low density (1016 -1017m-3) . Initial data from MPDX shows a deviation in CRM results when compared to Langmuir probe data. This discrepancy points to the importance of recombination effects. The validated model is applied to first time measurement of electron density and temperature in front of an ICRH antenna at the TEXTOR tokamak. These measurements are important to understand RF coupling and PMI physics at the antenna limiters. Work supported in part by start up funds of the Department of Engineering Physics at the UW - Madison, USA and NSF CAREER award PHY-1455210.
Fault-tolerant rotary actuator
Tesar, Delbert
2006-10-17
A fault-tolerant actuator module, in a single containment shell, containing two actuator subsystems that are either asymmetrically or symmetrically laid out is provided. Fault tolerance in the actuators of the present invention is achieved by the employment of dual sets of equal resources. Dual resources are integrated into single modules, with each having the external appearance and functionality of a single set of resources.
Control arrangement for the actuation of hydraulic consumers
Kussel, W.; Dettmers, M.; Weirich, W.
1988-11-09
An arrangement for controlling the actuation of hydraulic consumers, by selectively connecting the consumers to hydraulic pressure and return lines; the control arrangement comprising a respective hydraulically operated directional control valve associated with each of the hydraulic consumers, a respective electro-magnetically operated pre-control valve associated with each of the hydraulic directional control valves, and further electro-magnetically operated directional control valve means associated with the pre-control valves, each of the hydraulic consumers being connectible to the hydraulic pressure or return lines via the associated hydraulically operated directional control valve which is actuatable by a hydraulic control line leading from the output of the associated pre-control valve, wherein the inputs of the pre-control valves are connected directly to the hydraulic return line and indirectly, via the further control valve means, to the hydraulic return line or to a hydraulic control pressure line.
Integrated model for line balancing with workstation inventory management
Dilip Roy; Debdip khan
2010-01-01
In this paper, we address the optimization of an integrated line balancing process with workstation inventory management. While doing so, we have studied the interconnection between line balancing and its conversion process. Almost each and every moderate to large manufacturing industry depends on a long and integrated supply chain, consisting of inbound logistic, conversion process and outbound logistic. In this sense an approach addresses a very general problem of integrated line balancing....
Do, T. N.; Tjahjowidodo, T.; Lau, M. W. S.; Phee, S. J.
2015-08-01
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons.
Modeling of Stark–Zeeman Lines in Magnetized Hydrogen Plasmas
J. Rosato; H. Bufferand; H. Capes; M. Koubiti; L. Godbert-Mouret; Y. Marandet; R. Stamm
2015-12-01
The action of electric and magnetic fields on atomic species results in a perturbation of the energy level structure, which alters the shape of spectral lines. In this work, we present the Zeeman–Stark line shape simulation method and perform new calculations of hydrogen Lyman and Balmer lines, in the framework of magnetic fusion research. The role of the Zeeman effect, fine structure and the plasma's non-homogeneity along the line-of-sight are investigated. Under specific conditions, our results are applicable to DA white dwarf atmospheres.
Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.
Sheng, Jun; Gandhi, Dheeraj; Gullapalli, Rao; Simard, J Marc; Desai, Jaydev P
2017-02-01
This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance.
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.
LI Gang; NIE Chaoqun; LI Yiming; ZHU Junqiang; XU Yanji
2008-01-01
Influence of plasma actuators as a flow separation control device was investigated experimentally.Hump model was used to demonstrate the effect of plasma actuators on external flow separation,while for internal flow separation a set of compressor cascade was adopted.In order to investigate the modification of the flow structure by the plasma actuator,the flow field was examined non-intrusively by particle image velocimetry measurements in the hump model experiment and by a hot film probe in the compressor cascade experiment.The results showed that the plasma actuator could be effective in controlling the flow separation both over the hump and in the compressor cascade when the incoming velocity was low.As the incoming velocity increased,the plasma actuator was less effective. It is urgent to enhance the intensity of the plasma actuator for its better application.Methods to increase the intensity of plasma actuator were also studied.
Simulation of dynamics of a permanent magnet linear actuator
Yatchev, Ivan; Ritchie, Ewen
2010-01-01
Comparison of two approaches for the simulation of the dynamic behaviour of a permanent magnet linear actuator is presented. These are full coupled model, where the electromagnetic field, electric circuit and mechanical motion problems are solved simultaneously, and decoupled model, where first...... flexibility when the actuator response is required to be estimated for different external conditions, e.g. external circuit parameters or mechanical loads....
Modeling a multivariable reactor and on-line model predictive control.
Yu, D W; Yu, D L
2005-10-01
A nonlinear first principle model is developed for a laboratory-scaled multivariable chemical reactor rig in this paper and the on-line model predictive control (MPC) is implemented to the rig. The reactor has three variables-temperature, pH, and dissolved oxygen with nonlinear dynamics-and is therefore used as a pilot system for the biochemical industry. A nonlinear discrete-time model is derived for each of the three output variables and their model parameters are estimated from the real data using an adaptive optimization method. The developed model is used in a nonlinear MPC scheme. An accurate multistep-ahead prediction is obtained for MPC, where the extended Kalman filter is used to estimate system unknown states. The on-line control is implemented and a satisfactory tracking performance is achieved. The MPC is compared with three decentralized PID controllers and the advantage of the nonlinear MPC over the PID is clearly shown.
Balancing mixed-model assembly lines: A computational evaluation of objectives to smoothen workload
Emde, Simon; Boysen, Nils; Scholl, Armin
2010-01-01
Abstract Mixed-model assembly lines are widely used in a range of production settings, such as the final assembly of the automotive and electronics industries, where they are applied to mass-produce standardized commodities. One of the greatest challenges when installing and reconfiguring these lines is the vast product variety modern mixed-model assembly lines have to cope with. Traditionally, product variety is bypassed during mid-term assembly line balancing by applying a joint ...
Elastic Cube Actuator with Six Degrees of Freedom Output
Pengchuan Wang
2015-09-01
Full Text Available Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF polymer actuator that unifies ordinarily separate components into a simple cubic structure. This cube actuator design incorporates elastic dielectric elastomer membranes on four faces which are coupled by a cross-shaped end effector. The inherent elasticity of each membrane greatly reduces kinematic constraint and enables a 6-DOF actuation output to be produced via the end effector. An electro-mechanical model of the cube actuator is presented that captures the non-linear hyperelastic behaviour of the active membranes. It is demonstrated that the model accurately predicts actuator displacement and blocking moment for a range of input voltages. Experimental testing of a prototype 60 mm device demonstrates 6-DOF operation. The prototype produces maximum linear and rotational displacements of ±2.6 mm (±4.3% and ±4.8° respectively and a maximum blocking moment of ±76 mNm. The capacity for full 6-DOF actuation from a compact, readily scalable and easily fabricated polymeric package enables implementation in a range of mechatronics and robotics applications.
Recent Advances in the Control of Piezoelectric Actuators
Ziqiang Chi
2014-11-01
Full Text Available The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable efforts have been made to compensate for the nonlinearity of piezoelectric actuation through the mathematical modelling and control approaches. This paper provides a review of recent advances on the control of piezoelectric actuators. After a brief introduction of basic components of typical piezoelectric micro/nano positioning platforms, the working principle and modelling of piezoelectric actuators are outlined in this paper. This is followed with the major control method and recent progress is presented in detail. Finally, some open issues and future work on the control of piezoelectric actuators are extensively discussed.