Tip vortices in the actuator line model
Martinez, Luis; Meneveau, Charles
2017-11-01
The actuator line model (ALM) is a widely used tool to represent the wind turbine blades in computational fluid dynamics without the need to resolve the full geometry of the blades. The ALM can be optimized to represent the `correct' aerodynamics of the blades by choosing an appropriate smearing length scale ɛ. This appropriate length scale creates a tip vortex which induces a downwash near the tip of the blade. A theoretical frame-work is used to establish a solution to the induced velocity created by a tip vortex as a function of the smearing length scale ɛ. A correction is presented which allows the use of a non-optimal smearing length scale but still provides the downwash which would be induced using the optimal length scale. Thanks to the National Science Foundation (NSF) who provided financial support for this research via Grants IGERT 0801471, IIA-1243482 (the WINDINSPIRE project) and ECCS-1230788.
Actuator Line Modeling of Wind Turbine Wakes
DEFF Research Database (Denmark)
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...
Prescribed wind shear modelling with the actuator line technique
DEFF Research Database (Denmark)
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...
Combined pseudo-spectral / actuator line model for wind turbine applications
DEFF Research Database (Denmark)
Dag, Kaya Onur
2017-01-01
of the developed code is presented and verifications are carried out. In the second part, by using the new LES code, a comprehensive investigation is made for the well-known actuator line model (ALM), which is cost-efficient for investigation of the loading estimations on wind turbine blades. In ALM, the body...
Validation of the Actuator Line Model for Simulating Flows past Yawed Wind Turbine Rotors
DEFF Research Database (Denmark)
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...
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).
Analysis of the sweeped actuator line method
Nathan Jörn; Masson Christian; Dufresne Louis; Churchfield Matthew
2015-01-01
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 Cour...
Study on Actuator Line Modeling of Two NREL 5-MW Wind Turbine Wakes
Directory of Open Access Journals (Sweden)
Ziying Yu
2018-03-01
Full Text Available The wind turbine wakes impact the efficiency and lifespan of the wind farm. Therefore, to improve the wind plant performance, research on wind plant control is essential. The actuator line model (ALM is proposed to simulate the wind turbine efficiently. This research investigates the National Renewable Energy Laboratory 5 Million Watts (NREL 5-MW wind turbine wakes with Open Field Operation and Manipulation (OpenFOAM using ALM. Firstly, a single NREL 5-MW turbine is simulated. The comparison of the power and thrust with Fatigue, Aerodynamics, Structures, and Turbulence (FAST shows a good agreement below the rated wind speed. The information relating to wind turbine wakes is given in detail. The top working status is proved at the wind speed of 8 m/s and the downstream distance of more than 5 rotor diameters (5D. Secondly, another case with two NREL 5-MW wind turbines aligned is also carried out, in which 7D is validated as the optimum distance between the two turbines. The result also shows that the upstream wind turbine has an obvious influence on the downstream one.
Energy Technology Data Exchange (ETDEWEB)
Marjanovic, Nikola [Department of Civil and Environmental Engineering, University of California, Berkeley, MC 1710, Berkeley, California 94720-1710, USA; Atmospheric, Earth and Energy Division, Lawrence Livermore National Laboratory, PO Box 808, L-103, Livermore, California 94551, USA; Mirocha, Jeffrey D. [Atmospheric, Earth and Energy Division, Lawrence Livermore National Laboratory, PO Box 808, L-103, Livermore, California 94551, USA; Kosović, Branko [Research Applications Laboratory, Weather Systems and Assessment Program, University Corporation for Atmospheric Research, PO Box 3000, Boulder, Colorado 80307, USA; Lundquist, Julie K. [Department of Atmospheric and Oceanic Sciences, University of Colorado, Boulder, Campus Box 311, Boulder, Colorado 80309, USA; National Renewable Energy Laboratory, 15013 Denver West Parkway, Golden, Colorado 80401, USA; Chow, Fotini Katopodes [Department of Civil and Environmental Engineering, University of California, Berkeley, MC 1710, Berkeley, California 94720-1710, USA
2017-11-01
A generalized actuator line (GAL) wind turbine parameterization is implemented within the Weather Research and Forecasting model to enable high-fidelity large-eddy simulations of wind turbine interactions with boundary layer flows under realistic atmospheric forcing conditions. Numerical simulations using the GAL parameterization are evaluated against both an already implemented generalized actuator disk (GAD) wind turbine parameterization and two field campaigns that measured the inflow and near-wake regions of a single turbine. The representation of wake wind speed, variance, and vorticity distributions is examined by comparing fine-resolution GAL and GAD simulations and GAD simulations at both fine and coarse-resolutions. The higher-resolution simulations show slightly larger and more persistent velocity deficits in the wake and substantially increased variance and vorticity when compared to the coarse-resolution GAD. The GAL generates distinct tip and root vortices that maintain coherence as helical tubes for approximately one rotor diameter downstream. Coarse-resolution simulations using the GAD produce similar aggregated wake characteristics to both fine-scale GAD and GAL simulations at a fraction of the computational cost. The GAL parameterization provides the capability to resolve near wake physics, including vorticity shedding and wake expansion.
International Nuclear Information System (INIS)
Mendoza, Victor; Goude, Anders; Bachant, Peter; Wosnik, Martin
2016-01-01
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. (paper)
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.
Riva, L.; Giljarhus, K.-E.; Hjertager, B.; Kalvig, S. M.
2017-12-01
University of Stavanger has started The Smart Sustainable Campus & Energy Lab project, to gain knowledge and facilitate project based education in the field of renewable and sustainable energy and increase the research effort in the same area. This project includes the future installation of a vertical axis wind turbine on the campus roof. A newly developed Computational Fluid Dynamics (CFD) model by OpenFOAM have been implemented to study the wind behavior over the building and the turbine performance. The online available wind turbine model case from Bachant, Goude and Wosnik from 2016 is used as the starting point. This is a Reynolds-Averaged Navier-Stokes equations (RANS) case set up that uses the Actuator Line Model. The available test case considers a water tank with controlled external parameters. Bachant et al.’s model has been modified to study a VAWT in the atmospheric boundary layer. Various simulations have been performed trying to verify the models use and suitability. Simulation outcomes help to understand the impact of the surroundings on the turbine as well as its reaction to parameters changes. The developed model can be used for wind energy and flow simulations for both onshore and offshore applications.
Analytical dynamic modeling of fast trilayer polypyrrole bending actuators
International Nuclear Information System (INIS)
Amiri Moghadam, Amir Ali; Moavenian, Majid; Tahani, Masoud; Torabi, Keivan
2011-01-01
Analytical modeling of conjugated polymer actuators with complicated electro-chemo-mechanical dynamics is an interesting area for research, due to the wide range of applications including biomimetic robots and biomedical devices. Although there have been extensive reports on modeling the electrochemical dynamics of polypyrrole (PPy) bending actuators, mechanical dynamics modeling of the actuators remains unexplored. PPy actuators can operate with low voltage while producing large displacement in comparison to robotic joints, they do not have friction or backlash, but they suffer from some disadvantages such as creep and hysteresis. In this paper, a complete analytical dynamic model for fast trilayer polypyrrole bending actuators has been proposed and named the analytical multi-domain dynamic actuator (AMDDA) model. First an electrical admittance model of the actuator will be obtained based on a distributed RC line; subsequently a proper mechanical dynamic model will be derived, based on Hamilton's principle. The purposed modeling approach will be validated based on recently published experimental results
DEFF Research Database (Denmark)
Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming
2016-01-01
). 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...... good, validating the analytical method for more general conditions. The present results show that a simple vortex code is able to provide an estimation of the flow around the wind turbine similar to the actuator-line approach but with a negligible computational effort. Copyright © 2015 John Wiley...
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
A new class of actuator surface models for wind turbines
Yang, Xiaolei; Sotiropoulos, Fotis
2018-05-01
Actuator line model has been widely employed in wind turbine simulations. However, the standard actuator line model does not include a model for the turbine nacelle which can significantly impact turbine wake characteristics as shown in the literature. Another disadvantage of the standard actuator line model is that more geometrical features of turbine blades cannot be resolved on a finer mesh. To alleviate these disadvantages of the standard model, we develop a new class of actuator surface models for turbine blades and nacelle to take into account more geometrical details of turbine blades and include the effect of turbine nacelle. In the actuator surface model for blade, the aerodynamic forces calculated using the blade element method are distributed from the surface formed by the foil chords at different radial locations. In the actuator surface model for nacelle, the forces are distributed from the actual nacelle surface with the normal force component computed in the same way as in the direct forcing immersed boundary method and the tangential force component computed using a friction coefficient and a reference velocity of the incoming flow. The actuator surface model for nacelle is evaluated by simulating the flow over periodically placed nacelles. Both the actuator surface simulation and the wall-resolved large-eddy simulation are carried out. The comparison shows that the actuator surface model is able to give acceptable results especially at far wake locations on a very coarse mesh. It is noted that although this model is employed for the turbine nacelle in this work, it is also applicable to other bluff bodies. The capability of the actuator surface model in predicting turbine wakes is assessed by simulating the flow over the MEXICO (Model experiments in Controlled Conditions) turbine and a hydrokinetic turbine.
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. © 2015 The Author(s) Published by the Royal Society. All rights reserved.
Simulation of wind turbine wakes using the actuator line technique
DEFF Research Database (Denmark)
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...... 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...
Aeroacoustic Calculations of Wind Turbine Noise with the Actuator Line/ Navier-Stokes Technique
DEFF Research Database (Denmark)
Debertshäuser, Harald; Shen, Wen Zhong; Zhu, Wei Jun
2016-01-01
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...
DEFF Research Database (Denmark)
Breton, S. P.; Shen, Wen Zhong; Ivanell, S.
2017-01-01
Experimental data acquired in the New Mexico experiment on a yawed 4.5m diameter rotor model turbine are used here to validate the actuator line (AL) and actuator disc (AD) models implemented in the Large Eddy Simulation code EllipSys3D in terms of loading and velocity field. Even without modelling...... the AD model can reproduce the averaged features of the flow. The importance of using high quality airfoil data (including 3D corrections) as well as a fine grid resolution is highlighted by the results obtained. Overall, it is found that both models can satisfactorily predict the 3D velocity field...... and blade loading of the New Mexico rotor under yawed inflow....
Actuator Line/Navier-Stokes Computations for Flows past the Yawed MEXICO Rotor
DEFF Research Database (Denmark)
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...
A survey on pneumatic muscle actuators modeling
Kelasidi, Eleni; Andrikopoulos, Georgios; Nikolakopoulos, George; Manesis, Stamatis
2012-01-01
The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in...
A magnetorheological actuation system: test and model
International Nuclear Information System (INIS)
John, Shaju; Chaudhuri, Anirban; Wereley, Norman M
2008-01-01
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
Actuator line/Navier–Stokes computations for the MEXICO rotor: comparison with detailed measurements
DEFF Research Database (Denmark)
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...
Mathematical modeling of a V-stack piezoelectric aileron actuation
Directory of Open Access Journals (Sweden)
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.
Design, test and model of a hybrid magnetostrictive hydraulic actuator
International Nuclear Information System (INIS)
Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M
2009-01-01
The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm 3 s −1 and 22.7 cm 3 s −1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation
Bucky gel actuator displacement: experiment and model
International Nuclear Information System (INIS)
Ghamsari, A K; Zegeye, E; Woldesenbet, E; Jin, Y
2013-01-01
Bucky gel actuator (BGA) is a dry electroactive nanocomposite which is driven with a few volts. BGA’s remarkable features make this tri-layered actuator a potential candidate for morphing applications. However, most of these applications would require a better understanding of the effective parameters that influence the BGA displacement. In this study, various sets of experiments were designed to investigate the effect of several parameters on the maximum lateral displacement of BGA. Two input parameters, voltage and frequency, and three material/design parameters, carbon nanotube type, thickness, and weight fraction of constituents were selected. A new thickness ratio term was also introduced to study the role of individual layers on BGA displacement. A model was established to predict BGA maximum displacement based on the effect of these parameters. This model showed good agreement with reported results from the literature. In addition, an important factor in the design of BGA-based devices, lifetime, was investigated. (paper)
DEFF Research Database (Denmark)
Martínez-Tossas, Luis A.; Churchfield, Matthew J.; Yilmaz, Ali Emre
2018-01-01
to match closely for all codes. The value of the Smagorinsky coefficient in the subgrid-scale turbulence model is shown to have a negligible effect on the time-averaged loads along the blades. Conversely, the breakdown location of the wake is strongly dependent on the Smagorinsky coefficient in uniform...... coefficient has a negligible effect on the wake profiles. It is concluded that for LES of wind turbines and wind farms using ALM, careful implementation and extensive cross-verification among codes can result in highly reproducible predictions. Moreover, the characteristics of the inflow turbulence appear...
Piezoelectric line moment actuator for active radiation control from light-weight structures
Jandak, Vojtech; Svec, Petr; Jiricek, Ondrej; Brothanek, Marek
2017-11-01
This article outlines the design of a piezoelectric line moment actuator used for active structural acoustic control. Actuators produce a dynamic bending moment that appears in the controlled structure resulting from the inertial forces when the attached piezoelectric stripe actuators start to oscillate. The article provides a detailed theoretical analysis necessary for the practical realization of these actuators, including considerations concerning their placement, a crucial factor in the overall system performance. Approximate formulas describing the dependency of the moment amplitude on the frequency and the required electric voltage are derived. Recommendations applicable for the system's design based on both theoretical and empirical results are provided.
Simulating wind and marine hydrokinetic turbines with actuator lines in RANS and LES
Bachant, Peter; Wosnik, Martin
2015-11-01
As wind and marine hydrokinetic (MHK) turbine designs mature, focus is shifting towards improving turbine array layouts for maximizing overall power output, i.e., minimizing wake interference for axial-flow or horizontal-axis turbines, or taking advantage of constructive wake interaction for cross-flow or vertical-axis turbines. Towards this goal, an actuator line model (ALM) was developed to provide a computationally feasible method for simulating full turbine arrays inside Navier-Stokes models. The ALM predicts turbine loading with the blade element method combined with sub-models for dynamic stall and flow curvature. The open-source software is written as an extension library for the OpenFOAM CFD package, which allows the ALM body force to be applied to their standard RANS and LES solvers. Turbine forcing is also applied to volume of fluid (VOF) models, e.g., for predicting free surface effects on submerged MHK devices. An additional sub-model is considered for injecting turbulence model scalar quantities based on actuator line element loading. Results are presented for the simulation of performance and wake dynamics of axial- and cross-flow turbines and compared with moderate Reynolds number experiments and body-fitted mesh, blade-resolving CFD. Work supported by NSF-CBET grant 1150797.
An Advanced Actuator Line Method for Wind Energy Applications and Beyond: Preprint
Energy Technology Data Exchange (ETDEWEB)
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
Energy Technology Data Exchange (ETDEWEB)
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.
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.
Cfd modeling of a synthetic jet actuator
International Nuclear Information System (INIS)
Dghim, Marouane; Ben Chiekh, Maher; Ben Nasrallah, Sassi
2009-01-01
Synthetic jet actuators show good promise as an enabling technology for innovative boundary layer flow control applied to external surfaces, like airplane wings, and to internal flows, like those occurring in a curved engine inlet. The appealing characteristics of a synthetic jet are zero-net-mass flux operation and an efficient control effect that takes advantages of unsteady fluid phenomena. The formation of a synthetic jet in a quiescent external air flow is only beginning to be understood and a rational understanding of these devices is necessary before they can be applied to the control of flows outside of the laboratory. The synthetic jet flow generated by a planar orifice is investigated here using computational approach. Computations of the 2D synthetic jet are performed with unsteady RANS modeled with the Realizable κ - ε turbulence model available in FLUENT environment. In this present work, the ability of the first order turbulence model, employed in our computations, to model the formation of the counter-rotating-vortex pair (CVP) that appears in the flow-field was investigated. Computational results were in good agreement with experimental measurements. The effectiveness of such control actuator was tested on separated boundary layer. Preliminary investigation were presented and discussed
Validation of the actuator line/Navier Stokes technique using mexico measurements
DEFF Research Database (Denmark)
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...
Modeling Populations of Thermostatic Loads with Switching Rate Actuation
DEFF Research Database (Denmark)
Totu, Luminita Cristiana; Wisniewski, Rafal; Leth, John-Josef
2015-01-01
We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...... simulations. The actuation mechanism and subsequent modeling result are relevant for power system operation....
49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.
2010-10-01
... 49 Transportation 5 2010-10-01 2010-10-01 false Brake actuators, slack adjusters, linings/pads and..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... same size. (c) Slack adjusters. The effective length of the slack adjuster on each end of an axle must...
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.
Multiscale modeling and topology optimization of poroelastic actuators
DEFF Research Database (Denmark)
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...
Modelling the nonlinearity of piezoelectric actuators in active ...
African Journals Online (AJOL)
Piezoelectric actuators have great capabilities as elements of intelligent structures for active vibration cancellation. One problem with this type of actuator is its nonlinear behaviour. In active vibration control systems, it is important to have an accurate model of the control branch. This paper demonstrates the ability of neural ...
Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.
Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai
2013-11-01
Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
A finite element model of rigid body structures actuated by dielectric elastomer actuators
Simone, F.; Linnebach, P.; Rizzello, G.; Seelecke, S.
2018-06-01
This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.
Validation of the actuator line method using near wake measurements of the MEXICO rotor
DEFF Research Database (Denmark)
Nilsson, Karl; Shen, Wen Zhong; Sørensen, Jens Nørkær
2015-01-01
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...
Validation of the actuator line and disc techniques using the New MEXICO measurements
DEFF Research Database (Denmark)
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...
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
Design-based modeling of magnetically actuated soft diaphragm materials
Jayaneththi, V. R.; Aw, K. C.; McDaid, A. J.
2018-04-01
Magnetic polymer composites (MPC) have shown promise for emerging biomedical applications such as lab-on-a-chip and implantable drug delivery. These soft material actuators are capable of fast response, large deformation and wireless actuation. Existing MPC modeling approaches are computationally expensive and unsuitable for rapid design prototyping and real-time control applications. This paper proposes a macro-scale 1-DOF model capable of predicting force and displacement of an MPC diaphragm actuator. Model validation confirmed both blocked force and displacement can be accurately predicted in a variety of working conditions i.e. different magnetic field strengths, static/dynamic fields, and gap distances. The contribution of this work includes a comprehensive experimental investigation of a macro-scale diaphragm actuator; the derivation and validation of a new phenomenological model to describe MPC actuation; and insights into the proposed model’s design-based functionality i.e. scalability and generalizability in terms of magnetic filler concentration and diaphragm diameter. Due to the lumped element modeling approach, the proposed model can also be adapted to alternative actuator configurations, and thus presents a useful tool for design, control and simulation of novel MPC applications.
Modelling and characterization of dielectric elastomer stack actuators
International Nuclear Information System (INIS)
Haus, Henry; Matysek, Marc; Mößinger, Holger; Schlaak, Helmut F
2013-01-01
This paper aims to establish and evaluate an electrical and mechanical model for dielectric elastomer stack actuators. Based on the structure of an electrically interconnected actuator a simplified electrical and mechanical network is deduced. The electrical model results in a low-pass filter. The model is evaluated by measurements of the electrical impedance and contact, electrode and parallel resistances. Measurement results show good agreement of the model with the electrical behaviour of the real actuator over a wide frequency range, from below 0.1 Hz to above 10 kHz. The mechanical modelling is split into dynamic and static behaviour. The dynamic mechanical behaviour is modelled as a mechanical equivalent network using fractional elements. The static mechanical model uses the uniaxial compressive modulus of the actuator material to describe the static characteristic. The combination of static and dynamic models allows a realistic prediction of the static and dynamic deflection of the actuators under an applied electrical voltage. This electro-mechanical model has been validated in a frequency range of 4 Hz to 4 kHz. (paper)
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.
A comprehensive model for piezoceramic actuators: modelling, validation and application
International Nuclear Information System (INIS)
Quant, Mario; Elizalde, Hugo; Flores, Abiud; Ramírez, Ricardo; Orta, Pedro; Song, Gangbing
2009-01-01
This paper presents a comprehensive model for piezoceramic actuators (PAs), which accounts for hysteresis, non-linear electric field and dynamic effects. The hysteresis model is based on the widely used general Maxwell slip model, while an enhanced electro-mechanical non-linear model replaces the linear constitutive equations commonly used. Further on, a linear second order model compensates the frequency response of the actuator. Each individual model is fully characterized from experimental data yielded by a specific PA, then incorporated into a comprehensive 'direct' model able to determine the output strain based on the applied input voltage, fully compensating the aforementioned effects, where the term 'direct' represents an electrical-to-mechanical operating path. The 'direct' model was implemented in a Matlab/Simulink environment and successfully validated via experimental results, exhibiting higher accuracy and simplicity than many published models. This simplicity would allow a straightforward inclusion of other behaviour such as creep, ageing, material non-linearity, etc, if such parameters are important for a particular application. Based on the same formulation, two other models are also presented: the first is an 'alternate' model intended to operate within a force-controlled scheme (instead of a displacement/position control), thus able to capture the complex mechanical interactions occurring between a PA and its host structure. The second development is an 'inverse' model, able to operate within an open-loop control scheme, that is, yielding a 'linearized' PA behaviour. The performance of the developed models is demonstrated via a numerical sample case simulated in Matlab/Simulink, consisting of a PA coupled to a simple mechanical system, aimed at shifting the natural frequency of the latter
A nonlinear model for ionic polymer metal composites as actuators
Bonomo, C.; Fortuna, L.; Giannone, P.; Graziani, S.; Strazzeri, S.
2007-02-01
This paper introduces a comprehensive nonlinear dynamic model of motion actuators based on ionic polymer metal composites (IPMCs) working in air. Significant quantities ruling the acting properties of IPMC-based actuators are taken into account. The model is organized as follows. As a first step, the dependence of the IPMC absorbed current on the voltage applied across its thickness is taken into account; a nonlinear circuit model is proposed to describe this relationship. In a second step the transduction of the absorbed current into the IPMC mechanical reaction is modelled. The model resulting from the cascade of both the electrical and the electromechanical stages represents a novel contribution in the field of IPMCs, capable of describing the electromechanical behaviour of these materials and predicting relevant quantities in a large range of applied signals. The effect of actuator scaling is also investigated, giving interesting support to the activities involved in the design of actuating devices based on these novel materials. Evidence of the excellent agreement between the estimations obtained by using the proposed model and experimental signals is given.
Dynamic response modelling and characterization of a vertical electrothermal actuator
International Nuclear Information System (INIS)
Li, Lijie; Uttamchandani, Deepak
2009-01-01
Mathematical modelling and characterization of the dynamic response of a microelectromechanical system (MEMS) electrothermal actuator are presented in this paper. The mathematical model is based on a second-order partial differential equation (one-dimensional heat transfer) and a second-order ordinary differential equation (mechanical dynamic equation). The simulations are implemented using the piecewise finite difference method and the Runge–Kutta algorithm. The electrothermal modelling includes thermal conduction, convective thermal loss and radiation effects. The temperature dependence of resistivity and thermal conductivity of single crystal silicon have also been taken into consideration in the electrothermal modelling. It is calculated from the simulation results that the 'cold' beam of the electrothermal actuator is not only a mechanical constraint but also a thermal response compensation structure. The 0–90% electrothermal rise times for the individual 'hot' and 'cold' beams are calculated to be 32.9 ms and 42.8 ms, respectively, while the 0–90% electrothermal rise time for the whole actuator is calculated to be 17.3 ms. Nonlinear cubic stiffness has been considered in the thermal-mechanical modelling. Dynamic performances of the device have been characterized using a laser vibrometer, and the 0–90% thermal response time of the whole structure has been measured to be 16.8 ms, which matches well with the modelling results. The displacements of the device under different driving conditions and at resonant frequency have been modelled and measured, and the results from both modelling and experiment agree reasonably well. This work provides a comprehensive understanding of the dynamic behaviour of the electrothermal actuation mechanism. The model will be useful for designing control systems for microelectrothermal actuated devices
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
Modeling of a partially debonded piezoelectric actuator in smart composite laminates
International Nuclear Information System (INIS)
Huang, Bin; Soo Kim, Heung; Ho Yoon, Gil
2015-01-01
A partially debonded piezoelectric actuator in smart composite laminates was modeled using an improved layerwise displacement field and Heaviside unit step functions. The finite element method with four node plate element and the extended Hamilton principle were used to derive the governing equation. The effects of actuator debonding on the smart composite laminate were investigated in both the frequency and time domains. The frequency and transient responses were obtained using the mode superposition method and the Newmark time integration algorithm, respectively. Two partial actuator debonding cases were studied to investigate the debonding effects on the actuation capability of the piezoelectric actuator. The effect of actuator debonding on the natural frequencies was subtler, but severe reductions of the actuation ability were observed in both the frequency and time responses, especially in the edge debonded actuator case. The results provided confirmation that the proposed modeling could be used in virtual experiments of actuator failure in smart composite laminates. (paper)
Vijayakumar, Ganesh; Sprague, Michael
2017-11-01
Demonstrating expected convergence rates with spatial- and temporal-grid refinement is the ``gold standard'' of code and algorithm verification. However, the lack of analytical solutions and generating manufactured solutions presents challenges for verifying codes for complex systems. The application of the method of manufactured solutions (MMS) for verification for coupled multi-physics phenomena like fluid-structure interaction (FSI) has only seen recent investigation. While many FSI algorithms for aeroelastic phenomena have focused on boundary-resolved CFD simulations, the actuator-line representation of the structure is widely used for FSI simulations in wind-energy research. In this work, we demonstrate the verification of an FSI algorithm using MMS for actuator-line CFD simulations with a simplified structural model. We use a manufactured solution for the fluid velocity field and the displacement of the SMD system. We demonstrate the convergence of both the fluid and structural solver to second-order accuracy with grid and time-step refinement. This work was funded by the U.S. Department of Energy, Office of Energy Efficiency and Renewable Energy, Wind Energy Technologies Office, under Contract No. DE-AC36-08-GO28308 with the National Renewable Energy Laboratory.
Modelling and control of a nonlinear magnetostrictive actuator system
Ramli, M. H. M.; Majeed, A. P. P. Abdul; Anuar, M. A. M.; Mohamed, Z.
2018-04-01
This paper explores the implementation of a feedforward control method to a nonlinear control system, in particular, Magnetostrictive Actuators (MA) that has excellent properties of energy conversion between the mechanical and magnetic form through magnetostriction effects which could be used in actuating and sensing application. MA is known to exhibit hysteresis behaviour and it is rate dependent (the level of hysteresis depends closely on the rate of input excitation frequency). This is, nonetheless, an undesirable behaviour and has to be eliminated in realising high precision application. The MA is modelled by a phenomenological modelling approach via Prandtl-Ishlinskii (P-I) operator to characterise the hysteresis nonlinearities. A feedforward control strategy is designed and implemented to linearize and eliminate the hysteresis by model inversion. The results show that the P-I operator has the capability to model the hysteretic nonlinearity of MA with an acceptable accuracy. Furthermore, the proposed control scheme has demonstrated to be effective in providing superior trajectory tracking.
Modelling and Simulation of Novel Three Arm MEMS Actuators and Its Application
International Nuclear Information System (INIS)
Pandiyan, Jagadeesh; Umapathy, M; Balachandar, S; Arumugam, M; Ramasamy, S; Gajjar, Nilesh C
2006-01-01
This paper presents the design and Finite Element Model (FEM) simulation of a novel electrothermal microactuators and arrays. It is a single material microactuator which deflects at its tips by differential thermal expansion of its constituent parts. The electrothermal actuator consists of three thin arms, three thin blades and two electrical connection pads. The goal of this coupled electrothermal actuator design was to multiply the force by adding the individual contributions of all the three actuators. The difference in magnitude of blade deflections depends on the geometrical characteristics of the actuators. The thermal deformation and thermal stability are easily controllable. The simulation employing ANSYS/Multiphysics software results include force, deflection, thermal stress, ideal electrothermal actuator and array geometries. The main advantage of this electrothermal actuator is large deflection of blades with very low actuation voltage in comparison with electrostatic actuators. A typical application in a micromirror is shown to illustrate the utility of these actuators and arrays
Zipping dielectric elastomer actuators: characterization, design and modeling
International Nuclear Information System (INIS)
Maffli, L; Rosset, S; Shea, H R
2013-01-01
We report on miniature dielectric elastomer actuators (DEAs) operating in zipping mode with an analytical model that predicts their behavior. Electrostatic zipping is a well-known mechanism in silicon MEMS to obtain large deformations and forces at lower voltages than for parallel plate electrostatic actuation. We extend this concept to DEAs, which allows us to obtain much larger out-of-plane displacements compared to silicon thanks to the softness of the elastomer membrane. We study experimentally the effect of sidewall angles and elastomer prestretch on 2.3 mm diameter actuators with PDMS membranes. With 15° and 22.5° sidewall angles, the devices zip in a bistable manner down 300 μm to the bottom of the chambers. The highly tunable bistable behavior is controllable by both chamber geometry and membrane parameters. Other specific characteristics of zipping DEAs include well-controlled deflected shape, tunable displacement versus voltage characteristics to virtually any shape, including multi-stable modes, sealing of embedded holes or channels for valving action and the reduction of the operating voltage. These properties make zipping DEAs an excellent candidate for applications such as integrated microfluidics actuators or Braille displays. (paper)
Directory of Open Access Journals (Sweden)
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.
Modeling and simulation of thermally actuated bilayer plates
Bartels, Sören; Bonito, Andrea; Muliana, Anastasia H.; Nochetto, Ricardo H.
2018-02-01
We present a mathematical model of polymer bilayers that undergo large bending deformations when actuated by non-mechanical stimuli such as thermal effects. The simple model captures a large class of nonlinear bending effects and can be discretized with standard plate elements. We devise a fully practical iterative scheme and apply it to the simulation of folding of several practically useful compliant structures comprising of thin elastic layers.
Nonlinear dynamic modeling for smart material electro-hydraulic actuator development
Larson, John P.; Dapino, Marcelo J.
2013-03-01
Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.
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.
Schoeftner, J.; Ebner, W.
2017-12-01
Automated and manual transmissions are the main link between engine and powertrain. The technical term when the transmission provides the desired torque during all possible driving conditions is denoted as powertrain matching. Recent developments in the last years show that double-clutch-transmissions (DCTs) are a reasonable compromise in terms of production costs, shifting quality, drivability and fuel efficiency. They have several advantages compared to other automatic transmissions (AT). Most DCTs nowadays consist of a hydraulic actuation control unit, which controls the clutches of the gearbox in order to induce a desired drivetrain torque into the driveline. The main functions of hydraulic systems are manifold: they initiate gear shifts, they provide sufficient oil for lubrication and they control the shift quality by suitably providing a desired oil flow or pressure for the clutch actuation. In this paper, a mathematical model of a passenger car equipped with a DCT is presented. The objective of this contribution is to get an increased understanding for the dynamics of the hydraulic circuit and its coupling to the vehicle drivetrain. The simulation model consists of a hydraulic and a mechanical domain: the hydraulic actuation circuit is described by nonlinear differential equations and includes the dynamics of the line pressure and the proportional valve, as well as the influence of the pressure reducing valve, pipe resistances and accumulator dynamics. The drivetrain with its gear ratios, moments of inertia, torsional stiffness of the rotating shafts and a simple longitudinal vehicle model represent the mechanical domain. The link between hydraulic and mechanical domain is given by the clutch, which combines hydraulic equations and Newton's laws. The presented mathematical model may not only be used as a simulation model for developing the transmission control software, it may also serve as a virtual layout for the design process phase. At the end of this
Non-linear time variant model intended for polypyrrole-based actuators
Farajollahi, Meisam; Madden, John D. W.; Sassani, Farrokh
2014-03-01
Polypyrrole-based actuators are of interest due to their biocompatibility, low operation voltage and relatively high strain and force. Modeling and simulation are very important to predict the behaviour of each actuator. To develop an accurate model, we need to know the electro-chemo-mechanical specifications of the Polypyrrole. In this paper, the non-linear time-variant model of Polypyrrole film is derived and proposed using a combination of an RC transmission line model and a state space representation. The model incorporates the potential dependent ionic conductivity. A function of ionic conductivity of Polypyrrole vs. local charge is proposed and implemented in the non-linear model. Matching of the measured and simulated electrical response suggests that ionic conductivity of Polypyrrole decreases significantly at negative potential vs. silver/silver chloride and leads to reduced current in the cyclic voltammetry (CV) tests. The next stage is to relate the distributed charging of the polymer to actuation via the strain to charge ratio. Further work is also needed to identify ionic and electronic conductivities as well as capacitance as a function of oxidation state so that a fully predictive model can be created.
Modeling of MEMS Mirrors Actuated by Phase-Change Mechanism
Directory of Open Access Journals (Sweden)
David Torres
2017-04-01
Full Text Available Given the multiple applications for micro-electro-mechanical system (MEMS mirror devices, most of the research efforts are focused on improving device performance in terms of tilting angles, speed, and their integration into larger arrays or systems. The modeling of these devices is crucial for enabling a platform, in particular, by allowing for the future control of such devices. In this paper, we present the modeling of a MEMS mirror structure with four actuators driven by the phase-change of a thin film. The complexity of the device structure and the nonlinear behavior of the actuation mechanism allow for a comprehensive study that encompasses simpler electrothermal designs, thus presenting a general approach that can be adapted to most MEMS mirror designs based on this operation principle. The MEMS mirrors presented in this work are actuated by Joule heating and tested using optical techniques. Mechanical and thermal models including both pitch and roll displacements are developed by combining theoretical analysis (using both numerical and analytical tools with experimental data and subsequently verifying with quasi-static and dynamic experiments.
Model and Design of a Power Driver for Piezoelectric Stack Actuators
Directory of Open Access Journals (Sweden)
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.
Analysis of Power Enhancement for a Row of Wind Turbines Using the Actuator Line Technique
International Nuclear Information System (INIS)
Mikkelsen, Robert; Soerensen, Jens N; Oeye, Stig; Troldborg, Niels
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 the row. The mutual distance between the turbines is 5 diameters and the turbines are considered to operate in a wind shear with an exponent of 0.15, with the rotor centre located at 1.4 radii from the ground. The main findings reveal clear effects of reducing the loading on the foremost turbine towards increased production of turbine 2 and 3 in a row
Static Modeling for Commercial Braided Pneumatic Muscle Actuators
Directory of Open Access Journals (Sweden)
Jun Zhong
2014-05-01
Full Text Available An enhanced model is proposed to describe static property of commercial braided pneumatic muscle actuators by including several important influencing factors. Elasticity of elastomer tube is considered and Ogden strain energy function is employed to describe its strain energy density. During pressurized process, small deformation of fiber occurs and is calculated using force balancing principle. Frictional forces within muscles are studied, which consist of friction within braid and that between bladder and braid. Isobaric experiments are performed and results verify the validity of the model.
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.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
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.
Electrochemical fabrication and modelling of mechanical behavior of a tri-layer polymer actuator
International Nuclear Information System (INIS)
Kaynak, Akif; Yang Chunhui; Lim, Yang C.; Kouzani, Abbas
2011-01-01
Stability and performance of electrochemically synthesized tri-layer polypyrrole based actuators were reported. Concentrations were optimized as 0.05 M pyrrole and 0.05 M tetrabutylammonium hexaflurophosphate in propylene carbonate (PC). The force output of the actuators ranged from 0.2 to 0.4 mN. Cyclic deflection tests on PC based actuators for a duration of 3 h indicated that the displacement decreased by 60%. However, actuation could be regenerated by immersing the actuator into the electrolyte solution. Surface resistivity measurements on the actuators prior to and after 3 h continuous deflection did not show any significant change in the resistivity of the PPy layer. A triple-layer model of the polymer actuator was developed based on the classic bending beam theory by considering strain continuity between PPy and PVDF. Results predicted by the model were in good agreement with the experimental data.
Comparison of OpenFOAM and EllipSys3D actuator line methods with (NEW) MEXICO results
DEFF Research Database (Denmark)
Nathan, J.; Meyer Forsting, Alexander Raul; Troldborg, Niels
2017-01-01
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...
Finite element and analytical models for twisted and coiled actuator
Tang, Xintian; Liu, Yingxiang; Li, Kai; Chen, Weishan; Zhao, Jianguo
2018-01-01
Twisted and coiled actuator (TCA) is a class of recently discovered artificial muscle, which is usually made by twisting and coiling polymer fibers into spring-like structures. It has been widely studied since discovery due to its impressive output characteristics and bright prospects. However, its mathematical models describing the actuation in response to the temperature are still not fully developed. It is known that the large tensile stroke is resulted from the untwisting of the twisted fiber when heated. Thus, the recovered torque during untwisting is a key parameter in the mathematical model. This paper presents a simplified model for the recovered torque of TCA. Finite element method is used for evaluating the thermal stress of the twisted fiber. Based on the results of the finite element analyses, the constitutive equations of twisted fibers are simplified to develop an analytic model of the recovered torque. Finally, the model of the recovered torque is used to predict the deformation of TCA under varying temperatures and validated against experimental results. This work will enhance our understanding of the deformation mechanism of TCAs, which will pave the way for the closed-loop position control.
Modelling and Control of Ionic Electroactive Polymer Actuators under Varying Humidity Conditions
Directory of Open Access Journals (Sweden)
S. Sunjai Nakshatharan
2018-02-01
Full Text Available In this work, we address the problem of position control of ionic electroactive polymer soft actuators under varying relative humidity conditions. The impact of humidity on the actuation performance of ionic actuators is studied through frequency response and impedance spectroscopy analysis. Considering the uncertain performance of the actuator under varying humidity conditions, an adaptable model using the neural network method is developed. The model uses relative humidity magnitude as one of the model parameters, making it robust to different environmental conditions. Utilizing the model, a closed-loop controller based on the model predictive controller is developed for position control of the actuator. The developed model and controller are experimentally verified and found to be capable of predicting and controlling the actuators with excellent tracking accuracy under relative humidity conditions varying in the range of 10–90%.
Computational Actuator Disc Models for Wind and Tidal Applications
Directory of Open Access Journals (Sweden)
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.
Iyyappan Balaguru; Sathiavelu Sendhilkumar
2013-01-01
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 actuati...
Preisach model of hysteresis for the Piezoelectric Actuator Drive
DEFF Research Database (Denmark)
Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe
2015-01-01
The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from...
Directory of Open Access Journals (Sweden)
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. PMID:22319319
Validation of High Displacement Piezoelectric Actuator Finite Element Models
Taleghani, B. K.
2000-01-01
The paper presents the results obtained by using NASTRAN(Registered Trademark) and ANSYS(Regitered Trademark) finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness are important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN(Registered Trademark) and ANSYS(Registered Trademark) used different methods for modeling piezoelectric effects. In NASTRAN(Registered Trademark), a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS(Registered Trademark) processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
Analytical model for an electrostatically actuated miniature diaphragm compressor
International Nuclear Information System (INIS)
Sathe, Abhijit A; Groll, Eckhard A; Garimella, Suresh V
2008-01-01
This paper presents a new analytical approach for quasi-static modeling of an electrostatically actuated diaphragm compressor that could be employed in a miniature scale refrigeration system. The compressor consists of a flexible circular diaphragm clamped at its circumference. A conformal chamber encloses the diaphragm completely. The membrane and the chamber surfaces are coated with metallic electrodes. A potential difference applied between the diaphragm and the chamber pulls the diaphragm toward the chamber surface progressively from the outer circumference toward the center. This zipping actuation reduces the volume available to the refrigerant gas, thereby increasing its pressure. A segmentation technique is proposed for analysis of the compressor by which the domain is divided into multiple segments for each of which the forces acting on the diaphragm are estimated. The pull-down voltage to completely zip each individual segment is thus obtained. The required voltage for obtaining a specific pressure rise in the chamber can thus be determined. Predictions from the model compare well with other simulation results from the literature, as well as to experimental measurements of the diaphragm displacement and chamber pressure rise in a custom-built setup
A mechanical model of a non-uniform ionomeric polymer metal composite actuator
International Nuclear Information System (INIS)
Anton, Mart; Aabloo, Alvo; Punning, Andres; Kruusmaa, Maarja
2008-01-01
This paper describes a mechanical model of an IPMC (ionomeric polymer metal composite) actuator in a cantilever beam configuration. The main contribution of our model is that it gives the most detailed description reported so far of the quasistatic mechanical behaviour of the actuator with non-uniform bending at large deflections. We also investigate a case where part of an IPMC actuator is replaced with a rigid elongation and demonstrate that this configuration would make the actuator behave more linearly. The model is experimentally validated with MuscleSheet(TM) IPMCs, purchased from BioMimetics Inc
Wang, Dongyang; Ba, Dechun; Hao, Ming; Duan, Qihui; Liu, Kun; Mei, Qi
2018-05-01
Pneumatic NC (normally closed) valves are widely used in high density microfluidics systems. To improve actuation reliability, the actuation pressure needs to be reduced. In this work, we utilize 3D FEM (finite element method) modelling to get an insight into the valve actuation process numerically. Specifically, the progressive debonding process at the elastomer interface is simulated with CZM (cohesive zone model) method. To minimize the actuation pressure, the V-shape design has been investigated and compared with a normal straight design. The geometrical effects of valve shape has been elaborated, in terms of valve actuation pressure. Based on our simulated results, we formulate the main concerns for micro valve design and fabrication, which is significant for minimizing actuation pressures and ensuring reliable operation.
Vortex ring state by full-field actuator disc model
Energy Technology Data Exchange (ETDEWEB)
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.
A comprehensive dynamic modeling approach for giant magnetostrictive material actuators
International Nuclear Information System (INIS)
Gu, Guo-Ying; Zhu, Li-Min; Li, Zhi; Su, Chun-Yi
2013-01-01
In this paper, a comprehensive modeling approach for a giant magnetostrictive material actuator (GMMA) is proposed based on the description of nonlinear electromagnetic behavior, the magnetostrictive effect and frequency response of the mechanical dynamics. It maps the relationships between current and magnetic flux at the electromagnetic part to force and displacement at the mechanical part in a lumped parameter form. Towards this modeling approach, the nonlinear hysteresis effect of the GMMA appearing only in the electrical part is separated from the linear dynamic plant in the mechanical part. Thus, a two-module dynamic model is developed to completely characterize the hysteresis nonlinearity and the dynamic behaviors of the GMMA. The first module is a static hysteresis model to describe the hysteresis nonlinearity, and the cascaded second module is a linear dynamic plant to represent the dynamic behavior. To validate the proposed dynamic model, an experimental platform is established. Then, the linear dynamic part and the nonlinear hysteresis part of the proposed model are identified in sequence. For the linear part, an approach based on axiomatic design theory is adopted. For the nonlinear part, a Prandtl–Ishlinskii model is introduced to describe the hysteresis nonlinearity and a constrained quadratic optimization method is utilized to identify its coefficients. Finally, experimental tests are conducted to demonstrate the effectiveness of the proposed dynamic model and the corresponding identification method. (paper)
Modeling and development of a twisting wing using inductively heated shape memory alloy actuators
Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.
2015-04-01
Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.
Numerical Study of Wind Turbine Wake Modeling Based on a Actuator Surface Model
DEFF Research Database (Denmark)
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 o...
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
Directory of Open Access Journals (Sweden)
Miguel Lara-Castro
2017-06-01
Full Text Available Endoscopic optical-coherence tomography (OCT systems require low cost mirrors with small footprint size, out-of-plane deflections and low bias voltage. These requirements can be achieved with electrothermal actuators based on microelectromechanical systems (MEMS. We present the design and modeling of polysilicon electrothermal actuators for a MEMS mirror (100 μm × 100 μm × 2.25 μm. These actuators are composed by two beam types (2.25 μm thickness with different cross-section area, which are separated by 2 μm gap. The mirror and actuators are designed through the Sandia Ultra-planar Multi-level MEMS Technology V (SUMMiT V® process, obtaining a small footprint size (1028 μm × 1028 µm for actuators of 550 µm length. The actuators have out-of-plane displacements caused by low dc voltages and without use material layers with distinct thermal expansion coefficients. The temperature behavior along the actuators is calculated through analytical models that include terms of heat energy generation, heat conduction and heat energy loss. The force method is used to predict the maximum out-of-plane displacements in the actuator tip as function of supplied voltage. Both analytical models, under steady-state conditions, employ the polysilicon resistivity as function of the temperature. The electrothermal-and structural behavior of the actuators is studied considering different beams dimensions (length and width and dc bias voltages from 0.5 to 2.5 V. For 2.5 V, the actuator of 550 µm length reaches a maximum temperature, displacement and electrical power of 115 °C, 10.3 µm and 6.3 mW, respectively. The designed actuation mechanism can be useful for MEMS mirrors of different sizes with potential application in endoscopic OCT systems that require low power consumption.
Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control
Directory of Open Access Journals (Sweden)
Bhimashankar Gurav
2017-06-01
Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.
Characterisation of a phenomenological model for commercial pneumatic muscle actuators.
Serres, J L; Reynolds, D B; Phillips, C A; Gerschutz, M J; Repperger, D W
2009-08-01
This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 - 0.0321P for 150 < or = P < or = 314 kPa and K = 17 + 0.0179P for 314 < or = P < or = 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 < or = P < or = 550 kPa. During relaxation, B = 1.57 for 150 < or = P < or = 372 kPa and B = 0.311 + 0.00338P for 372 < or = P < or = 550. The following relationship for the contractile force coefficient, F(ce) N, was also determined: F(ce) = 2.91P+44.6 for 150 < or = P < or = 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.
Modeling and inverse feedforward control for conducting polymer actuators with hysteresis
International Nuclear Information System (INIS)
Wang, Xiangjiang; Alici, Gursel; Tan, Xiaobo
2014-01-01
Conducting polymer actuators are biocompatible with a small footprint, and operate in air or liquid media under low actuation voltages. This makes them excellent actuators for macro- and micro-manipulation devices, however, their positioning ability or accuracy is adversely affected by their hysteresis non-linearity under open-loop control strategies. In this paper, we establish a hysteresis model for conducting polymer actuators, based on a rate-independent hysteresis model known as the Duhem model. The hysteresis model is experimentally identified and integrated with the linear dynamics of the actuator. This combined model is inverted to control the displacement of the tri-layer actuators considered in this study, without using any external feedback. The inversion requires an inverse hysteresis model which was experimentally identified using an inverse neural network model. Experimental results show that the position tracking errors are reduced by more than 50% when the hysteresis inverse model is incorporated into an inversion-based feedforward controller, indicating the potential of the proposed method in enabling wider use of such smart actuators. (paper)
Modeling and comparison of superconducting linear actuators for highly dynamic motion
Directory of Open Access Journals (Sweden)
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.
Non Linear Modelling and Control of Hydraulic Actuators
Directory of Open Access Journals (Sweden)
B. Šulc
2002-01-01
Full Text Available This paper deals with non-linear modelling and control of a differential hydraulic actuator. The nonlinear state space equations are derived from basic physical laws. They are more powerful than the transfer function in the case of linear models, and they allow the application of an object oriented approach in simulation programs. The effects of all friction forces (static, Coulomb and viscous have been modelled, and many phenomena that are usually neglected are taken into account, e.g., the static term of friction, the leakage between the two chambers and external space. Proportional Differential (PD and Fuzzy Logic Controllers (FLC have been applied in order to make a comparison by means of simulation. Simulation is performed using Matlab/Simulink, and some of the results are compared graphically. FLC is tuned in a such way that it produces a constant control signal close to its maximum (or minimum, where possible. In the case of PD control the occurrence of peaks cannot be avoided. These peaks produce a very high velocity that oversteps the allowed values.
Hydrogel core flexible matrix composite (H-FMC) actuators: theory and preliminary modelling
International Nuclear Information System (INIS)
Dicker, M P M; Weaver, P M; Bond, I P; Rossiter, J M
2014-01-01
The underlying theory of a new actuator concept based on hydrogel core flexible matrix composites (H-FMC) is presented. The key principle that underlines the H-FMC actuator operation is that the three-dimensional swelling of a hydrogel is partially constrained in order to improve the amount of useful work done. The partial constraint is applied to the hydrogel by a flexible matrix composite (FMC) that minimizes the hydrogel's volume expansion while swelling. This constraint serves to maximize the fixed charge density and resulting osmotic pressure, the driving force behind actuation. In addition, for certain FMC fibre orientations the Poisson's ratio of the anisotropic FMC laminate converts previously unused hydrogel swelling in the radial and circumferential directions into useful axial strains. The potential benefit of the H-FMC concept to hydrogel actuator performance is shown through comparison of force–stroke curves and evaluation of improvements in useful actuation work. The model used to achieve this couples chemical and electrical components, represented with the Nernst–Plank and Poisson equations, as well as a linear elastic mechanical material model, encompassing limited geometric nonlinearities. It is found that improvements in useful actuation work in the order of 1500% over bare hydrogel performance are achieved by the H-FMC concept. A parametric study is also undertaken to determine the effect of various FMC design parameters on actuator free strain and blocking stress. A comparison to other actuator concepts is also included. (paper)
A modeling framework for deteriorating control system and predictive maintenance of actuators
International Nuclear Information System (INIS)
Langeron, Y.; Grall, A.; Barros, A.
2015-01-01
Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy
Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model.
Li, Pengzhi; Yan, Feng; Ge, Chuan; Zhang, Mingchao
2012-08-01
In this paper, a novel Takagi-Sugeno (T-S) fuzzy system based model is proposed for hysteresis in piezoelectric actuators. The antecedent and consequent structures of the fuzzy hysteresis model (FHM) can be, respectively, identified on-line through uniform partition approach and recursive least squares (RLS) algorithm. With respect to controller design, the inverse of FHM is used to develop a feedforward controller to cancel out the hysteresis effect. Then a hybrid controller is designed for high-performance tracking. It combines the feedforward controller with a proportional integral differential (PID) controller favourable for stabilization and disturbance compensation. To achieve nanometer-scale tracking precision, the enhanced adaptive hybrid controller is further developed. It uses real-time input and output data to update FHM, thus changing the feedforward controller to suit the on-site hysteresis character of the piezoelectric actuator. Finally, as to 3 cases of 50 Hz sinusoidal, multiple frequency sinusoidal and 50 Hz triangular trajectories tracking, experimental results demonstrate the efficiency of the proposed controllers. Especially, being only 0.35% of the maximum desired displacement, the maximum error of 50 Hz sinusoidal tracking is greatly reduced to 5.8 nm, which clearly shows the ultra-precise nanometer-scale tracking performance of the developed adaptive hybrid controller.
Motion modelling and control strategies of over-actuated vehicles
Edrén, Johannes
2014-01-01
With the growing concern for environmental change and uncertain oil resources, the development of new vehicle concepts will in many cases include full or partial electric propulsion. The introduction of more advanced powertrains enables vehicles that can be controlled with a variety of electric actuators, such as wheel hub motors and individual steering. With these actuators, the chassis can be enabled to adjust its properties depending on the driving situation. Manoeuvring of the vehicle, us...
Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.
2018-05-01
Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.
Modeling posture-dependent leg actuation in sagittal plane locomotion
International Nuclear Information System (INIS)
Schmitt, J; Clark, J
2009-01-01
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.
Directory of Open Access Journals (Sweden)
D. N. Popov
2015-01-01
Full Text Available The article considers a mathematical model of the hydraulic line for remote control of electro-hydraulic servo drive (EHSD with throttle control. This type of hydraulic lines is designed as a backup to replace the electrical connections, which are used to control EHSD being remote from the site with devices located to form the control signals of any object. A disadvantage of electric connections is that they are sensitive to magnetic fields and thereby do not provide the required reliability of the remote control. Hydraulic lines have no this disadvantage and therefore are used in aircraft and other industrial systems. However, dynamic characteristics of hydraulic systems still have been investigated insufficiently in the case of transmitting control signals at a distance at which the signal may be distorted when emerging the wave processes.The article results of mathematical simulation, which are verified through physical experimentation, largely eliminate the shortcomings of said information.The mathematical model described in the paper is based on the theory of unsteady pressure compressible fluids. In the model there are formulas that provide calculation of frequency characteristics of the hydraulic lines under hydraulic oscillations of the laminar flow parameters of viscous fluid.A real mock-up of the system under consideration and an experimental ad hoc unit are used to verify the results of mathematically simulated hydraulic systems.Calculated logarithmic amplitude and phase frequency characteristics compared with those obtained experimentally prove, under certain conditions, the proposed theoretical method of calculation. These conditions have to ensure compliance with initial parameters of fluid defined under stationary conditions. The applied theory takes into consideration a non-stationary hydraulic resistance of the line when calculating frequency characteristics.The scientific novelty in the article material is presented in
Displacement Models for THUNDER Actuators having General Loads and Boundary Conditions
Wieman, Robert; Smith, Ralph C.; Kackley, Tyson; Ounaies, Zoubeida; Bernd, Jeff; Bushnell, Dennis M. (Technical Monitor)
2001-01-01
This paper summarizes techniques for quantifying the displacements generated in THUNDER actuators in response to applied voltages for a variety of boundary conditions and exogenous loads. The PDE (partial differential equations) models for the actuators are constructed in two steps. In the first, previously developed theory quantifying thermal and electrostatic strains is employed to model the actuator shapes which result from the manufacturing process and subsequent repoling. Newtonian principles are then employed to develop PDE models which quantify displacements in the actuator due to voltage inputs to the piezoceramic patch. For this analysis, drive levels are assumed to be moderate so that linear piezoelectric relations can be employed. Finite element methods for discretizing the models are developed and the performance of the discretized models are illustrated through comparison with experimental data.
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
DEFF Research Database (Denmark)
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......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...
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.
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.
Comparison of OpenFOAM and EllipSys3D actuator line methods with (NEW) MEXICO results
International Nuclear Information System (INIS)
Nathan, J; Masson, C; Meyer Forsting, A R; Troldborg, N
2017-01-01
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. (paper)
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.
Parameter identification and model validation for the piezoelectric actuator in an inertia motor
International Nuclear Information System (INIS)
Hunstig, Matthias; Hemsel, Tobias
2010-01-01
Piezoelectric inertia motors make use of the inertia of a slider to drive the slider by friction contact in a series of small steps which are generally composed of a stick phase and a slip phase. If the best electrical drive signal for the piezoelectric actuator in an inertia motor is to be determined, its dynamical behaviour must be known. A classic dynamic lumped parameter model for piezoelectric actuators is valid only in resonance and, therefore, is not suitable for modelling the actuator in an inertia motor. A reduced dynamic model is used instead. Its parameters are identified using a step response measurement. This model is used to predict the movement of the actuator in response to a velocity-optimized signal introduced in a separate contribution. Results show that the model cannot represent the dynamical characteristics of the actuator completely. For determining voltage signals that let piezoelectric actuators follow a calculated movement pattern exactly, the model can, therefore, only be used with limitations.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
International Nuclear Information System (INIS)
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
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
Energy Technology Data Exchange (ETDEWEB)
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.
International Nuclear Information System (INIS)
Aljanaideh, Omar; Habineza, Didace; Rakotondrabe, Micky; Al Janaideh, Mohammad
2016-01-01
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.
Experimental measurements and finite element models of High Displacement Piezoelectric Actuators.
Camargo, Gilberto; Ashford, Gevale; Naco, Eris; Usher, Tim
2004-03-01
Piezoelectric actuators have many applications including morphable wing technology and piezoelectric transformers. A Piezoelectric ceramic is a material that will move when a voltage is applied and conversely produces a charge when a pressure is applied. In our study, we examine THUNDER (Thin Layer Unimorph Ferroelectric Driver and Sensor) actuators (Thunder TM is a trademark of FACE International Corporation.) Thunder actuators are constructed by bonding thin PZT piezoelectric ceramics to metal sheets. We will present physical measurements of piezoelectric actuators, as well as measurements of the displacements due to applied voltages. In our studies we used a laser micrometer to measure the dimensional characteristics of four sizes of THUNDER actuators including TH-8R, TH-9R, TH-10R, and finally the TH-11R. We also developed computer models using a commercial fine element modeling package (FEM) known as ANSYS6.0®. This software enables us to construct our models controlling such attributes as exact dimensions of the three layers of the piezoelectric actuator, the material properties of each element, the type of load that is to be applied as well as the manner in which the layers are bonded together. The computer model compares favorably with the experimental results. Acknowledgements: NASA Grant No. 0051-0078 Department of Defense (DoD) Control No.ISP02-EUG15
A conclusive scalable model for the complete actuation response for IPMC transducers
International Nuclear Information System (INIS)
McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q
2010-01-01
This paper proposes a conclusive scalable model for the complete actuation response for ionic polymer metal composites (IPMC). This single model is proven to be able to accurately predict the free displacement/velocity and force actuation at varying displacements, with up to 3 V inputs. An accurate dynamic relationship between the force and displacement has been established which can be used to predict the complete actuation response of the IPMC transducer. The model is accurate at large displacements and can also predict the response when interacting with external mechanical systems and loads. This model equips engineers with a useful design tool which enables simple mechanical design, simulation and optimization when integrating IPMC actuators into an application. The response of the IPMC is modelled in three stages: (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electromechanical coupling term and (iii) a segmented mechanical beam model which includes an electrically induced torque for the polymer. Model parameters are obtained using the dynamic time response and results are presented demonstrating the correspondence between the model and experimental results over a large operating range. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators
One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust
International Nuclear Information System (INIS)
Yoon, Jae-San; Han, Jae-Hung
2014-01-01
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. (paper)
International Nuclear Information System (INIS)
Pramanik, M.; Gupta, P.K.; Ravi Prakash
1997-01-01
Several types of system design and logic arrangements have been used for reactor shutdown systems to avoid the possibility that a single failure within the trip channels/shutdown system actuators can prevent a shutdown system actuation. The trip channels and the logic arrangements associated with the shutdown systems use redundancy to allow them to continue to operate successfully even after having a certain number of failures. A periodic test is thus needed to detect and repair/replace failed elements to prevent accumulation and eventual system failure. The test must be capable of detecting the first failure. The design initiates shutdown system actuation by deenergising the logic relays and turning off the power to the final electrical actuators. Thus, the systems are fail safe with respect to loss of electrical power to the instruments, logic channels and the actuators. Several system/logic arrangements are used to reduce the chances of spurious actuation caused by the loss of a single power supply and other single failures. In general, the systems use coincidence of instrument channel trips and have separate power supplies for the individual instrument channel and dual power supplies where a single final control element is used. These features also permit on line test of instrument channels and logic train. On line test detects component failures not found by other means. The test determines whether gross failure has occurred rather than perform a calibration. As far as practicable the whole channel from sensors to logic and final control element is to be tested. (author)
Inverse grey-box model-based control of a dielectric elastomer actuator
DEFF Research Database (Denmark)
Jones, Richard William; Sarban, Rahimullah
2012-01-01
control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control......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...... of control scheme was dictated by the desire for transparency in both controller design and operation. The internal model control (IMC) approach was chosen. In this particular application, the inverse of the linearized form of the grey-box model is used to formulate the IMC controller. To ensure consistent...
A voice-actuated wind tunnel model leak checking system
Larson, William E.
1989-01-01
A computer program has been developed that improves the efficiency of wind tunnel model leak checking. The program uses a voice recognition unit to relay a technician's commands to the computer. The computer, after receiving a command, can respond to the technician via a voice response unit. Information about the model pressure orifice being checked is displayed on a gas-plasma terminal. On command, the program records up to 30 seconds of pressure data. After the recording is complete, the raw data and a straight line fit of the data are plotted on the terminal. This allows the technician to make a decision on the integrity of the orifice being checked. All results of the leak check program are stored in a database file that can be listed on the line printer for record keeping purposes or displayed on the terminal to help the technician find unchecked orifices. This program allows one technician to check a model for leaks instead of the two or three previously required.
Directory of Open Access Journals (Sweden)
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.
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.
Aerodynamic modeling of floating vertical axis wind turbines using the actuator cylinder flow method
DEFF Research Database (Denmark)
Cheng, Zhengshun; Aagaard Madsen, Helge; Gao, Zhen
2016-01-01
Recently the interest in developing vertical axis wind turbines (VAWTs) for offshore application has been increasing. Among the aerodynamic models of VAWTs, double multi-streamtube (DMST) and actuator cylinder (AC) models are two favorable methods for fully coupled modeling and dynamic analysis...
A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators
International Nuclear Information System (INIS)
Sepiani, H.; Ebrahimi, F.; Karimipour, H.
2009-01-01
This paper presents a theoretical study of the thermally driven behavior of a shape memory alloy (SMA)/FGM actuator under arbitrary loading and boundary conditions by developing an integrated mathematical model. The model studied is established on the geometric parameters of the three-dimensional laminated composite box beam as an actuator that consists of a functionally graded core integrated with SMA actuator layers with a uniform rectangular cross section. The constitutive equation and linear phase transformation kinetics relations of SMA layers based on Tanaka and Nagaki model are coupled with the governing equation of the actuator to predict the stress history and to model the thermo-mechanical behavior of the smart shape memory alloy/FGM beam. Based on the classical laminated beam theory, the explicit solution to the structural response of the structure, including axial and lateral deflections of the structure, is investigated. As an example, a cantilever box beam subjected to a transverse concentrated load is solved numerically. It is found that the changes in the actuator's responses during the phase transformation due to the strain recovery are significant
Verification and validation of an actuator disc model
DEFF Research Database (Denmark)
Réthoré, Pierre-Elouan; Laan, van der, Paul Maarten; Troldborg, Niels
2014-01-01
reduce the computational cost of large wind farm wake simulations. The special case of the actuator disc is successfully validated with an analytical solution for heavily loaded turbines and with a full-rotor computation in computational fluid dynamics. Copyright © 2013 John Wiley & Sons, Ltd....... take any kind of shape discretization, determine the intersectional elements with the computational grid and use the size of these elements to redistribute proportionally the forces. This method can potentially reduce the need for mesh refinement in the region surrounding the rotor and, therefore, also...
Piteľ Ján; Tóthová Mária
2016-01-01
For modelling and simulation of pneumatic muscle actuators the mathematical dependence of the muscle force on the muscle contraction at different pressures in the muscles is necessary to know. For this purpose the static characteristics of the pneumatic artificial muscle type FESTO MAS-20-250N used in the experiments were approximated. In the paper there are shown some simulation results of the pneumatic muscle actuator dynamics using modified Hill's muscle model, in which four different appr...
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.
Modeling and Design of a Full-Scale Rotor Blade with Embedded Piezocomposite Actuators
Kovalovs, A.; Barkanov, E.; Ruchevskis, S.; Wesolowski, M.
2017-05-01
An optimization methodology for the design of a full-scale rotor blade with an active twist in order to enhance its ability to reduce vibrations and noise is presented. It is based on a 3D finite-element model, the planning of experiments, and the response surface technique to obtain high piezoelectric actuation forces and displacements with a minimum actuator weight and energy applied. To investigate an active twist of the helicopter rotor blade, a structural static analysis using a 3D finite-element model was carried out. Optimum results were obtained at two possible applications of macrofiber composite actuators. The torsion angle found from the finite-element simulation of helicopter rotor blades was successfully validated by its experimental values, which confirmed the modeling accuracy.
Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm
DEFF Research Database (Denmark)
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....
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.
Directory of Open Access Journals (Sweden)
R. Vertechy
2013-01-01
Full Text Available Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the visco-hyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.
Modeling and control of a self-sensing polymer metal composite actuator
International Nuclear Information System (INIS)
Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan
2014-01-01
An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)
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.
Temperature dependency of the hysteresis behaviour of PZT actuators using Preisach model
DEFF Research Database (Denmark)
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 pre...
Fault Tolerance for Industrial Actuators in Absence of Accurate Models and Hardware Redundancy
DEFF Research Database (Denmark)
Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik
2015-01-01
This paper investigates Fault-Tolerant Control for closed-loop systems where only coarse models are available and there is lack of actuator and sensor redundancies. The problem is approached in the form of a typical servomotor in closed-loop. A linear model is extracted from input/output data to ...
DEFF Research Database (Denmark)
Xu, Chang; Li, Chen Qi; Han, Xing Xing
2015-01-01
Study on the aerodynamic field in complex terrain is significant to wind farm micro-sitting and wind power prediction. This paper modeled the wind turbine through an actuator disk model, and solved the aerodynamic field by CFD to study the influence of meshing, boundary conditions and turbulence ...
Performance prediction for a magnetostrictive actuator using a simplified model
Yoo, Jin-Hyeong; Jones, Nicholas J.
2018-03-01
Iron-Gallium alloys (Galfenol) are promising transducer materials that combine high magnetostriction, desirable mechanical properties, high permeability, and a wide operational temperature range. Most of all, the material is capable of operating under tensile stress, and is relatively resistant to shock. These materials are generally characterized using a solid, cylindrically-shaped specimen under controlled compressive stress and magnetization conditions. Because the magnetostriction strongly depends on both the applied stress and magnetization, the characterization of the material is usually conducted under controlled conditions so each parameter is varied independently of the other. However, in a real application the applied stress and magnetization will not be maintained constant during operation. Even though the controlled characterization measurement gives insight into standard material properties, usage of this data in an application, while possible, is not straight forward. This study presents an engineering modeling methodology for magnetostrictive materials based on a piezo-electric governing equation. This model suggests phenomenological, nonlinear, three-dimensional functions for strain and magnetic flux density responses as functions of applied stress and magnetic field. Load line performances as a function of maximum magnetic field input were simulated based on the model. To verify the modeling performance, a polycrystalline magnetostrictive rod (Fe-Ga alloy, Galfenol) was characterized under compressive loads using a dead-weight test setup, with strain gages on the rod and a magnetic field driving coil around the sample. The magnetic flux density through the Galfenol rod was measured with a sensing coil; the compressive loads were measured using a load cell on the bottom of the Galfenol rod. The experimental results are compared with the simulation results using the suggested model, showing good agreement.
Soft Pneumatic Actuators for Rehabilitation
Directory of Open Access Journals (Sweden)
Guido Belforte
2014-05-01
Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments
A nonlinear finite element model of a piezoelectric tube actuator with hysteresis and creep
International Nuclear Information System (INIS)
Chung, S H; Fung, Eric H K
2010-01-01
Piezoelectric tube actuators are commonly used for nanopositioning in atomic force microscopes (AFMs). However, piezoelectric tube actuators exhibit hysteresis and creep which significantly limit the accuracy of nanopositioning. A finite element model of a piezoelectric tube actuator with hysteresis and creep is important for control purposes, but so far one has not been developed. The purpose of this paper is to present a nonlinear finite element (FE) model with hysteresis and creep for design purposes. Prandtl–Ishlinskii (PI) hysteresis operators and creep operators are adopted into constitutive equations. The nonlinear FE model is formulated using energy approach and Hamilton's principle. The parameters of the PI hysteresis operators and the creep operators are identified by comparing the simulation results and experimental results of other researchers. The working operation of the piezoelectric tube actuator is simulated by the reduced order FE model, and the displacement error due to hysteresis, creep and coupling effect is investigated. An output feedback controller is implemented into the reduced order FE model to show that this model is controllable
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.
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.
Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator
Directory of Open Access Journals (Sweden)
Xin Zuo
2017-01-01
Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2012-01-01
The actuator cylinder flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined...
Directory of Open Access Journals (Sweden)
Salman IJAZ
2018-05-01
Full Text Available In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators. The nonlinear dynamics of both actuators are first approximated as fractional order models. Based on the identified models, three fractional order controllers are proposed for the whole system. Two Fractional Order PID (FOPID controllers are dedicated to improving transient response and are designed in a position feedback configuration. In order to synchronize the actuator dynamics, a third fractional order PI controller is designed, which feeds the force compensation signal in position feedback loop of both actuators. Nelder-Mead (N-M optimization technique is employed in order to optimally tune controller parameters based on the proposed performance criteria. To test the proposed controllers according to real flight condition, an external disturbance of higher amplitude that acts as airload is applied directly on the control surface. In addition, a disturbance signal function of system states is applied to check the robustness of proposed controller. Simulation results on nonlinear system model validated the performance of the proposed scheme as compared to optimal PID and high gain PID controllers. Keywords: Aerospace, Fractional order control, Model identification, Nelder-Mead optimization, Robustness
Comparative analysis of the planar capacitor and IDT piezoelectric thin-film micro-actuator models
International Nuclear Information System (INIS)
Myers, Oliver J; Anjanappa, M; Freidhoff, Carl B
2011-01-01
A comparison of the analysis of similarly developed microactuators is presented. Accurate modeling and simulation techniques are vital for piezoelectrically actuated microactuators. Coupling analytical and numerical modeling techniques with variational design parameters, accurate performance predictions can be realized. Axi-symmetric two-dimensional and three-dimensional static deflection and harmonic models of a planar capacitor actuator are presented. Planar capacitor samples were modeled as unimorph diaphragms with sandwiched piezoelectric material. The harmonic frequencies were calculated numerically and compared well to predicted values and deformations. The finite element modeling reflects the impact of the d 31 piezoelectric constant. Two-dimensional axi-symmetric models of circularly interdigitated piezoelectrically membranes are also presented. The models include the piezoelectric material and properties, the membrane materials and properties, and incorporates various design considerations of the model. These models also include the electro-mechanical coupling for piezoelectric actuation and highlight a novel approach to take advantage of the higher d 33 piezoelectric coupling coefficient. Performance is evaluated for varying parameters such as electrode pitch, electrode width, and piezoelectric material thickness. The models also showed that several of the design parameters were naturally coupled. The static numerical models correlate well with the maximum static deflection of the experimental devices. Finally, this paper deals with the development of numerical harmonic models of piezoelectrically actuated planar capacitor and interdigitated diaphragms. The models were able to closely predict the first two harmonics, conservatively predict the third through sixth harmonics and predict the estimated values of center deflection using plate theory. Harmonic frequency and deflection simulations need further correlation by conducting extensive iterative
Directory of Open Access Journals (Sweden)
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.
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.
A novel rate-independent hysteresis model of a piezostack actuator using the congruency property
International Nuclear Information System (INIS)
Nguyen, Phuong-Bac; Choi, Seung-Bok
2011-01-01
This paper presents a novel hysteresis prediction model for a piezostack actuator. The model proposed in this work is a type of rate-independent hysteresis and is formulated using the inherent congruency property which exists in most piezoelectric materials. Specifically, the model is established by exploiting the fact that the high-order hysteretic curve segment is congruent with its first-order one that is limited by the same consecutive maximum and minimum values of input. Thus, in order to successfully implement this model two discretized first-order datasets of the ascending and descending curves need to be experimentally identified in advance. Using both the identified datasets and the congruency property, a systematic approach for predicting the hysteresis of the piezostack actuator is then obtained in two cases of input voltage: monotonic ascending and monotonic descending. The developed model is experimentally realized in order to demonstrate the effectiveness on the hysteresis prediction. In the experiment, three waveforms of input excitation schemes—a triangular waveform of decreasing amplitude, a triangular waveform of increasing amplitude and a multi-extremes triangular waveform—are applied to the proposed model. The hysteresis characteristics of the piezostack actuator predicted from the proposed model are compared with those obtained from the classical Preisach model. It is shown that the proposed model gives better accuracy, less computation time for the hysteresis prediction and more feasibility to realize than the classical Preisach model
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.; Luo, J.; Olthuis, Wouter; Bergveld, Piet; Bos, M.; van der Linden, 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
A study on modelling of a butterfly-type control valve by a pneumatic actuator
International Nuclear Information System (INIS)
Hwang, I Cheol; Park, Cheol Jae
2009-01-01
This paper studies on the modelling of a butterfly-type control valve actuating by an on-off pneumatic solenoid valve. The mathematical model is composed of nonlinear differential equations three parts: (i) a solenoid valve, (ii) a pneumatic cylinder, (iii) a rotary-type butterfly valve. The flow characteristics of the butterfly control valve is analysed by a computer simulator, then its simple transfer function is identified from the step responses.
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
Directory of Open Access Journals (Sweden)
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.
Modeling and Bayesian parameter estimation for shape memory alloy bending actuators
Crews, John H.; Smith, Ralph C.
2012-04-01
In this paper, we employ a homogenized energy model (HEM) for shape memory alloy (SMA) bending actuators. Additionally, we utilize a Bayesian method for quantifying parameter uncertainty. The system consists of a SMA wire attached to a flexible beam. As the actuator is heated, the beam bends, providing endoscopic motion. The model parameters are fit to experimental data using an ordinary least-squares approach. The uncertainty in the fit model parameters is then quantified using Markov Chain Monte Carlo (MCMC) methods. The MCMC algorithm provides bounds on the parameters, which will ultimately be used in robust control algorithms. One purpose of the paper is to test the feasibility of the Random Walk Metropolis algorithm, the MCMC method used here.
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.
Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.
Wang, Tao; Xie, Wenfang; Zhang, Youmin
2012-05-01
In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Piteľ Ján
2016-01-01
Full Text Available For modelling and simulation of pneumatic muscle actuators the mathematical dependence of the muscle force on the muscle contraction at different pressures in the muscles is necessary to know. For this purpose the static characteristics of the pneumatic artificial muscle type FESTO MAS-20-250N used in the experiments were approximated. In the paper there are shown some simulation results of the pneumatic muscle actuator dynamics using modified Hill's muscle model, in which four different approximations of static characteristics of artificial muscle were used.
A Calibrated Lumped Element Model for the Prediction of PSJ Actuator Efficiency Performance
Directory of Open Access Journals (Sweden)
Matteo Chiatto
2018-03-01
Full Text Available Among the various active flow control techniques, Plasma Synthetic Jet (PSJ actuators, or Sparkjets, represent a very promising technology, especially because of their high velocities and short response times. A practical tool, employed for design and manufacturing purposes, consists of the definition of a low-order model, lumped element model (LEM, which is able to predict the dynamic response of the actuator in a relatively quick way and with reasonable fidelity and accuracy. After a brief description of an innovative lumped model, this work faces the experimental investigation of a home-designed and manufactured PSJ actuator, for different frequencies and energy discharges. Particular attention has been taken in the power supply system design. A specific home-made Pitot tube has allowed the detection of velocity profiles along the jet radial direction, for various energy discharges, as well as the tuning of the lumped model with experimental data, where the total device efficiency has been assumed as a fitting parameter. The best fitting value not only contains information on the actual device efficiency, but includes some modeling and experimental uncertainties, related also to the used measurement technique.
Longitudinal Absolute Stability of a BWB Aircraft-Pilot System with Saturated Actuator Model
Directory of Open Access Journals (Sweden)
Claudia Alice STATE
2013-09-01
Full Text Available This paper deals with the analysis of the P(ilot I(n-the-Loop O(scillations of the second category (with rate and position liming in the closed loop pilot-vehicle system, caused by the dynamic coupling between the human pilot and the aircraft. The analysis is made in the context of the longitudinal motion and the theoretical model of the airplane presented in this article is a (Blended(Wing (Body tailless configuration. In what concerns the human operator, this is expressed by the Synchronous Pilot Model, which is represented by a simple gain, without a specific delay. The Routh-Hurwitz criterion is used in order to analyze the longitudinal stability of the low-order pilot-airplane system without the influence of actuator nonlinearity (this means that the unsaturated actuator model is employed for the mentioned algebraic criterion. Most emphasis is put on the frequency Popov criterion, which is used to investigate the absolute stability property of the short-period model in the presence of the actuator rate saturation, in the condition of the Lurie problem. The transfer function of the longitudinal BWB model, obtained from open-loop analysis, has a double pole at the origin and, for the absolute stability feedback structure that contains the nonlinearity of the saturation type, the Popov frequency-domain inequalities are applied to the PIO II problem in this critical case.
Towards a model-based development approach for wireless sensor-actuator network protocols
DEFF Research Database (Denmark)
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...... induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...
International Nuclear Information System (INIS)
An, Sung-Min; Cho, Kyu-Jin; Ryu, Junghyun; Cho, Maenghyo
2012-01-01
A shape memory alloy (SMA) coil spring actuator is fabricated by annealing an SMA wire wound on a rod. Four design parameters are required for the winding: the wire diameter, the rod diameter, the pitch angle and the number of active coils. These parameters determine the force and stroke produced by the actuator. In this paper, we present an engineering design framework to select these parameters on the basis of the desired force and stoke. The behavior of the SMA coil spring actuator is described in detail to provide information about the inner workings of the actuator and to aid in selecting the design parameters. A new static two-state model, which represents a force–deflection relation of the actuator at the fully martensitic state (M 100% ) and fully austenitic state (A 100% ), is derived for use in the design. Two nonlinear effects are considered in the model: the nonlinear detwinning effect of the SMA and the nonlinear geometric effect of the coil spring for large deformations. The design process is organized into six steps and is presented with a flowchart and design equations. By following this systematic approach, an SMA coil spring actuator can be designed for various applications. Experimental results verified the static two-state model for the SMA coil spring actuator and a case study showed that an actuator designed using this framework met the design requirements. The proposed design framework was developed to assist application engineers such as robotics researchers in designing SMA coil spring actuators without the need for full thermomechanical models. (paper)
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.
Component based modelling of piezoelectric ultrasonic actuators for machining applications
International Nuclear Information System (INIS)
Saleem, A; Ahmed, N; Salah, M; Silberschmidt, V V
2013-01-01
Ultrasonically Assisted Machining (UAM) is an emerging technology that has been utilized to improve the surface finishing in machining processes such as turning, milling, and drilling. In this context, piezoelectric ultrasonic transducers are being used to vibrate the cutting tip while machining at predetermined amplitude and frequency. However, modelling and simulation of these transducers is a tedious and difficult task. This is due to the inherent nonlinearities associated with smart materials. Therefore, this paper presents a component-based model of ultrasonic transducers that mimics the nonlinear behaviour of such a system. The system is decomposed into components, a mathematical model of each component is created, and the whole system model is accomplished by aggregating the basic components' model. System parameters are identified using Finite Element technique which then has been used to simulate the system in Matlab/SIMULINK. Various operation conditions are tested and performed to demonstrate the system performance
modelling the nonlinearity of piezoelectric actuators in active
African Journals Online (AJOL)
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In active vibration control systems, it is important to have an accurate model of the control branch, that is .... Two control strategies are commonly employed: feedforward control and feedback control. ..... In Adaptive Filter Theory. Prentice Hall ...
Modeling distortion of HIT by an Actuator Disk in a periodic domain
Ghate, Aditya; Ghaisas, Niranjan; Lele, Sanjiva
2017-11-01
We study the distortion of incompressible, homogeneous isotropic turbulence (HIT) by a dragging actuator disk with a fixed thrust coefficient (under the large Reynolds number limit), using Large Eddy Simulation (LES). The HIT inflow is tailored to ensure that the largest length scales in the flow are smaller than the actuator disk diameter in order to minimize the meandering of the turbulent wake and isolate the length scales that undergo distortion. The numerical scheme (Fourier collocation with dealiasing) and the SGS closure (anisotropic minimum dissipation model) are carefully selected to minimize numerical artifacts expected due to the inviscid assumption. The LES is used to characterize the following 3 properties of the flow a) distortion of HIT due to the expanding streamtube resulting in strong anisotropy, b) turbulent pressure modulation across the actuator disk, and the c) turbulent wake state. Finally, we attempt to model the initial distortion and the pressure modulation using a WKB variant of RDT solved numerically using a set of discrete Gabor modes. Funding provided by Precourt Institute for Energy at Stanford University.
Nonlinear dynamic modeling of a V-shaped metal based thermally driven MEMS actuator for RF switches
Bakri-Kassem, Maher; Dhaouadi, Rached; Arabi, Mohamed; Estahbanati, Shahabeddin V.; Abdel-Rahman, Eihab
2018-05-01
In this paper, we propose a new dynamic model to describe the nonlinear characteristics of a V-shaped (chevron) metallic-based thermally driven MEMS actuator. We developed two models for the thermal actuator with two configurations. The first MEMS configuration has a small tip connected to the shuttle, while the second configuration has a folded spring and a wide beam attached to the shuttle. A detailed finite element model (FEM) and a lumped element model (LEM) are proposed for each configuration to completely characterize the electro-thermal and thermo-mechanical behaviors. The nonlinear resistivity of the polysilicon layer is extracted from the measured current-voltage (I-V) characteristics of the actuator and the simulated corresponding temperatures in the FEM model, knowing the resistivity of the polysilicon at room temperature from the manufacture’s handbook. Both developed models include the nonlinear temperature-dependent material properties. Numerical simulations in comparison with experimental data using a dedicated MEMS test apparatus verify the accuracy of the proposed LEM model to represent the complex dynamics of the thermal MEMS actuator. The LEM and FEM simulation results show an accuracy ranging from a maximum of 13% error down to a minimum of 1.4% error. The actuator with the lower thermal load to air that includes a folded spring (FS), also known as high surface area actuator is compared to the actuator without FS, also known as low surface area actuator, in terms of the I-V characteristics, power consumption, and experimental static and dynamic responses of the tip displacement.
Short-term Wind Forecasting at Wind Farms using WRF-LES and Actuator Disk Model
Kirkil, Gokhan
2017-04-01
Short-term wind forecasts are obtained for a wind farm on a mountainous terrain using WRF-LES. Multi-scale simulations are also performed using different PBL parameterizations. Turbines are parameterized using Actuator Disc Model. LES models improved the forecasts. Statistical error analysis is performed and ramp events are analyzed. Complex topography of the study area affects model performance, especially the accuracy of wind forecasts were poor for cross valley-mountain flows. By means of LES, we gain new knowledge about the sources of spatial and temporal variability of wind fluctuations such as the configuration of wind turbines.
International Nuclear Information System (INIS)
Krecinic, F; Duc, T Chu; Sarro, P M; Lau, G K
2008-01-01
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
Walton, John P.; Coutu, Ronald A.; Starman, LaVern
2015-02-01
There are numerous applications for micromirror arrays seen in our everyday lives. From flat screen televisions and computer monitors, found in nearly every home and office, to advanced military weapon systems and space vehicles, each application bringing with it a unique set of requirements. The microelectromechanical systems (MEMS) industry has researched many ways micromirror actuation can be accomplished and the different constraints on performance each design brings with it. This paper investigates a new "zipper" approach to electrostatically driven micromirrors with the intent of improving duel plane beam steering by coupling large deflection angles, over 30°, and a fast switching speed. To accomplish this, an extreme initial deflection is needed which can be reached using high stress bimorph beams. Currently this requires long beams and high voltage for the electrostatic pull in or slower electrothermal switching. The idea for this "zipper" approach is to stack multiple beams of a much shorter length and allow for the deflection of each beam to be added together in order to reach the required initial deflection height. This design requires much less pull-in voltage because the pull-in of one short beam will in turn reduce the height of the all subsequent beams, making it much easier to actuate. Using modeling and simulation software to characterize operations characteristics, different bimorph cantilever beam configurations are explored in order to optimize the design. These simulations show that this new "zipper" approach increases initial deflection as additional beams are added to the assembly without increasing the actuation voltage.
International Nuclear Information System (INIS)
Dang Xuanju; Tan Yonghong
2005-01-01
A new neural networks dynamic hysteresis model for piezoceramic actuator is proposed by combining the Preisach model with diagonal recurrent neural networks. The Preisach model is based on elementary rate-independent operators and is not suitable for modeling piezoceramic actuator across a wide frequency band because of the rate-dependent hysteresis characteristic of the piezoceramic actuator. The structure of the developed model is based on the structure of the Preisach model, in which the rate-independent relay hysteresis operators (cells) are replaced by the rate-dependent hysteresis operators of first-order differential equation. The diagonal recurrent neural networks being modified by an adjustable factor can be used to model the hysteresis behavior of the pizeoceramic actuator because its structure is similar to the structure of the modified Preisach model. Therefore, the proposed model not only possesses that of the Preisach model, but also can be used for describing its dynamic hysteresis behavior. Through the experimental results of both the approximation and the prediction, the effectiveness of the neural networks dynamic hysteresis model for the piezoceramic actuator is demonstrated
Directory of Open Access Journals (Sweden)
Alaa Al-Ibadi
2017-10-01
Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.
Assembly line performance and modeling
Rane, Arun B.; Sunnapwar, Vivek K.
2017-09-01
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.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Energy Technology Data Exchange (ETDEWEB)
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.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
International Nuclear Information System (INIS)
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S.
1996-01-01
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
International Nuclear Information System (INIS)
Cottinet, P.-J.; Souders, C.; Tsai, S.-Y.; Liang, R.; Wang, B.; Zhang, C.
2012-01-01
Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation
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.
International Nuclear Information System (INIS)
Nguyen, Phuong-Bac; Choi, Seung-Bok
2012-01-01
This paper proposes a rate-independent hysteresis compensator for a stacked PZT (lead zirconate titanate) actuator. From a congruency-based hysteresis (CBH) model which is derived from the inherent properties of this actuator, especially the congruency, a feedforward compensator associated with it is developed. The formulation of the proposed compensator is based on an assumption that the inverse operator also possesses the same properties as the CBH model does. This implies that the compensator also possesses properties such as the wiped-out loop closing between the consecutive control points and congruency. Consequently, the expressions for the compensator can be conducted by exploiting the equations for the CBH model in two cases of monotonic increase and monotonic decrease of input excitation. In order to assess the performance of the compensator, several experiments in both open-loop and closed-loop controls are undertaken. In the open-loop control experiment, the performance of the feedforward compensator using the CBH model is compared with the classical Preisach model-based one in three cases of reference waveforms. In the closed-loop control experiment, the proposed compensator is incorporated into a PID (proportional-integral-derivative) control system and the performance of this integrated system is then evaluated and compared to that of the PID with and without compensator. (paper)
Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.
Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil
2018-04-01
Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.
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...
Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator
Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin
2016-06-01
Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.
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
Kandelman, A.; Nelson, D. J.
1977-01-01
Simplified mathematical model simulates large hydraulic systems on either analog or digital computers. Models of pumps, servoactuators, reservoirs, accumulators, and valves are connected generating systems containing six hundred elements.
Energy Technology Data Exchange (ETDEWEB)
Al Janaideh, Mohammad, E-mail: aljanaideh@gmail.com [Department of Mechatronics Engineering, The University of Jordan, 11942 Amman (Jordan)
2013-03-15
We present a time-dependent stop operator-based Prandtl–Ishlinskii model to characterize singular hysteresis loops in a piezoceramic actuator. The model is constructed based on the time-dependent threshold. The inverse time-dependent stop operator-based Prandtl–Ishlinskii model is obtained analytically and it can be applied as a feedforward compensator to compensate for singular hysteresis loops in a class of smart-material-based actuators. The objective of this study is to present an invertible Prandtl–Ishlinskii model that can be applied as a feedforward compensator to compensate for singular hysteresis loops without inserting a feedback control system.
International Nuclear Information System (INIS)
Al Janaideh, Mohammad
2013-01-01
We present a time-dependent stop operator-based Prandtl–Ishlinskii model to characterize singular hysteresis loops in a piezoceramic actuator. The model is constructed based on the time-dependent threshold. The inverse time-dependent stop operator-based Prandtl–Ishlinskii model is obtained analytically and it can be applied as a feedforward compensator to compensate for singular hysteresis loops in a class of smart-material-based actuators. The objective of this study is to present an invertible Prandtl–Ishlinskii model that can be applied as a feedforward compensator to compensate for singular hysteresis loops without inserting a feedback control system
The k-ε-fP model applied to double wind turbine wakes using different actuator disk force methods
DEFF Research Database (Denmark)
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...... 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...
Analysis of Foot Slippage Effects on an Actuated Spring-Mass Model of Dynamic Legged Locomotion
Directory of Open Access Journals (Sweden)
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.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2014-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined....... obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading.......The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined....... The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power...
The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations
DEFF Research Database (Denmark)
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 ....... In the last part, the actuator surface technique is applied to compute the flow past a two-bladed vertical axis wind turbine equipped with NACA 0012 airfoils. Comparisons with experimental data show an encouraging performance of the method.......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...
Godfrey, Juleon Taylor
In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.
Chakrabarti, Suryarghya; Dapino, Marcelo J.
2009-03-01
A bidirectional magnetostrictive actuator with millimeter stroke and a blocked force of few tens of Newtons has been developed based on a Terfenol-D driver and a simple hydraulic magnification stage. The actuator is compared with an electrodynamic actuator used in active powertrain mounts in terms of electrical power consumption, frequency bandwidth, and spectral content of the response. The measurements show that the actuator has a flat free-displacement and blocked-force response up to 200 Hz, suggesting a significantly broader frequency bandwidth than commercial electromagnetic actuators while drawing comparable amounts of power.
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.
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.
Research of Jiles-Atherton Dynamic Model in Giant Magnetostrictive Actuator
Directory of Open Access Journals (Sweden)
Yongguang Liu
2016-01-01
Full Text Available Due to the existence of multicoupled nonlinear factors in the giant magnetostrictive actuator (GMA, building precise mathematical model is highly important to study GMA’s characteristics and control strategies. Minor hysteresis loops near the bias magnetic field would be often applied because of its relatively good linearity. Load, friction, and disc spring stiffness seriously affect the output characteristics of the GMA in high frequency. Therefore, the current-displacement dynamic minor loops mathematical model coupling of electric-magnetic-machine is established according to Jiles-Atherton (J-A dynamic model of hysteresis material, GMA structural dynamic equation, Ampere loop circuit law, and nonlinear piezomagnetic equation and demonstrates its correctness and effectiveness in the experiments. Finally, some laws are achieved between key structural parameters and output characteristics of GMA, which provides important theoretical foundation for structural design.
Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network
Directory of Open Access Journals (Sweden)
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.
Sen, Shin; Ando, Takehiro; Kobayashi, Etsuko; Miyamoto, Hideaki; Ohashi, Satoru; Tanaka, Sakae; Joung, Sanghyun; Park, Il-Hyung; Sakuma, Ichiro
2014-01-01
In femoral fracture reduction, orthopedic surgeons must pull distal bone fragments with great traction force and return them to their correct positions, by referring to 2D-fluoroscopic images. Since this method is physically burdensome, the introduction of robotic assistance is desirable. While such robots have been developed, adequate control methods have not yet been established because of the lack of experimental data. It is difficult to obtain accurate data using cadavers or animals because they are different from the living human body's muscle characteristics and anatomy. Therefore, an experimental model for simulating human femoral characteristics is required. In this research, human muscles are reproduced using a McKibben-type pneumatic rubber actuator (artificial muscle) to develop a model that simulates typical femur muscles using artificial muscles.
Computational design and multiscale modeling of a nanoactuator using DNA actuation
International Nuclear Information System (INIS)
Hamdi, Mustapha
2009-01-01
Developments in the field of nano-biodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier.
Analysis of the giant magnetostrictive actuator with strong bias magnetic field
Energy Technology Data Exchange (ETDEWEB)
Xue, Guangming, E-mail: yy0youxia@163.com; He, Zhongbo; Li, Dongwei; Yang, Zhaoshu; Zhao, Zhenglong
2015-11-15
Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically.
Directory of Open Access Journals (Sweden)
Irfan Hussain
2018-06-01
Full Text Available This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA aiming to be used for the development of a novel compliant robotic manipulator. BcVSA is the proof of concept of the active revolute joint with the variable recruitment of series-parallel elastic elements. We briefly recall the basic design principle which is based on a stiffness varying mechanism consisting of a motor, three inline clutches, and three torsional springs with stiffness values (K0, 2K0, 4K0 connected to the load shaft and the motor shaft through two planetary sun gear trains with ratios (4:1, 4:1 respectively. We present the design concept, stiffness and dynamic modeling, and control of our BcVSA. We implemented three kinds of Multiple Model Predictive Control (MPC to control our actuator. The main motivation of choosing this controller lies in the fact that working principle of multiple MPC and multiple states space representation (stiffness level of our actuator share similar interests. In particular, we implemented Multiple MPC, Multiple Explicit MPC, and Approximated Multiple Explicit MPC. Numerical simulations are performed in order to evaluate their effectiveness for the future experiments on the prototype of our actuator. The simulation results showed that the Multiple MPC, and the Multiple Explicit MPC have similar results from the robustness point of view. On the other hand, the robustness performance of Approximated Multiple Explicit MPC is not good as compared to other controllers but it works in the offline framework while having the capability to compute the sub-optimal results. We also performed the comparison of MPC based controllers with the Computed Torque Control (CTC, and Linear Quadratic Regulator (LQR. In future, we are planning to test the presented approach on the
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
Mirco Martens
2017-11-01
Full Text Available In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.
Overhead distribution line models for harmonics studies
Energy Technology Data Exchange (ETDEWEB)
Nagpal, M.; Xu, W.; Dommel, H.W.
1994-01-01
Carson's formulae and Maxwell's potential coefficients are used for calculating the per unit length series impedances and shunt capacitances of the overhead lines. The per unit length values are then used for building the models, nominal pi-circuit, and equivalent pi-circuit at the harmonic frequencies. This paper studies the accuracy of these models for presenting the overhead distribution lines in steady-state harmonic solutions at frequencies up to 5 kHz. The models are verified with a field test on a 25 kV distribution line and the sensitivity of the models to ground resistivity, skin effect, and multiple grounding is reported.
Model-Based Evolution of a Fast Hybrid Fuzzy Adaptive Controller for a Pneumatic Muscle Actuator
Directory of Open Access Journals (Sweden)
Alexander Hošovský
2012-07-01
Full Text Available Pneumatic artificial muscle-based robotic systems usually necessitate the use of various nonlinear control techniques in order to improve their performance. Their robustness to parameter variation, which is generally difficult to predict, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of the PD controller under conditions of inertia moment variation. The fuzzy controller of Takagi-Sugeno type is evolved through a genetic algorithm using the dynamic model of a pneumatic muscle actuator. The results confirm the capability of the designed system to provide robust performance under the conditions of varying inertia.
Nycz, Christopher J; Delph, Michael A; Fischer, Gregory S
2015-01-01
Robotic technology has recently been explored as a means to rehabilitate and assist individuals suffering from hemiparesis of their upper limbs. Robotic approaches allow for targeted rehabilitation routines which are more personalized and adaptable while providing quantitative measurements of patient outcomes. Development of these technologies into inherently safe and portable devices has the potential to extend the therapy outside of the clinical setting and into the patient's home with benefits to the cost and accessibility of care. To this end, a soft, cable actuated robotic glove and sleeve was designed, modeled, and constructed to provide assistance of finger and elbow movements in a way that mimics the biological function of the tendons. The resulting design increases safety through greater compliance as well as greater tolerance for misalignment with the user's skeletal frame over traditional rigid exoskeletons. Overall this design provides a platform to expand and study the concepts around soft robotic rehabilitation.
International Nuclear Information System (INIS)
Kang, Rongjie; Zheng Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G; Branson, David T
2013-01-01
Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)
A more accurate modeling of the effects of actuators in large space structures
Hablani, H. B.
1981-01-01
The paper deals with finite actuators. A nonspinning three-axis stabilized space vehicle having a two-dimensional large structure and a rigid body at the center is chosen for analysis. The torquers acting on the vehicle are modeled as antisymmetric forces distributed in a small but finite area. In the limit they represent point torquers which also are treated as a special case of surface distribution of dipoles. Ordinary and partial differential equations governing the forced vibrations of the vehicle are derived by using Hamilton's principle. Associated modal inputs are obtained for both the distributed moments and the distributed forces. It is shown that the finite torquers excite the higher modes less than the point torquers. Modal cost analysis proves to be a suitable methodology to this end.
Energy Technology Data Exchange (ETDEWEB)
Borhan, H; Ahmadian, M T [Sharif University of Technology, Center of Excellence for Design, Robotics and Automation, School of Mechanical Engineering, PO Box 11365-9567, Tehran (Iran, Islamic Republic of)
2006-04-01
In this paper, a complete nonlinear finite element model for coupled-domain MEMS devices with electrostatic actuation and squeeze film effect is developed. For this purpose, a corotational finite element formulation for the dynamic analysis of planer Euler beams is employed. In this method, the internal nodal forces due to deformation and intrinsic residual stresses, the inertial nodal forces, and the damping effect of squeezed air film are systematically derived by consistent linearization of the fully geometrically nonlinear beam theory using d'Alamber and virtual work principles. An incremental-iterative method based on the Newmark direct integration procedure and the Newton-Raphson algorithm is used to solve the nonlinear dynamic equilibrium equations. Numerical examples are presented and compared with experimental findings which indicate properly good agreement.
Modeling and interpretation of line observations*
Directory of Open Access Journals (Sweden)
Kamp Inga
2015-01-01
Full Text Available Models for the interpretation of line observations from protoplanetary disks are summarized. The spectrum ranges from 1D LTE slab models to 2D thermo-chemical radiative transfer models and their use depends largely on the type/nature of observational data that is analyzed. I discuss the various types of observational data and their interpretation in the context of disk physical and chemical properties. The most simple spatially and spectral unresolved data are line fluxes, which can be interpreted using so-called Boltzmann diagrams. The interpretation is often tricky due to optical depth and non-LTE effects and requires care. Line profiles contain kinematic information and thus indirectly the spatial origin of the emission. Using series of line profiles, we can for example deduce radial temperature gradients in disks (CO pure rotational ladder. Spectro-astrometry of e.g. CO ro-vibrational line profiles probes the disk structure in the 1–30 AU region, where planet formation through core accretion should be most efficient. Spatially and spectrally resolved line images from (submm interferometers are the richest datasets we have to date and they enable us to unravel exciting details of the radial and vertical disk structure such as winds and asymmetries.
DEFF Research Database (Denmark)
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 competitiveness...
DEFF Research Database (Denmark)
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...
Directory of Open Access Journals (Sweden)
Dzahir M.A.M
2017-01-01
Full Text Available A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono- and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human’s muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM and Vastus Lateralis (VL were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF and Bicep Femoris (BF were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle’s model for both mono- and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono- and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb
International Nuclear Information System (INIS)
Schröck, Johannes; Meurer, Thomas; Kugi, Andreas
2011-01-01
This paper considers a systematic approach for motion planning and feedforward control design for a flexible cantilever actuated by piezoelectric macro-fiber composite (MFC) patches. For accurate feedforward tracking control, special attention has to be paid to the inherent nonlinear hysteresis and creep behavior of these actuators. In order to account for these effects an appropriate compensator is applied which allows us to perform the tracking controller design on the basis of a linear infinite-dimensional model. A detailed analysis of the nonlinear actuator behavior as well as the compensator design and the overall experimental validation is presented in the companion paper (Schröck et al 2011 Smart Mater. Struct. 20 015016). The governing equations of motion of the hysteresis and creep compensated cantilever are determined by means of the extended Hamilton's principle. This allows us to consider the influence of the bonded patch actuators on the mechanical properties of the underlying beam structure in a straightforward manner and results in a model with spatially varying system parameters. For the solution of the motion planning and feedforward control problem a flatness-based methodology is proposed. In a first step, the infinite-dimensional system of the MFC-actuated flexible cantilever is approximated by a finite-dimensional model, where all system variables, i.e. the states, input and output, can be parameterized in terms of a so-called flat output. In a second step, it is shown by numerical simulations that these parameterizations converge with increasing system order of the finite-dimensional model such that the feedforward control input can be directly calculated in order to realize prescribed output trajectories
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.
Energy Technology Data Exchange (ETDEWEB)
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.)
Complete modeling of rotary ultrasonic motors actuated by traveling flexural waves
Bao, Xiaoqi; Bar-Cohen, Yoseph
2000-06-01
Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors are being adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and analytical tools for the design of efficient motors are being developed. A hybrid analytical model was developed to address a complete ultrasonic motor as a system. Included in this model is the influence of the rotor dynamics, which was determined experimentally to be important to the motor performance. The analysis employs a 3D finite element model to express the dynamic characteristics of the stator with piezoelectric elements and the rotor. The details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. are included to support practical USM designs. A brush model is used for the interface layer and Coulomb's law for the friction between the stator and the rotor. The theoretical predictions were corroborated experimentally for the motor. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.
Statistical Model Checking for Product Lines
DEFF Research Database (Denmark)
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...
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
International Nuclear Information System (INIS)
Madsen, H Aa; Paulsen, U S; Vitae, L
2014-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading
Zhang, Yan; Lee, Dong-Weon
2010-05-01
An integrated system made up of a double-hot arm electro-thermal microactuator and a piezoresistor embedded at the base of the 'cold arm' is proposed. The electro-thermo-mechanical modeling and optimization is developed to elaborate the operation mechanism of the hybrid system through numerical simulations. For given materials, the geometry design mostly influences the performance of the sensor and actuator, which can be considered separately. That is because thermal expansion induced heating energy has less influence on the base area of the 'cold arm,' where is the maximum stress. The piezoresistor is positioned here for large sensitivity to monitor the in-plane movement of the system and characterize the actuator response precisely in real time. Force method is used to analyze the thermal induced mechanical expansion in the redundant structure. On the other hand, the integrated actuating mechanism is designed for high speed imaging. Based on the simulation results, the actuator operates at levels below 5 mA appearing to be very reliable, and the stress sensitivity is about 40 MPa per micron.
Mokhtari, J.; Farrokhabadi, A.; Rach, R.; Abadyan, M.
2015-04-01
The presence of the quantum vacuum fluctuations, i.e. the Casimir attraction, can strongly affect the performance of ultra-small actuators. The strength of the Casimir force is significantly influenced by the geometries of interacting bodies. Previous research has exclusively studied the impact of the vacuum fluctuations on the instability of nanoactuators with planar geometries. However, no work has yet considered this phenomenon in actuators fabricated from nanowires/nanotubes with cylindrical geometries. In our present work, the influence of the Casimir attraction on the electrostatic stability of nanoactuators fabricated from cylindrical conductive nanowire/nanotube is investigated. The Dirichlet mode is considered and an asymptotic solution, based on scattering theory, is applied to consider the effect of vacuum fluctuations in the theoretical model. The size-dependent modified couple stress theory is employed to derive the constitutive equation of the actuator. The governing nonlinear equations are solved by two different approaches, i.e. the finite difference method and modified Adomian-Padé method. Various aspects of the problem, i.e. comparison with the van der Waals force regime, the variation of instability parameters, effect of geometry and coupling between the Casimir force and size dependency are discussed. This work is beneficial to determine the impact of Casimir force on nanowire/nanotube-fabricated actuators.
Pradeep, K. R.; Thomas, A. M.; Basker, V. T.
2018-03-01
Structural health monitoring (SHM) is an essential component of futuristic civil, mechanical and aerospace structures. It detects the damages in system or give warning about the degradation of structure by evaluating performance parameters. This is achieved by the integration of sensors and actuators into the structure. Study of damage detection process in piezoelectric sensor and actuator integrated sandwich cantilever beam is carried out in this paper. Possible skin-core debond at the root of the cantilever beam is simulated and compared with undamaged case. The beam is actuated using piezoelectric actuators and performance differences are evaluated using Polyvinylidene fluoride (PVDF) sensors. The methodology utilized is the voltage/strain response of the damaged versus undamaged beam against transient actuation. Finite element model of piezo-beam is simulated in ANSYSTM using 8 noded coupled field element, with nodal degrees of freedoms are translations in the x, y directions and voltage. An aluminium sandwich beam with a length of 800mm, thickness of core 22.86mm and thickness of skin 0.3mm is considered. Skin-core debond is simulated in the model as unmerged nodes. Reduction in the fundamental frequency of the damaged beam is found to be negligible. But the voltage response of the PVDF sensor under transient excitation shows significantly visible change indicating the debond. Piezo electric based damage detection system is an effective tool for the damage detection of aerospace and civil structural system having inaccessible/critical locations and enables online monitoring possibilities as the power requirement is minimal.
Ruzziconi, Laura; Bataineh, Ahmad M.; Younis, Mohammad I.; Cui, Weili; Lenci, Stefano
2013-01-01
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
So, Hongyun; Pisano, Albert P.
2013-01-01
© 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
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid; Younis, Mohammad I.
2016-01-01
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
International Nuclear Information System (INIS)
Jacobs, William R; Dodd, Tony J; Anderson, Sean R; Wilson, Emma D; Porrill, John; Assaf, Tareq; Rossiter, Jonathan
2015-01-01
Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input–output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics. (paper)
Modelling and characterization of inflated dielectric elastomer actuators with tubular configuration
International Nuclear Information System (INIS)
Zhang, Chi; Chen, Hualing; Liu, Lei; Li, Dichen
2015-01-01
A dielectric elastomer undergoes large and fast deformation subject to external electric stimuli, making it a promising artificial muscle for various kinds of actuators, sensors and energy generators. This paper presents an actuator fabricated by (1) rolling a dielectric elastomer membrane, (2) pre-stretching the membrane along the radial direction and fixing the edges with rigid cylindrical plastic ends, and (3) applying a force to the end along the longitudinal direction and pumping air into the tube for inflation. Subject to a voltage, the structure works as an actuator with a large linear stroke. Governing equations of this actuator are established and simulation results are found to agree well with experimental results. We examine four modes of failure, namely loss of tension, electrical breakdown, snap-through instability and tensile rupture, with a variation in applied pressure. The actuating voltage is greatly reduced by applying pressure, providing the possibility of low-voltage driving. By regulating the applied pressure, large actuation strain and displacement are obtained simultaneously and the distributions of stretch, true stress and the true electric field become more homogeneous. (paper)
A phenomenological model for pre-stressed piezoelectric ceramic stack actuators
International Nuclear Information System (INIS)
Wang, D H; Zhu, W
2011-01-01
In order to characterize the hysteretic characteristics between the output displacement and applied voltage of pre-stressed piezoelectric ceramic stack actuators (PCSAs), this paper considers that a linear force and a hysteretic force will be generated by a linear extension and a hysteretic extension, respectively, due to the applied voltage to a pre-stressed PCSA and the total force will result in the forced vibration of the single-degree-of-freedom (DOF) system composed of the mass of the pre-stressed PCSA and the equivalent spring and damper of the pre-stressed mechanism, which lets the PCSA be pre-stressed to endure enough tension. On this basis, the phenomenological model to characterize the hysteretic behavior of the pre-stressed PCSA is put forward by using the Bouc–Wen hysteresis operator to model the hysteretic extension. The parameter identification method in a least-squares sense is established by identifying the parameters for the linear and hysteretic components separately with the step and periodic responses of the pre-stressed PCSA, respectively. The performance of the proposed phenomenological model with the corresponding parameter identification method is experimentally verified by the established experimental set-up. The research results show that the phenomenological model for the pre-stressed PCSA with the corresponding parameter identification method can accurately portray the hysteretic characteristics of the pre-stressed PCSA. In addition, the phenomenological model for PCSAs can be deduced from the phenomenological model for pre-stressed PCSAs by removing the terms related to the pre-stressed mechanisms
Electrical actuation of dielectric droplets
International Nuclear Information System (INIS)
Kumari, N; Bahadur, V; Garimella, S V
2008-01-01
Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-a-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets; however, the actuation of dielectric droplets has remained relatively unexplored, despite the advantages associated with the use of a dielectric droplet. This paper presents modeling and experimental results on the electrical actuation of dielectric droplets between two flat plates. A first-order analytical model, based on the energy-minimization principle, is developed to estimate the electrical actuation force on a dielectric droplet as it moves between two flat plates. Two versions of this analytical model are benchmarked for their suitability and accuracy against a detailed numerical model. The actuation force prediction is then combined with available semi-analytical expressions for predicting the forces opposing droplet motion to develop a model that predicts transient droplet motion under electrical actuation. Electrical actuation of dielectric droplets is experimentally demonstrated by moving transformer oil droplets between two flat plates under the influence of an actuation voltage. Droplet velocities and their dependence on the plate spacing and the applied voltage are experimentally measured and showed reasonable agreement with predictions from the models developed
Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying
2018-03-01
This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.
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.
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.
International Nuclear Information System (INIS)
Ahmed, Fayez Shakil; Laghrouche, Salah; Mehmood, Adeel; El Bagdouri, Mohammed
2014-01-01
Highlights: • Estimation of aerodynamic force on variable turbine geometry vanes and actuator. • Method based on exhaust gas flow modeling. • Simulation tool for integration of aerodynamic force in automotive simulation software. - Abstract: This paper provides a reliable tool for simulating the effects of exhaust gas flow through the variable turbine geometry section of a variable geometry turbocharger (VGT), on flow control mechanism. The main objective is to estimate the resistive aerodynamic force exerted by the flow upon the variable geometry vanes and the controlling actuator, in order to improve the control of vane angles. To achieve this, a 1D model of the exhaust flow is developed using Navier–Stokes equations. As the flow characteristics depend upon the volute geometry, impeller blade force and the existing viscous friction, the related source terms (losses) are also included in the model. In order to guarantee stability, an implicit numerical solver has been developed for the resolution of the Navier–Stokes problem. The resulting simulation tool has been validated through comparison with experimentally obtained values of turbine inlet pressure and the aerodynamic force as measured at the actuator shaft. The simulator shows good compliance with experimental results
International Nuclear Information System (INIS)
Truong, Dinh Quang; Ahn, Kyoung Kwan
2014-01-01
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. (paper)
Adaptive Optimizing Nonlinear Control Design for an Over-actuated Aircraft Model
Van Oort, E.R.; Sonneveldt, L.; Chu, Q.P.; Mulder, J.A.
2011-01-01
In this paper nonlinear adaptive flight control laws based on the backstepping approach are proposed which are applicable to over-actuated nonlinear systems. Instead of solving the control allocation exactly, update laws for the desired control effector signals are defined such that they converge to
Hydraulically actuated artificial muscles
Meller, M. A.; Tiwari, R.; Wajcs, K. B.; Moses, C.; Reveles, I.; Garcia, E.
2012-04-01
Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.
MacMillan, Peter Norman
1985-01-01
Approved for public release; distribution is unlimited Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower DC motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless DC motor fed by a trans...
Directory of Open Access Journals (Sweden)
E. I. BAIDA
2018-05-01
Full Text Available Purpose. Development of a mathematical model of an induction-dynamic drive of a switch with two coils, working with a bistable mechanism, which ensures the fixation of the instant-dynamic mechanism (IDM in trajectory extreme positions of the contact system. Methodology. The solution of the problems posed in the work was carried out using methods for calculating the electromagnetic field, finite elements, theoretical mechanics, and solving differential equations. Findings. The mathematical model of quick-driving actuator as part of instant dynamic and bistable mechanism was developed. It was based on electrical circuit’s electromagnetic equations and kinematic movements of the switching mechanism. Advantage of the given model is possibility of a breaker drive dynamic analysis basing on data of a contact pressure, pretravel and snatch gap. Initial data of the model formulation were outer circuit inductance, resistance of coils, which calculated on conductor cross-section and coils configuration. Initial conditions corresponded by Dirichlet conditions. Mathematical model equations system was calculated in cylindrical coordinate system. Problem was solved with the help ComsolMultiphysics system. Motion of the IDM movement part was modeled by deformation of a computational grid. Spring force and stress in a bistable mechanism construction were determined by initial data of a contact pressure, pretravel and snatch gap. Graphs by calculation data are shown, which allow to analyze of springing elements chose and make necessary adjustments on design stage and debugging construction. Operation parameters of mechanism work on IDM switch on and switch off stages were calculated. Value of movement, motion speed of armature breaker, currents of accelerating and retarding coils, summed electromagnetic and opposite force were figured. Originality. The mathematical model of quick-driving actuator as part of instant-dynamic and bistable mechanism was developed
International Nuclear Information System (INIS)
Jing, Zijian; Xu, Minglong; Feng, Bo
2015-01-01
Mirror-scanning mechanisms are a key component in optical systems for diverse applications. However, the applications of existing piezoelectric scanners are limited due to their small angular travels. To overcome this problem, a novel two-axis mirror-scanning mechanism, which consists of a two-axis tip-tilt flexure mechanism and a set of piezoelectric actuators, is proposed in this paper. The focus of this research is on the design, theoretical modeling, and optimization of the piezoelectric-driven mechanism, with the goal of achieving large angular travels in a compact size. The design of the two-axis tip-tilt flexure mechanism is based on two nonuniform beams, which translate the limited linear output displacements of the piezoelectric actuators into large output angles. To exactly predict the angular travels, we built a voltage-angle model that characterizes the relationship between the input voltages to the piezoelectric actuators and the output angles of the piezoelectric-driven mechanism. Using this analytical model, the optimization is performed to improve the angular travels. A prototype of the mirror-scanning mechanism is fabricated based on the optimization results, and experiments are implemented to test the two-axis output angles. The experimental result shows that the angular travels of the scanner achieve more than 50 mrad, and the error between the analytical model and the experiment is about 11%. This error is much smaller than the error for the model built using the previous method because the influence of the stiffness of the mechanical structure on the deformation of the piezoelectric stack is considered in the voltage-angle model. (paper)
Random defect lines in conformal minimal models
International Nuclear Information System (INIS)
Jeng, M.; Ludwig, A.W.W.
2001-01-01
We analyze the effect of adding quenched disorder along a defect line in the 2D conformal minimal models using replicas. The disorder is realized by a random applied magnetic field in the Ising model, by fluctuations in the ferromagnetic bond coupling in the tricritical Ising model and tricritical three-state Potts model (the phi 12 operator), etc. We find that for the Ising model, the defect renormalizes to two decoupled half-planes without disorder, but that for all other models, the defect renormalizes to a disorder-dominated fixed point. Its critical properties are studied with an expansion in ε∝1/m for the mth Virasoro minimal model. The decay exponents X N =((N)/(2))1-((9(3N-4))/(4(m+1) 2 ))+O((3)/(m+1)) 3 of the Nth moment of the two-point function of phi 12 along the defect are obtained to 2-loop order, exhibiting multifractal behavior. This leads to a typical decay exponent X typ =((1)/(2))1+((9)/((m+1) 2 ))+O((3)/(m+1)) 3 . One-point functions are seen to have a non-self-averaging amplitude. The boundary entropy is larger than that of the pure system by order 1/m 3 . As a byproduct of our calculations, we also obtain to 2-loop order the exponent X-tilde N =N1-((2)/(9π 2 ))(3N-4)(q-2) 2 +O(q-2) 3 of the Nth moment of the energy operator in the q-state Potts model with bulk bond disorder
The Structured Intuitive Model for Product Line Economics (SIMPLE)
National Research Council Canada - National Science Library
Clements, Paul C; McGregor, John D; Cohen, Sholom G
2005-01-01
.... This report presents the Structured Intuitive Model of Product Line Economics (SIMPLE), a general-purpose business model that supports the estimation of the costs and benefits in a product line development organization...
Long, Zhili; Wang, Rui; Fang, Jiwen; Dai, Xufei; Li, Zuohua
2017-07-01
Piezoelectric actuators invariably exhibit hysteresis nonlinearities that tend to become significant under the open-loop condition and could cause oscillations and errors in nanometer-positioning tasks. Chaotic map modified particle swarm optimization (MPSO) is proposed and implemented to identify the Prandtl-Ishlinskii model for piezoelectric actuators. Hysteresis compensation is attained through application of an inverse Prandtl-Ishlinskii model, in which the parameters are formulated based on the original model with chaotic map MPSO. To strengthen the diversity and improve the searching ergodicity of the swarm, an initial method of adaptive inertia weight based on a chaotic map is proposed. To compare and prove that the swarm's convergence occurs before stochastic initialization and to attain an optimal particle swarm optimization algorithm, the parameters of a proportional-integral-derivative controller are searched using self-tuning, and the simulated results are used to verify the search effectiveness of chaotic map MPSO. The results show that chaotic map MPSO is superior to its competitors for identifying the Prandtl-Ishlinskii model and that the inverse Prandtl-Ishlinskii model can provide hysteresis compensation under different conditions in a simple and effective manner.
Development of a Higher Order Laminate Theory for Modeling Composites with Induced Strain Actuators
Chattopadhyay, Aditi; Seeley, Charles E.
1996-01-01
A refined higher order plate theory is developed to investigate the actuation mechanism of piezoelectric materials surface bonded or embedded in composite laminates. The current analysis uses a displacement field which accurately accounts for transverse shear stresses. Some higher order terms are identified by using the conditions that shear stresses vanish at all free surfaces. Therefore, all boundary conditions for displacements and stresses are satisfied in the present theory. The analysis is implemented using the finite element method which provides a convenient means to construct a numerical solution due to the discrete nature of the actuators. The higher order theory is computationally less expensive than a full three dimensional analysis. The theory is also shown to agree well with published experimental results. Numerical examples are presented for composite plates with thicknesses ranging from thin to very thick.
Actuator Fault Diagnosis in a Boeing 747 Model via Adaptive Modified Two-Stage Kalman Filter
Directory of Open Access Journals (Sweden)
Fikret Caliskan
2014-01-01
Full Text Available An adaptive modified two-stage linear Kalman filtering algorithm is utilized to identify the loss of control effectiveness and the magnitude of low degree of stuck faults in a closed-loop nonlinear B747 aircraft. Control effectiveness factors and stuck magnitudes are used to quantify faults entering control systems through actuators. Pseudorandom excitation inputs are used to help distinguish partial loss and stuck faults. The partial loss and stuck faults in the stabilizer are isolated and identified successfully.
National Research Council Canada - National Science Library
Cseke, Peter
2000-01-01
.... Actuation of the aerodynamic surfaces is achieved by an electric field applied to PZT actuators embedded in the top and bottom skins, creating differential strain and shear in the host substrate...
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.
International Nuclear Information System (INIS)
Bills, K.C.; Kress, R.L.; Kwon, D.S.; Baker, C.P.
1994-01-01
This paper describes ORNL's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory's Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL's Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language
International Nuclear Information System (INIS)
Lavaroni, Luca; Cook, Malcolm J; Watson, Simon J; Dubal, Mark R
2014-01-01
In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake
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.
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
International Nuclear Information System (INIS)
Kalvig, Siri; Hjertager, Bjørn; Manger, Eirik
2014-01-01
The performance of a model wind turbine is simulated with three different CFD methods: actuator disk, actuator line and a fully resolved rotor. The simulations are compared with each other and with measurements from a wind tunnel experiment. The actuator disk is the least accurate and most cost-efficient, and the fully resolved rotor is the most accurate and least cost-efficient. The actuator line method is believed to lie in between the two ends of the scale. The fully resolved rotor produces superior wake velocity results compared to the actuator models. On average it also produces better results for the force predictions, although the actuator line method had a slightly better match for the design tip speed. The open source CFD tool box, OpenFOAM, was used for the actuator disk and actuator line calculations, whereas the market leading commercial CFD code, ANSYS/FLUENT, was used for the fully resolved rotor approach
The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation?
International Nuclear Information System (INIS)
Kofod, Guggi
2008-01-01
It has previously been shown that providing dielectric elastomer actuators with a level of pre-stretch can improve properties such as breakdown strength, actuation strain and efficiency. The actuation in such actuators depends on an interplay between the highly nonlinear hyperelastic stress-strain behaviour with the electrostatic Maxwell's stress; however, the direct effects of pre-stretch on the electromechanical coupling have still not been investigated in detail. We compare several experimental results found in the literature on the hyperelastic parameters of the Ogden model for the commonly used material VHB 4910, and introduce a more detailed and thus more accurate fit to a previous uniaxial stress-strain experiment. Electrostatic actuation models for a pure shear cuboid dielectric elastomer actuator with pre-stretch are introduced, for both intensive and extensive variables. For both intensive and extensive variables the constant strain (blocked stress or force) as well as the actuation strain is presented. It is shown how in the particular case of isotropic amorphous elastomers the pre-stretch does not affect the electromechanical coupling directly, and that the enhancement in actuation strain due to pre-stretch occurs through the alteration of the geometrical dimensions of the actuator. Also, the presence of the optimum load is explained as being due to the plateau region in the force-stretch curve, and it is shown that pre-stretch is not able to affect its position. Finally, it is shown how the simplified Ogden fit leads to entirely different conclusions for actuation strain in terms of extensive variables as does the detailed fit, emphasizing the importance of employing accurate hyperelastic models for the stress-stretch behaviour of the elastomer.
International Nuclear Information System (INIS)
Truong, Bui Ngoc Minh; Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan
2013-01-01
Dielectric electro-active polymer (DEAP) materials are attractive since they are low cost, lightweight and have a large deformation capability. They have no operating noise, very low electric power consumption and higher performance and efficiency than competing technologies. However, DEAP materials generally have strong hysteresis as well as uncertain and nonlinear characteristics. These disadvantages can limit the efficiency in the use of DEAP materials. To address these limitations, this research will present the combination of the Preisach model and the dynamic nonlinear autoregressive exogenous (NARX) fuzzy model-based adaptive particle swarm optimization (APSO) identification algorithm for modeling and identification of the nonlinear behavior of one typical type of DEAP actuator. Firstly, open loop input signals are applied to obtain nonlinear features and to investigate the responses of the DEAP actuator system. Then, a Preisach model can be combined with a dynamic NARX fuzzy structure to estimate the tip displacement of a DEAP actuator. To optimize all unknown parameters of the designed combination, an identification scheme based on a least squares method and an APSO algorithm is carried out. Finally, experimental validation research is carefully completed, and the effectiveness of the proposed model is evaluated by employing various input signals. (paper)
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.
Properties of 3-dimensional line location models
DEFF Research Database (Denmark)
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...
Actuators for smart applications
Paternoster, Alexandre; de Boer, Andries; Loendersloot, Richard; Akkerman, Remko; D. Brei,; M. Frecker,
2010-01-01
Actuator manufacturers are developing promising technologies which meet high requirements in performance, weight and power consumption. Conventionally, actuators are characterized by their displacement and load performance. This hides the dynamic aspects of those actuation solutions. Work per weight
Chang, Ming-Kun; Wu, Jui-Chi
Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.
Mansoori Kermani, Maryam; Dehestani, Maryam
2018-06-01
We modeled a one-dimensional actuator including the Casimir and electrostatic forces perturbed by an external force with fractional damping. The movable electrode was assumed to oscillate by an anharmonic elastic force originated from Murrell-Mottram or Lippincott potential. The nonlinear equations have been solved via the Adomian decomposition method. The behavior of the displacement of the electrode from equilibrium position, its velocity and acceleration were described versus time. Also, the changes of the displacement have been investigated according to the frequency of the external force and the voltage of the electrostatic force. The convergence of the Adomian method and the effect of the orders of expansion on the displacement versus time, frequency, and voltage were discussed. The pull-in parameter was obtained and compared with the other models in the literature. This parameter was described versus the equilibrium position and anharmonicity constant.
Mansoori Kermani, Maryam; Dehestani, Maryam
2018-03-01
We modeled a one-dimensional actuator including the Casimir and electrostatic forces perturbed by an external force with fractional damping. The movable electrode was assumed to oscillate by an anharmonic elastic force originated from Murrell-Mottram or Lippincott potential. The nonlinear equations have been solved via the Adomian decomposition method. The behavior of the displacement of the electrode from equilibrium position, its velocity and acceleration were described versus time. Also, the changes of the displacement have been investigated according to the frequency of the external force and the voltage of the electrostatic force. The convergence of the Adomian method and the effect of the orders of expansion on the displacement versus time, frequency, and voltage were discussed. The pull-in parameter was obtained and compared with the other models in the literature. This parameter was described versus the equilibrium position and anharmonicity constant.
Dielectric Actuation of Polymers
Niu, Xiaofan
in tactile display is investigated by the prototyping of a large scale refreshable Braille display device. Braille is a critical way for the vision impaired community to learn literacy and improve life quality. Current piezoelectrics-based refreshable Braille display technologies are limited to up to 1 line of Braille text, due to the bulky size of bimorph actuators. Based on the unique actuation feature of BSEP, refreshable Braille display devices up to smartphone-size have been demonstrated by polymer sheet laminates. Dots in the devices can be individually controlled via incorporated field-driven BSEP actuators and Joule heater units. A composite material consisting of silver nanowires (AgNW) embedded in a polymer substrate is brought up as a compliant electrode candidate for BSEP application. The AgNW composite is highly conductive (Rs: 10 Ω/sq) and remains conductive at strains as high as 140% (Rs: <10 3 Ω/sq). The baseline conductivity has only small changes up to 90% strain, which makes it low enough for both field driving and stretchable Joule heating. An out-of-plane bistable area strain up to 68% under Joule heating is achieved.
An elastic-plastic contact model for line contact structures
Zhu, Haibin; Zhao, Yingtao; He, Zhifeng; Zhang, Ruinan; Ma, Shaopeng
2018-06-01
Although numerical simulation tools are now very powerful, the development of analytical models is very important for the prediction of the mechanical behaviour of line contact structures for deeply understanding contact problems and engineering applications. For the line contact structures widely used in the engineering field, few analytical models are available for predicting the mechanical behaviour when the structures deform plastically, as the classic Hertz's theory would be invalid. Thus, the present study proposed an elastic-plastic model for line contact structures based on the understanding of the yield mechanism. A mathematical expression describing the global relationship between load history and contact width evolution of line contact structures was obtained. The proposed model was verified through an actual line contact test and a corresponding numerical simulation. The results confirmed that this model can be used to accurately predict the elastic-plastic mechanical behaviour of a line contact structure.
V-stack piezoelectric actuator
Ardelean, Emil V.; Clark, Robert L.
2001-07-01
Aeroelastic control of wings by means of a distributed, trailing-edge control surface is of interest with regards to maneuvers, gust alleviation, and flutter suppression. The use of high energy density, piezoelectric materials as motors provides an appealing solution to this problem. A comparative analysis of the state of the art actuators is currently being conducted. A new piezoelectric actuator design is presented. This actuator meets the requirements for trailing edge flap actuation in both stroke and force. It is compact, simple, sturdy, and leverages stroke geometrically with minimum force penalties while displaying linearity over a wide range of stroke. The V-Stack Piezoelectric Actuator, consists of a base, a lever, two piezoelectric stacks, and a pre-tensioning element. The work is performed alternately by the two stacks, placed on both sides of the lever. Pre-tensioning can be readily applied using a torque wrench, obviating the need for elastic elements and this is for the benefit of the stiffness of the actuator. The characteristics of the actuator are easily modified by changing the base or the stacks. A prototype was constructed and tested experimentally to validate the theoretical model.
Optimization Method of Intersection Signal Coordinated Control Based on Vehicle Actuated Model
Directory of Open Access Journals (Sweden)
Chen Zhao-Meng
2015-01-01
Full Text Available Traditional timing green wave control with predetermined cycle, split, and offset cannot adapt for dynamic real-time traffic flow. This paper proposes a coordinated control method for variable cycle time green wave bandwidth optimization integrated with traffic-actuated control. In the coordinated control, green split is optimized in real time by the measured presence of arriving and/or standing vehicles in each intersection and simultaneously green waves along arterials are guaranteed. Specifically, the dynamic bound of green wave is firstly determined, and then green early-start and green late-start algorithms are presented respectively to accommodate the fluctuations in vehicle arrival rates in each phase. Numerical examples show that the proposed method improves green time, expands green wave bandwidth, and reduces queuing.
International Nuclear Information System (INIS)
Yang, Chenye; Liu, Sanwei; Livermore, Carol; Xie, Xin
2016-01-01
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 µ m and 29 µ m respectively, in good agreement with analytical predictions of 17.3 µ m and 34.2 µ m and FEA predictions of 17.1 µ m and 25.8 µ m. 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. (paper)
CFD and Experimental Studies on Wind Turbines in Complex Terrain by Improved Actuator Disk Method
Liu, Xin; Yan, Shu; Mu, Yanfei; Chen, Xinming; Shi, Shaoping
2017-05-01
In this paper, an onshore wind farm in mountainous area of southwest China was investigated through numerical and experimental methods. An improved actuator disk method, taking rotor data (i.e. blade geometry information, attack angle, blade pitch angle) into account, was carried out to investigate the flow characteristic of the wind farm, especially the wake developing behind the wind turbines. Comparing to the classic AD method and the situ measurements, the improved AD shows better agreements with the measurements. The turbine power was automatically predicted in CFD by blade element method, which agreed well with the measurement results. The study proved that the steady CFD simulation with improved actuator disk method was able to evaluate wind resource well and give good balance between computing efficiency and accuracy, in contrary to much more expensive computation methods such as actuator-line/actuator-surface transient model, or less accurate methods such as linear velocity reduction wake model.
Tornado risk model for transmission line design
CSIR Research Space (South Africa)
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...
Beznosyuk, Sergey A.; Maslova, Olga A.; Zhukovsky, Mark S.; Valeryeva, Ekaterina V.; Terentyeva, Yulia V.
2017-12-01
The task of modeling the multiscale infrastructure of quantum attosecond actuators and femtosecond sensors of nonequilibrium physical media in smart materials is considered. Computer design and calculation of supra-atomic femtosecond sensors of nonequilibrium physical media in materials based on layered graphene-transition metal nanosystems are carried out by vdW-DF and B3LYP methods. It is shown that the molybdenum substrate provides fixation of graphene nanosheets by Van der Waals forces at a considerable distance (5.3 Å) from the metal surface. This minimizes the effect of the electronic and nuclear subsystem of the substrate metal on the sensory properties of "pure" graphene. The conclusion is substantiated that graphene-molybdenum nanosensors are able to accurately orient and position one molecule of carbon monoxide. It is shown that graphene selectively adsorbs CO and fixes the oxygen atom of the molecule at the position of the center of the graphene ring C6.
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
Avram Mihai
2017-01-01
Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.
Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan
2017-01-01
The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.
Directory of Open Access Journals (Sweden)
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.
Flight control actuation system
Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)
2006-01-01
A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.
Energy Technology Data Exchange (ETDEWEB)
Mangina, R. S.; Enloe, C. L.; Font, G. I. [Department of Physics, United States Air Force Academy, Colorado 80840 (United States)
2015-11-15
We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N{sub 2}) and electronegative gases (O{sub 2} and SF{sub 6}) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N{sub 2} discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.
Vortex-line fluctuations in model high-temperature superconductors
International Nuclear Information System (INIS)
Li, Y.; Teitel, S.
1993-01-01
We carry out Monte Carlo simulations of the uniformly frustrated three-dimensional XY model, as a model for vortex-line fluctuations in a high-T c superconductor in an external magnetic field. A density of vortex lines of f=1/25 is considered. We find two sharp phase transitions. The low-T superconducting phase is an ordered vortex-line lattice. The high-T normal phase is a vortex-line liquid, with much entangling, cutting, and loop excitations. An intermediate phase is found, which is characterized as a vortex-line liquid of disentangled, approximately straight, lines. In this phase, the system displays superconducting properties in the direction parallel to the magnetic field, but normal behavior in planes perpendicular to the field. A detailed analysis of the vortex structure function is carried out
Using Quartile-Quartile Lines as Linear Models
Gordon, Sheldon P.
2015-01-01
This article introduces the notion of the quartile-quartile line as an alternative to the regression line and the median-median line to produce a linear model based on a set of data. It is based on using the first and third quartiles of a set of (x, y) data. Dynamic spreadsheets are used as exploratory tools to compare the different approaches and…
Hysteresis compensation for piezoelectric actuators in single-point diamond turning
Wang, Haifeng; Hu, Dejin; Wan, Daping; Liu, Hongbin
2006-02-01
In recent years, interests have been growing for fast tool servo (FTS) systems to increase the capability of existing single-point diamond turning machines. Although piezoelectric actuator is the most universal base of FTS system due to its high stiffness, accuracy and bandwidth, nonlinearity in piezoceramics limits both the static and dynamic performance of piezoelectric-actuated control systems evidently. To compensate the nonlinear hysteresis behavior of piezoelectric actuators, a hybrid model coupled with Preisach model and feedforward neural network (FNN) has been described. Since the training of FNN does not require a special calibration sequence, it is possible for on-line identification and real-time implementation with general operating data of a specific piezoelectric actuator. To describe the rate dependent behavior of piezoelectric actuators, a hybrid dynamic model was developed to predict the response of piezoelectric actuators in a wider range of input frequency. Experimental results show that a maximal error of less than 3% was accomplished by this dynamic model.
Pneumatic muscle actuator for resistive exercise in microgravity: test with a leg model.
Serres, Jennifer L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Repperger, Daniel W; Gerschutz, Maria J
2010-02-01
A proof-of-concept demonstration is described in which a DC servomotor (simulating the quadriceps of a human operator) rotated a pulley 90 degrees (simulating knee extension). A pneumatic muscle actuator (PMA) generated an opposing force (antagonist) to the rotating pulley. One application of such a device is for use in microgravity environments because the PMA is compact, simple, and of relatively small mass (283 g). In addition, the operator can set a computer-controlled force-level range in response to individual user changes in exercise conditioning over time. A PMA was used in this study and interacted with a DC servomotor. For each trial, the PMA contracted in response to internal pressure. An input voltage profile activated the DC servomotor, resulting in the following three phases: an isokinetic counterclockwise pulley rotation of 90 degrees over 5 s (Phase I), the position was held for 5 s (Phase II), and an isokinetic clockwise rotation of 90 degrees over 5 s (Phase III). Root mean square error (RMSE) values were used to evaluate the pulley rotation. For Phase I, when the PMA pressures (in kPa) were 300, 450, and 575, the percent RMSE, respectively, were 5.24, 6.23, and 4.59. For Phase II, the percent RMSE were 2.81, 2.57, and 5.63, respectively. For Phase III, the percent RMSE were 5.69, 2.63, and 3.30, respectively. This study presents a demonstration of a PMA device that can enhance exercise by providing a wide range of resistive loads.
Hua, Weizhuo; Fukagata, Koji
2018-04-01
Two-dimensional numerical simulation of a surface dielectric barrier discharge (SDBD) plasma actuator, driven by a nanosecond voltage pulse, is conducted. A special focus is laid upon the influence of grid resolution on the computational result. It is found that the computational result is not very sensitive to the streamwise grid spacing, whereas the wall-normal grid spacing has a critical influence. In particular, the computed propagation velocity changes discontinuously around the wall-normal grid spacing about 2 μm due to a qualitative change of discharge structure. The present result suggests that a computational grid finer than that was used in most of previous studies is required to correctly capture the structure and dynamics of streamer: when a positive nanosecond voltage pulse is applied to the upper electrode, a streamer forms in the vicinity of upper electrode and propagates along the dielectric surface with a maximum propagation velocity of 2 × 108 cm/s, and a gap with low electron and ion density (i.e., plasma sheath) exists between the streamer and dielectric surface. Difference between the results obtained using the finer and the coarser grid is discussed in detail in terms of the electron transport at a position near the surface. When the finer grid is used, the low electron density near the surface is caused by the absence of ionization avalanche: in that region, the electrons generated by ionization is compensated by drift-diffusion flux. In contrast, when the coarser grid is used, underestimated drift-diffusion flux cannot compensate the electrons generated by ionization, and it leads to an incorrect increase of electron density.
Gohari, S. M. Iman; Sarkar, Sutanu; Korobenko, Artem; Bazilevs, Yuri
2017-11-01
Numerical simulations of wind turbines operating under different regimes of stability are performed using LES. A reduced model, based on the generalized actuator disk model (ADM), is implemented to represent the wind turbines within the ABL. Data from the fluid-solid interaction (FSI) simulations of wind turbines have been used to calibrate and validate the reduced model. The computational cost of this method to include wind turbines is affordable and incurs an overhead as low as 1.45%. Using this reduced model, we study the coupling of unsteady turbulent flow with the wind turbine under different ABL conditions: (i) A neutral ABL with zero heat-flux and inversion layer at 350m, in which the incoming wind has the maximum mean shear between the heights of upper-tip and lower-tip; (2) A shallow ABL with surface cooling rate of -1 K/hr wherein the low level jet occurs at the wind turbine hub height. We will discuss how the differences in the unsteady flow between the two ABL regimes impact the wind turbine performance.
A universal calculation model for the controlled electric transmission line
International Nuclear Information System (INIS)
Zivzivadze, O.; Zivzivadze, L.
2009-01-01
Difficulties associated with the development of calculation models are analyzed, and the ways of resolution of these problems are given. A version of the equivalent circuit as a six-pole network, the parameters of which do not depend on the angle of shift Θ between the voltage vectors of circuits is offered. The interrelation between the parameters of the equivalent circuit and the transmission constants of the line was determined. A universal calculation model for the controlled electric transmission line was elaborated. The model allows calculating the stationary modes of lines of such classes at any angle of shift Θ between the circuits. (author)
Directory of Open Access Journals (Sweden)
Minh Khang Phan
2016-08-01
Full Text Available 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 surface glow discharge plasma actuator which is analytically modeled as an ion pressure force produced 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 frequencies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70% by a selective 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 optimized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.
Line impedance estimation using model based identification technique
DEFF Research Database (Denmark)
Ciobotaru, Mihai; Agelidis, Vassilios; Teodorescu, Remus
2011-01-01
The estimation of the line impedance can be used by the control of numerous grid-connected systems, such as active filters, islanding detection techniques, non-linear current controllers, detection of the on/off grid operation mode. Therefore, estimating the line impedance can add extra functions...... into the operation of the grid-connected power converters. This paper describes a quasi passive method for estimating the line impedance of the distribution electricity network. The method uses the model based identification technique to obtain the resistive and inductive parts of the line impedance. The quasi...
MacMillan, P. N.
1985-06-01
Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower dc motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless dc motor fed by a transistorized power conditioner utilizing high speed switching power transistors as final elements is presented. The influence of electronic commutation on instantaneous dynamic motor performance is particularly demonstrated and good correlation between computer simulation and typical experimentally obtained performance data is achieved. The model is implemented in CSMP language and features more accurate air gap flux representation over previous work. Hall effect sensor rotor position feedback is simulated. Both constant and variable air gap flux is modeled and the variable flux model treats the flux as a fundamental and one harmonic.
Smart Tendon Actuated Flexible Actuator
Directory of Open Access Journals (Sweden)
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.
Al Janaideh, Mohammad; Aljanaideh, Omar
2018-05-01
Apart from the output-input hysteresis loops, the magnetostrictive actuators also exhibit asymmetry and saturation, particularly under moderate to large magnitude inputs and at relatively higher frequencies. Such nonlinear input-output characteristics could be effectively characterized by a rate-dependent Prandtl-Ishlinskii model in conjunction with a function of deadband operators. In this study, an inverse model is formulated to seek real-time compensation of rate-dependent and asymmetric hysteresis nonlinearities of a Terfenol-D magnetostrictive actuator. The inverse model is formulated with the inverse of the rate-dependent Prandtl-Ishlinskii model, satisfying the threshold dilation condition, with the inverse of the deadband function. The inverse model was subsequently applied to the hysteresis model as a feedforward compensator. The proposed compensator is applied as a feedforward compensator to the actuator hardware to study its potential for rate-dependent and asymmetric hysteresis loops. The experimental results are obtained under harmonic and complex harmonic inputs further revealed that the inverse compensator can substantially suppress the hysteresis and output asymmetry nonlinearities in the entire frequency range considered in the study.
Supporting scalable Bayesian networks using configurable discretizer actuators
CSIR Research Space (South Africa)
Osunmakinde, I
2009-04-01
Full Text Available The authors propose a generalized model with configurable discretizer actuators as a solution to the problem of the discretization of massive numerical datasets. Their solution is based on a concurrent distribution of the actuators and uses dynamic...
Theory and Circuit Model for Lossy Coaxial Transmission Line
Energy Technology Data Exchange (ETDEWEB)
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.
Directory of Open Access Journals (Sweden)
Farong Kou
2018-01-01
Full Text Available In order to coordinate the damping performance and energy regenerative performance of energy regenerative suspension, this paper proposes a structure of a vehicle semi-active energy regenerative suspension with an electro-hydraulic actuator (EHA. In light of the proposed concept, a specific energy regenerative scheme is designed and a mechanical properties test is carried out. Based on the test results, the parameter identification for the system model is conducted using a recursive least squares algorithm. On the basis of the system principle, the nonlinear model of the semi-active energy regenerative suspension with an EHA is built. Meanwhile, linear-quadratic-Gaussian control strategy of the system is designed. Then, the influence of the main parameters of the EHA on the damping performance and energy regenerative performance of the suspension is analyzed. Finally, the main parameters of the EHA are optimized via the genetic algorithm. The test results show that when a sinusoidal is input at the frequency of 2 Hz and the amplitude of 30 mm, the spring mass acceleration root meam square value of the optimized EHA semi-active energy regenerative suspension is reduced by 22.23% and the energy regenerative power RMS value is increased by 40.51%, which means that while meeting the requirements of vehicle ride comfort and driving safety, the energy regenerative performance is improved significantly.
Line-broadened quasilinear burst model
International Nuclear Information System (INIS)
Berk, H.L.; Breizman, B.N.; Wong, H.V.; Fitzpatrick, J.
1995-07-01
A quasilinear model is developed to produce realistic self-consistent saturation levels when modes do not overlap, and give self-consistent diffusion and wave evolution when modes do overlap. Both regimes give steady or pulsating behavior in weakly driven systems with classical relaxation and background dissipation present. An avalanche response is demonstrated: wave momentum release caused by the overlap of closely spaced modes can produce mode overlap of more widely spaced modes (a domino effect) or the growth of modes which would be stable in systems unaffected by the closely-spaced modes' diffusion. Detailed analysis and calculations are performed for the bump-on-tail instability, and extension of the method to more general problems is briefly discussed
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
Soft, Rotating Pneumatic Actuator.
Ainla, Alar; Verma, Mohit S; Yang, Dian; Whitesides, George M
2017-09-01
This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle) and for locomotion that mimics a reptilian gait (by combining four actuators together).
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.
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..
Reachability and Real-Time Actuation Strategies for the Active SLIP Model
2015-06-01
time. In gen- eral, animals’ anatomy is far more complex than what the SLIP model captures, due to the presence of joints, ankles , knees, hips, leg...strategies for locomotion. These strategies can then be applied to an anchor , a more complex and realistic model to mimic the animal’s morphology and...model. As clearly explained in [1], the ideal SLIP model is a template that can then be ” anchored ” to systems with more complex dynamics. The prototype
A mathematical model for camera calibration based on straight lines
Directory of Open Access Journals (Sweden)
Antonio M. G. Tommaselli
2005-12-01
Full Text Available In other to facilitate the automation of camera calibration process, a mathematical model using straight lines was developed, which is based on the equivalent planes mathematical model. Parameter estimation of the developed model is achieved by the Least Squares Method with Conditions and Observations. The same method of adjustment was used to implement camera calibration with bundles, which is based on points. Experiments using simulated and real data have shown that the developed model based on straight lines gives results comparable to the conventional method with points. Details concerning the mathematical development of the model and experiments with simulated and real data will be presented and the results with both methods of camera calibration, with straight lines and with points, will be compared.
Initiating Events Modeling for On-Line Risk Monitoring Application
International Nuclear Information System (INIS)
Simic, Z.; Mikulicic, V.
1998-01-01
In order to make on-line risk monitoring application of Probabilistic Risk Assessment more complete and realistic, a special attention need to be dedicated to initiating events modeling. Two different issues are of special importance: one is how to model initiating events frequency according to current plant configuration (equipment alignment and out of service status) and operating condition (weather and various activities), and the second is how to preserve dependencies between initiating events model and rest of PRA model. First, the paper will discuss how initiating events can be treated in on-line risk monitoring application. Second, practical example of initiating events modeling in EPRI's Equipment Out of Service on-line monitoring tool will be presented. Gains from application and possible improvements will be discussed in conclusion. (author)
Plasma actuators for bluff body flow control
Kozlov, Alexey V.
The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding
Kang, Seokkoo; Yang, Xiaolei; Sotiropoulos, Fotis
2012-11-01
While a considerable amount of work has focused on studying the effects and performance of wind farms, very little is known about the performance of hydrokinetic turbine arrays in open channels. Unlike large wind farms, where the vertical fluxes of momentum and energy from the atmospheric boundary layer comprise the main transport mechanisms, the presence of free surface in hydrokinetic turbine arrays inhibits vertical transport. To explore this fundamental difference between wind and hydrokinetic turbine arrays, we carry out LES with the actuator disk model to systematically investigate various layouts of hydrokinetic turbine arrays mounted on the bed of a straight open channel with fully-developed turbulent flow fed at the channel inlet. Mean flow quantities and turbulence statistics within and downstream of the arrays will be analyzed and the effect of the turbine arrays as means for increasing the effective roughness of the channel bed will be extensively discussed. This work was supported by Initiative for Renewable Energy & the Environment (IREE) (Grant No. RO-0004-12), and computational resources were provided by Minnesota Supercomputing Institute.
Application Actuation Trade Study
1982-01-01
32 RCA PRICE-L Podel Calculated 0 & S Values 138 33 RCA PRICE LCC Summery - Typical LRU 139 34 Airplane Actuation Trade Study LCC Summary 140 35...results achieved can be duplicated by a user. The RCA PRICE Podel calculates the RDTSE. Production cost, and creates the YiDF file for use in the PCA...PR ICE L). Some of the basic program ground rules for this study were as follows: RCA - PRICE Cost Podel RCA - PRICE L Model Prototype Hardware 10
Strain actuated aeroelastic control
Lazarus, Kenneth B.
1992-01-01
Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.
DEFF Research Database (Denmark)
Kristiansen, Martin; Kryger, Mille; Zhang, Zhao
2012-01-01
A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...
Nebular Continuum and Line Emission in Stellar Population Synthesis Models
Energy Technology Data Exchange (ETDEWEB)
Byler, Nell; Dalcanton, Julianne J. [Department of Astronomy, University of Washington, Box 351580, Seattle, WA 98195 (United States); Conroy, Charlie; Johnson, Benjamin D., E-mail: ebyler@astro.washington.edu [Department of Astronomy, Harvard University, Cambridge, MA 02138 (United States)
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 H α , 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.
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.
Transmission Delay Modeling of Packet Communication over Digital Subscriber Line
Directory of Open Access Journals (Sweden)
Jiri Vodrazka
2013-01-01
Full Text Available Certain multimedia and voice services, such as VoIP, IPTV, etc., are significantly delay sensitive and their performance is influenced by the overall transmission delay and its variance. One of the most common solutions used in access networks are xDSL lines, especially ADSL2+ or VDSL2. Although these subscriber lines also use packet communication, there are several differences and mechanisms, which influence their resulting delay. Their delay characteristics are also dependent on the individual settings of each xDSL provider, therefore we decided to investigate this area for typical commercially available lines in Czech Republic. Based on the measured values and experiments with real ADSL2+ lines we also developed a potential modeling method, which is presented in this article as well. The parameters for packet jitter based on the generalized Pareto distribution were modeled.
Constructing Poverty Lines in Croatia Using Kakwani’s Model
Directory of Open Access Journals (Sweden)
Marinko Škare
2017-06-01
Full Text Available This paper presents a new model for defining the poverty line as a possible candidate for the construction of a new official poverty line in Croatia. The model, based on Kakwani’s (2010 approach (nutrition-based anchor, uses consumer theory as the basis for defining food and non-food poverty lines. In Croatia, various alternative poverty indicators have been developed to define the official poverty line. To ensure international comparability and consistency, the poverty threshold expressed in local currency by applying the exchange rate of currencies’ purchasing power (PPP is expressed in international dollars. It is important to ensure implementation of redistributive policies, maximization of market efficiency, and increased social justice. All this policy goals and instruments heavily depend on efficient and precise poverty measurement methods.
Intelligent Hydraulic Actuator and Exp-based Modelling of Losses in Pumps and .
DEFF Research Database (Denmark)
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....
Analytical Model for High Impedance Fault Analysis in Transmission Lines
Directory of Open Access Journals (Sweden)
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
Directory of Open Access Journals (Sweden)
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.
Polyakov lines in Yang-Mills matrix models
International Nuclear Information System (INIS)
Austing, Peter; Wheater, John F.; Vernizzi, Graziano
2003-01-01
We study the Polyakov line in Yang-Mills matrix models, which include the IKKT model of IIB string theory. For the gauge group SU(2) we give the exact formulae in the form of integral representations which are convenient for finding the asymptotic behaviour. For the SU(N) bosonic models we prove upper bounds which decay as a power law at large momentum p. We argue that these capture the full asymptotic behaviour. We also indicate how to extend the results to some correlation functions of Polyakov lines. (author)
"Shape function + memory mechanism"-based hysteresis modeling of magnetorheological fluid actuators
Qian, Li-Jun; Chen, Peng; Cai, Fei-Long; Bai, Xian-Xu
2018-03-01
A hysteresis model based on "shape function + memory mechanism" is presented and its feasibility is verified through modeling the hysteresis behavior of a magnetorheological (MR) damper. A hysteresis phenomenon in resistor-capacitor (RC) circuit is first presented and analyzed. In the hysteresis model, the "memory mechanism" originating from the charging and discharging processes of the RC circuit is constructed by adopting a virtual displacement variable and updating laws for the reference points. The "shape function" is achieved and generalized from analytical solutions of the simple semi-linear Duhem model. Using the approach, the memory mechanism reveals the essence of specific Duhem model and the general shape function provides a direct and clear means to fit the hysteresis loop. In the frame of the structure of a "Restructured phenomenological model", the original hysteresis operator, i.e., the Bouc-Wen operator, is replaced with the new hysteresis operator. The comparative work with the Bouc-Wen operator based model demonstrates superior performances of high computational efficiency and comparable accuracy of the new hysteresis operator-based model.
Actuator disk model of wind farms based on the rotor average wind speed
DEFF Research Database (Denmark)
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 of ...
Grounding line transient response in marine ice sheet models
Directory of Open Access Journals (Sweden)
A. S. Drouet
2013-03-01
Full Text Available Marine ice-sheet stability is mostly controlled by the dynamics of the grounding line, i.e. the junction between the grounded ice sheet and the floating ice shelf. Grounding line migration has been investigated within the framework of MISMIP (Marine Ice Sheet Model Intercomparison Project, which mainly aimed at investigating steady state solutions. Here we focus on transient behaviour, executing short-term simulations (200 yr of a steady ice sheet perturbed by the release of the buttressing restraint exerted by the ice shelf on the grounded ice upstream. The transient grounding line behaviour of four different flowline ice-sheet models has been compared. The models differ in the physics implemented (full Stokes and shallow shelf approximation, the numerical approach, as well as the grounding line treatment. Their overall response to the loss of buttressing is found to be broadly consistent in terms of grounding line position, rate of surface elevation change and surface velocity. However, still small differences appear for these latter variables, and they can lead to large discrepancies (> 100% observed in terms of ice sheet contribution to sea level when cumulated over time. Despite the recent important improvements of marine ice-sheet models in their ability to compute steady state configurations, our results question the capacity of these models to compute short-term reliable sea-level rise projections.
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.
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.
35 Hz shape memory alloy actuator with bending-twisting mode
Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon
2016-01-01
Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators. PMID:26892438
35 Hz shape memory alloy actuator with bending-twisting mode.
Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon
2016-02-19
Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators.
Comparison of Transmission Line Methods for Surface Acoustic Wave Modeling
Wilson, William; Atkinson, Gary
2009-01-01
Surface Acoustic Wave (SAW) technology is low cost, rugged, lightweight, extremely low power and can be used to develop passive wireless sensors. For these reasons, NASA is investigating the use of SAW technology for Integrated Vehicle Health Monitoring (IVHM) of aerospace structures. To facilitate rapid prototyping of passive SAW sensors for aerospace applications, SAW models have been developed. This paper reports on the comparison of three methods of modeling SAWs. The three models are the Impulse Response Method (a first order model), and two second order matrix methods; the conventional matrix approach, and a modified matrix approach that is extended to include internal finger reflections. The second order models are based upon matrices that were originally developed for analyzing microwave circuits using transmission line theory. Results from the models are presented with measured data from devices. Keywords: Surface Acoustic Wave, SAW, transmission line models, Impulse Response Method.
Energy Technology Data Exchange (ETDEWEB)
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.
3D printed soft parallel actuator
Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif
2018-04-01
This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.
Rigorous theoretical derivation of lumped models to transmission line systems
International Nuclear Information System (INIS)
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 γd, 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. (semiconductor integrated circuits)
ANS&A Equip-13 Dynamic Actuator
National Research Council Canada - National Science Library
Steedman, R
1996-01-01
The dynamic actuator is based on the principles of the stored angular momentum system for use in earthquake centrifuge modeling and is compatible with the Equivalent Shear Beam model container design...
Wen, Li; Ren, Ziyu; Di Santo, Valentina; Hu, Kainan; Yuan, Tao; Wang, Tianmiao; Lauder, George V
2018-04-10
Although linear accelerations are an important common component of the diversity of fish locomotor behaviors, acceleration is one of the least-understood aspects of propulsion. Analysis of acceleration behavior in fishes with both spiny and soft-rayed median fins demonstrates that fin area is actively modulated when fish accelerate. We implemented an undulatory biomimetic robotic fish model with median fins manufactured using multimaterial three-dimensional printing-a spiny-rayed dorsal fin, soft-rayed dorsal/anal fins, and a caudal fin-whose stiffnesses span three orders of magnitude. We used an array of fluidic elastomeric soft actuators to mimic the dorsal/anal inclinator and erector/depressor muscles of fish, which allowed the soft fins to be erected or folded within 0.3 s. We experimentally show that the biomimetic soft dorsal/anal fin can withstand external loading. We found that erecting the soft dorsal/anal fins significantly enhanced the linear acceleration rate, up to 32.5% over the folded fin state. Surprisingly, even though the projected area of the body (in the lateral plane) increased 16.9% when the median fins were erected, the magnitude of the side force oscillation decreased by 24.8%, which may have led to significantly less side-to-side sway in the robotic swimmer. Visualization of fluid flow in the wake of median fins reveals that during linear acceleration, the soft dorsal fin generates a wake flow opposite in direction to that of the caudal fin, which creates propulsive jets with time-variant circulations and jet angles. Erectable/foldable fins provide a new design space for bioinspired underwater robots with structures that morph to adapt to different locomotor behaviors. This biorobotic fish model is also a potentially promising system for studying the dynamics of complex multifin fish swimming behaviors, including linear acceleration, steady swimming, and burst and coast, which are difficult to analyze in freely swimming fishes.
Some Results On The Modelling Of TSS Manufacturing Lines
Directory of Open Access Journals (Sweden)
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.
Energy Technology Data Exchange (ETDEWEB)
Aaagard Madsen, H.
1983-01-01
The ideal and the real energy conversion in a straight bladed vertical axis wind turbine (VAWT) with variable pitch has been studied on basis of the actuator cylinder flow model and experimental data from free wind tests on a 9 m/sup 2/ turbine. Particularly, the theoretical upper power limit of VAWT's has been focused upon in the light of the already existing theories for horizontal axis wind turbines (HAWT's). A remarkable result, differing from prior theories, has turned out through the computations with the actuator cylinder flow model and that is: The maximum ideal power coefficient for VAWT's seams neither to be bounded by the Lanchester-Betz power coefficient limit of 16/27 (actuator disc concept), nor by Glauert's ideal power coefficient curve (taking into account the tip speed ratio), both limits derived with particular reference to HAWT's. Concerning the agreement between analysis and the measurements of the power coefficient, the rotor drag coefficient and the flow velocity vector adjacent to the swept area, it was in general found to be good. However, there seems still to be need for future research on the influence of turbulence in the free wind and dynamic stall on the real energy conversion in VAWT's.
Hybrid Multi-Physics Modeling of an Ultra-Fast Electro-Mechanical Actuator
Directory of Open Access Journals (Sweden)
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.
Actuator forces in CFD: RANS and LES modeling in OpenFOAM
International Nuclear Information System (INIS)
Schito, P; Zasso, A
2014-01-01
Wind turbine wakes are a very challenging topic for scientific computations, but modern CFD frameworks and latest HPC centers allow setting up numerical computations on the wake induced by the wind turbine. The main issues is that the correct modeling of the wake is related to the correct modeling of the interaction between the blade and the incoming flow. The aim of the proposed work is to estimate the aerodynamic forces acting on the blades in order to correctly generate the rotor wake applying equivalent aerodynamic force source on the flow. The definition of a blade forces is done developing a model able to correctly estimate this aerodynamic forces as a function of the local flow seen by the blade during its revolution
Effective Multi-Model Motion Tracking Under Multiple Team Member Actuators
Gu, Yang; Veloso, Manuela
2009-01-01
Motivated by the interactions between a team and the tracked target, we contribute a method to achieve efficient tracking through using a play-based motion model and combined vision and infrared sensory information. This method gives the robot a more exact task-specific motion model when executing different tactics over the tracked target (e.g. the ball) or collaborating with the tracked target (e.g. the team member). Then we represent the system in a compact dynamic Bayesian network and use ...
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.
Integrated on-line accelerator modeling at CEBAF
International Nuclear Information System (INIS)
Bowling, B.A.; Shoaee, H.; Van Zeijts, J.; Witherspoon, S.; Watson, W.
1995-01-01
An on-line accelerator modeling facility is currently under development at CEBAF. The model server, which is integrated with the EPICS control system, provides coupled and 2nd-order matrices for the entire accelerator, and forms the foundation for automated model- based control and diagnostic applications. Four types of machine models are provided, including design, golden or certified, live, and scratch or simulated model. Provisions are also made for the use of multiple lattice modeling programs such as DIMAD, PARMELA, and TLIE. Design and implementation details are discussed. 2 refs., 4 figs
Simulation of a MW rotor equipped with vortex generators using CFD and an actuator shape model
DEFF Research Database (Denmark)
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...
Bi-directional series-parallel elastic actuator and overlap of the actuation layers.
Furnémont, Raphaël; Mathijssen, Glenn; Verstraten, Tom; Lefeber, Dirk; Vanderborght, Bram
2016-01-27
Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to humans. To combine both advantages, the series parallel elastic actuator (SPEA) was developed. The principle is inspired from biological muscles. Muscles are composed of motor units, placed in parallel, which are variably recruited as the required effort increases. This biological principle is exploited in the SPEA, where springs (layers), placed in parallel, can be recruited one by one. This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power consumption. The variable recruitment of the parallel springs can also be tuned in order to further decrease the consumption of the actuator for a given task. First, an explanation of the concept and a brief description of the prior work done will be given. Next, the design and the model of one of the layers will be presented. The working principle of the full actuator will then be given. At the end of this paper, experiments showing the electric consumption of the actuator will display the advantage of the SPEA over an equivalent stiff actuator.
Energy Technology Data Exchange (ETDEWEB)
Golovin, Y., E-mail: nano@tsutmb.ru [M.V. Lomonosov Moscow State University, School of Chemistry (Russian Federation); Golovin, D. [G.R. Derzhavin Tambov State University (Russian Federation); Klyachko, N.; Majouga, A.; Kabanov, A. [M.V. Lomonosov Moscow State University, School of Chemistry (Russian Federation)
2017-02-15
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.
International Nuclear Information System (INIS)
Golovin, Y.; Golovin, D.; Klyachko, N.; Majouga, A.; Kabanov, A.
2017-01-01
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 flow control on a NACA 23012 airfoil model by means of magnetohydrodynamic plasma actuator
International Nuclear Information System (INIS)
Kazanskiy, P N; Moralev, I A; Bityurin, V A; Efimov, A V
2016-01-01
The paper is devoted to the study of high speed flow control around the airfoil by means of the Lorentz force. The latter is formed by creating the pulsed arc filament, moving in the magnetic field along the upper airfoil surface. The research was performed for the NACA23012 airfoil model at flow velocities up to 60 m/s (134 mph). The dynamic measurement of the aerodynamic forces on the airfoil was made. Changes up to 5% in an average value of lift and pitching moment were obtained at pulse repetition frequency up to 13 Hz and average discharge power less than 200 W. The amplitude of lift force oscillation was obtained as high as 10%, with the integration time of the balance 30 ms. The dynamic flow visualization of an airfoil model after a single discharge ignition was performed. It is shown that interaction of the main flow with the arc-induced disturbance leads to the dramatic changes in the flow structure. It was shown that the upstream movement of the arc channel (I = 40-700 A) leads to the local flow separation and simultaneously to the formation of a high pressure region above the model surface. Current paper presents investigation of previous work. (paper)
Understanding Mammalian Germ Line Development with In Vitro Models.
Martínez-Arroyo, Ana M; Míguez-Forján, Jose M; Remohí, Jose; Pellicer, Antonio; Medrano, Jose V
2015-09-15
Germ line development is crucial in organisms with sexual reproduction to complete their life cycle. In mammals, knowledge about germ line development is based mainly on the mouse model, in which genetic and epigenetic events are well described. However, little is known about how germ line development is orchestrated in humans, especially in the earliest stages. New findings derived from human in vitro models to obtain germ cells can shed light on these questions. This comprehensive review summarizes the current knowledge about mammalian germ line development, emphasizing the state of the art obtained from in vitro models for germ cell-like cell derivation. Current knowledge of the pluripotency cycle and germ cell specification has allowed different in vitro strategies to obtain germ cells with proven functionality in mouse models. Several reports during the last 10 years show that in vitro germ cell derivation with proven functionality to generate a healthy offspring is possible in mice. However, differences in the embryo development and pluripotency potential between human and mouse make it difficult to extrapolate these results. Further efforts on both human and mouse in vitro models to obtain germ cells from pluripotent stem cells may help to elucidate how human physiological events take place; therefore, therapeutic strategies can also be considered.
DEFF Research Database (Denmark)
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....... The electric circuit is closed with a shunt resistance connected to the electromagnet. The current induced in the circuit generates additional alternating magnetic force. This force counteracts the original vibration and damps it. In this way the coupled electro-magneto-mechanical system suppresses the forced...
Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM
Directory of Open Access Journals (Sweden)
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.
Directory of Open Access Journals (Sweden)
Ying Zhang
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.
Force-deflection behavior of piezoelectric actuators
Singh, Ashok K.; Nagpal, Pawan
2001-11-01
In the present endeavour, force - deflection behavior of various piezoelectric actuator configurations has been analyzed for performance comparison. The response of stack actuator has been simulated using MATLAB Simulink, in a stack actuator-pendulum configuration. During simulation, stack actuator has been used in charge control feedback mode, because of the advantage of low hysteresis, and high linearity. The model incorporates three compensation blocks, viz 1) a PID position controller, 2) a PI piezoelectric current controller, and 3) a dynamic force feedback. A typical stack actuator, having 130 layers, 1.20x10-4 m thickness, 3.46x10-5m2 cross sectional area, of PZT-5H type, has been utilized for simulation. The response of the system has been tested by applying a sinusoidal input of frequency 500 Hz, and waveform amplitude of 1x10-3V.
Czech Academy of Sciences Publication Activity Database
Al Janaideh, M.; Krejčí, Pavel
2013-01-01
Roč. 18, č. 5 (2013), s. 1498-1507 ISSN 1083-4435 R&D Projects: GA ČR GAP201/10/2315 Institutional support: RVO:67985840 Keywords : hysteresis * inverse control * piezomicropositioning actuator Subject RIV: BA - General Mathematics Impact factor: 3.652, year: 2013 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6236190
Dynamic modeling of a thermo-piezo-electrically actuated nanosize beam subjected to a magnetic field
Ebrahimi, Farzad; Barati, Mohammad Reza
2016-04-01
In this article, free vibration behavior of magneto-electro-thermo-elastic functionally graded nanobeams is investigated based on a higher order shear deformation beam theory. Four types of thermal loading including uniform and linear temperature change as well as heat conduction and sinusoidal temperature rise through the thickness are assumed. Magneto-electro-thermo-elastic properties of FG nanobeam are supposed to change continuously throughout the thickness based on power-law model. Via nonlocal elasticity theory of Eringen, the small size effects are adopted. Based upon Hamilton's principle, the coupled nonlocal governing equations for higher order shear deformable METE-FG nanobeams are obtained and they are solved applying analytical solution. It is shown that the vibrational behavior of METE-FG nanobeams is significantly affected by various temperature rises, magnetic potential, external electric voltage, power-law index, nonlocal parameter and slenderness ratio.
Photoionization Modeling and the K Lines of Iron
Kallman, T. R.; Palmeri, P.; Bautista, M. A.; Mendoza, C.; Krolik, J. H.
2004-01-01
We calculate the efficiency of iron K line emission and iron K absorption in photoionized models using a new set of atomic data. These data are more comprehensive than those previously applied to the modeling of iron K lines from photoionized gases, and allow us to systematically examine the behavior of the properties of line emission and absorption as a function of the ionization parameter, density and column density of model constant density clouds. We show that, for example, the net fluorescence yield for the highly charged ions is sensitive to the level population distribution produced by photoionization, and these yields are generally smaller than those predicted assuming the population is according to statistical weight. We demonstrate that the effects of the many strongly damped resonances below the K ionization thresholds conspire to smear the edge, thereby potentially affecting the astrophysical interpretation of absorption features in the 7-9 keV energy band. We show that the centroid of the ensemble of K(alpha) lines, the K(beta) energy, and the ratio of the K(alpha(sub 1)) to K(alpha(sub 2)) components are all diagnostics of the ionization parameter of our model slabs.
Resilient organizations: matrix model and service line management.
Westphal, Judith A
2005-09-01
Resilient organizations modify structures to meet the demands of the marketplace. The author describes a structure that enables multihospital organizations to innovate and rapidly adapt to changes. Service line management within a matrix model is an evolving organizational structure for complex systems in which nurses are pivotal members.
Modeling sludge accumulation rates in lined pit latrines in slum ...
African Journals Online (AJOL)
Yvonne
should include geo-physical characterization of soil and drainage of pit latrine sites so as ... Key words: Faecal, sludge accumulation rates, slum areas, lined pit latrines. .... Value and its unit Source .... overall quality of the models had to be assessed by validation on ..... Sanitation partnership series: Bringing pit emptying out.
Towards Product Lining Model-Driven Development Code Generators
Roth, Alexander; Rumpe, Bernhard
2015-01-01
A code generator systematically transforms compact models to detailed code. Today, code generation is regarded as an integral part of model-driven development (MDD). Despite its relevance, the development of code generators is an inherently complex task and common methodologies and architectures are lacking. Additionally, reuse and extension of existing code generators only exist on individual parts. A systematic development and reuse based on a code generator product line is still in its inf...
Magnetic Actuation of Biological Systems
Lauback, Stephanie D.
Central to the advancement of many biomedical and nanotechnology capabilities is the capacity to precisely control the motion of micro and nanostructures. These applications range from single molecule experiments to cell isolation and separation, to drug delivery and nanomachine manipulation. This dissertation focuses on actuation of biological micro- and nano-entities through the use of weak external magnetic fields, superparamagnetic beads, and ferromagnetic thin films. The magnetic platform presents an excellent method for actuation of biological systems due to its ability to directly control the motion of an array of micro and nanostructures in real-time with calibrated picoNewton forces. The energy landscape of two ferromagnetic thin film patterns (disks and zigzag wires) is experimentally explored and compared to corresponding theoretical models to quantify the applied forces and trajectories of superparamagnetic beads due to the magnetic traps. A magnetic method to directly actuate DNA nanomachines in real-time with nanometer resolution and sub-second response times using micromagnetic control was implemented through the use of stiff DNA micro-levers which bridged the large length scale mismatch between the micro-actuator and the nanomachine. Compared to current alternative methods which are limited in the actuation speeds and the number of reconfiguration states of DNA constructs, this magnetic approach enables fast actuation (˜ milliseconds) and reconfigurable conformations achieved through a continuous range of finely tuned steps. The system was initially tested through actuation of the stiff arm tethered to the surface, and two prototype DNA nanomachines (rotor and hinge) were successfully actuated using the stiff mechanical lever. These results open new possibilities in the development of functional robotic systems at the molecular scale. In exploiting the use of DNA stiff levers, a new technique was also developed to investigate the emergence of the
Kholwadwala, Deepesh K [Albuquerque, NM; Johnston, Gabriel A [Trophy Club, TX; Rohrer, Brandon R [Albuquerque, NM; Galambos, Paul C [Albuquerque, NM; Okandan, Murat [Albuquerque, NM
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.
Energy Technology Data Exchange (ETDEWEB)
Yang, Dian; Whitesides, George M.
2017-12-26
A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.
Updating parameters of the chicken processing line model
DEFF Research Database (Denmark)
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...... updating parameters of the model to better describe processes observed in slaughterhouses. We propose Bayesian updating as a suitable technique to update expert judgment with microbiological data. Berrang and Dickens’s data are used to demonstrate performance of this method in updating parameters...... 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
Self-Consistent Dynamical Model of the Broad Line Region
Energy Technology Data Exchange (ETDEWEB)
Czerny, Bozena [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Li, Yan-Rong [Key Laboratory for Particle Astrophysics, Institute of High Energy Physics, Chinese Academy of Sciences, Beijing (China); Sredzinska, Justyna; Hryniewicz, Krzysztof [Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Panda, Swayam [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Wildy, Conor [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Karas, Vladimir, E-mail: bcz@cft.edu.pl [Astronomical Institute, Czech Academy of Sciences, Prague (Czech Republic)
2017-06-22
We develop a self-consistent description of the Broad Line Region based on the concept of a failed wind powered by radiation pressure acting on a dusty accretion disk atmosphere in Keplerian motion. The material raised high above the disk is illuminated, dust evaporates, and the matter falls back toward the disk. This material is the source of emission lines. The model predicts the inner and outer radius of the region, the cloud dynamics under the dust radiation pressure and, subsequently, the gravitational field of the central black hole, which results in asymmetry between the rise and fall. Knowledge of the dynamics allows us to predict the shapes of the emission lines as functions of the basic parameters of an active nucleus: black hole mass, accretion rate, black hole spin (or accretion efficiency) and the viewing angle with respect to the symmetry axis. Here we show preliminary results based on analytical approximations to the cloud motion.
Self-Consistent Dynamical Model of the Broad Line Region
Directory of Open Access Journals (Sweden)
Bozena Czerny
2017-06-01
Full Text Available We develop a self-consistent description of the Broad Line Region based on the concept of a failed wind powered by radiation pressure acting on a dusty accretion disk atmosphere in Keplerian motion. The material raised high above the disk is illuminated, dust evaporates, and the matter falls back toward the disk. This material is the source of emission lines. The model predicts the inner and outer radius of the region, the cloud dynamics under the dust radiation pressure and, subsequently, the gravitational field of the central black hole, which results in asymmetry between the rise and fall. Knowledge of the dynamics allows us to predict the shapes of the emission lines as functions of the basic parameters of an active nucleus: black hole mass, accretion rate, black hole spin (or accretion efficiency and the viewing angle with respect to the symmetry axis. Here we show preliminary results based on analytical approximations to the cloud motion.
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.
Actuators Using Piezoelectric Stacks and Displacement Enhancers
Bar-Cohen, Yoseph; Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Lee, Hyeong Jae; Walkenmeyer, Phillip; Lih, Shyh-Shiuh
2015-01-01
Actuators are used to drive all active mechanisms including machines, robots, and manipulators to name a few. The actuators are responsible for moving, manipulating, displacing, pushing and executing any action that is needed by the mechanism. There are many types and principles of actuation that are responsible for these movements ranging from electromagnetic, electroactive, thermo-mechanic, piezoelectric, electrostrictive etc. Actuators are readily available from commercial producers but there is a great need for reducing their size, increasing their efficiency and reducing their weight. Studies at JPL’s Non Destructive Evaluation and Advanced Actuators (NDEAA) Laboratory have been focused on the use of piezoelectric stacks and novel designs taking advantage of piezoelectric’s potential to provide high torque/force density actuation and high electromechanical conversion efficiency. The actuators/motors that have been developed and reviewed in this paper are operated by various horn configurations as well as the use of pre-stress flexures that make them thermally stable and increases their coupling efficiency. The use of monolithic designs that pre-stress the piezoelectric stack eliminates the use of compression stress bolt. These designs enable the embedding of developed solid-state motors/actuators in any structure with the only macroscopically moving parts are the rotor or the linear translator. Finite element modeling and design tools were used to determine the requirements and operation parameters and the results were used to simulate, design and fabricate novel actuators/motors. The developed actuators and performance will be described and discussed in this paper.
Robust Tracking Control for a Piezoelectric Actuator
National Research Council Canada - National Science Library
Salah, M; McIntyre, M; Dawson, D; Wagner, J
2006-01-01
In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...
Tip loss correction for actuator / Navier Stokes computations
DEFF Research Database (Denmark)
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...
National Research Council Canada - National Science Library
Napolitano, Marcello
2002-01-01
This project focused on investigating the potential of on-line learning 'hardware-based' neural approximators and controllers to provide fault tolerance capabilities following sensor and actuator failures...
An emission-line model for AM Herculis systems
International Nuclear Information System (INIS)
Ferrario, L.; Tuohy, I.R.; Wickramasinghe, D.T.; Australian National Univ., Canberra)
1989-01-01
The optical spectra of the AM Herculis binaries are characterized by extremely complex emission lines whose profiles can be resolved into at least three components which are formed in different regions of the accretion stream leading from the companion star toward the magnetic white dwarf. A theoretical model is presented for the radial velocity and velocity dispersion of the broad emission line component assuming that it originates mainly in the gas which is diverted out of the orbital plane and funneled onto the white dwarf surface along magnetic field lines. The model is used to locate the line-forming region in three AM Her variables: E1405-451, CW 1103+254, and EXO 033319-2554.2, using as constraints the radial velocity and velocity dispersion data. The analyses of these systems show that the material is threaded by the magnetic field in a very azimuthally extended coupling region located 0.5-0.75 of the way between the white dwarf and the inner Lagrange point. 36 refs
International Nuclear Information System (INIS)
Francioso, L; De Pascali, C; Siciliano, P; Pescini, E; De Giorgi, M G
2016-01-01
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. (paper)
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.
The complex sine-Gordon model on a half line
International Nuclear Information System (INIS)
Tzamtzis, Georgios
2003-01-01
In this thesis, we study the complex sine-Gordon model on a half line. The model in the bulk is an integrable (1+1) dimensional field theory which is U(1) gauge invariant and comprises a generalisation of the sine-Gordon theory. It accepts soliton and breather solutions. By introducing suitably selected boundary conditions we may consider the model on a half line. Through such conditions the model can be shown to remain integrable and various aspects of the boundary theory can be examined. The first chapter serves as a brief introduction to some basic concepts of integrability and soliton solutions. As an example of an integrable system with soliton solutions, the sine-Gordon model is presented both in the bulk and on a half line. These results will serve as a useful guide for the model at hand. The introduction finishes with a brief overview of the two methods that will be used on the fourth chapter in order to obtain the quantum spectrum of the boundary complex sine-Gordon model. In the second chapter the model is properly introduced along with a brief literature review. Different realisations of the model and their connexions are discussed. The vacuum of the theory is investigated. Soliton solutions are given and a discussion on the existence of breathers follows. Finally the collapse of breather solutions to single solitons is demonstrated and the chapter concludes with a different approach to the breather problem. In the third chapter, we construct the lowest conserved currents and through them we find suitable boundary conditions that allow for their conservation in the presence of a boundary. The boundary term is added to the Lagrangian and the vacuum is reexamined in the half line case. The reflection process of solitons from the boundary is studied and the time-delay is calculated. Finally we address the existence of boundary-bound states. In the fourth chapter we study the quantum complex sine-Gordon model. We begin with a brief overview of the theory in
Study on Tower Models for EHV Transmission Line
Directory of Open Access Journals (Sweden)
Xu Bao-Qing
2016-01-01
Full Text Available Lightning outage accident is one of the main factors that threat seriously the safe and reliable operation of power system. So it is very important to establish reasonable transmission tower model and evaluate the impulse response characteristic of lightning wave traveling on the transmission tower properly for determining reliable lightning protection performance. With the help of Electromagnetic Transient Program (EMTP, six 500kV tower models are built. Aiming at one line to one transformer operating mode of 500kV substation, the intruding wave overvoltage under different tower models is calculated. The effect of tower model on intruding overvoltage has been studied. The results show that different tower models can result in great differences to the calculation results. Hence, reasonable selection of the tower model in the calculation of back- strike intruding wave is very important.
Analysis of a spherical permanent magnet actuator
International Nuclear Information System (INIS)
Wang, J.; Jewell, G.W.; Howe, D.
1997-01-01
This paper describes a new form of actuator with a spherical permanent magnet rotor and a simple winding arrangement, which is capable of a high specific torque by utilizing a rare-earth permanent magnet. The magnetic-field distribution is established using an analytical technique formulated in spherical coordinates, and the results are validated by finite element analysis. The analytical field solution allows the prediction of the actuator torque and back emf in closed forms. In turn, these facilitate the characterization of the actuator and provide a firm basis for design optimization, system dynamic modeling, and closed-loop control law development. copyright 1997 American Institute of Physics
Evaluation of burst pressure prediction models for line pipes
International Nuclear Information System (INIS)
Zhu, Xian-Kui; Leis, Brian N.
2012-01-01
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: ► This paper evaluates different burst pressure prediction models for line pipes. ► The existing models are categorized into two major groups of Tresca and von Mises solutions. ► Prediction quality of each model is assessed statistically using a large full-scale burst test database. ► The Zhu-Leis solution is identified as the best predictive model.
Evaluation of burst pressure prediction models for line pipes
Energy Technology Data Exchange (ETDEWEB)
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 modelling approach for railway overhead line equipment asset management
Kilsby, Paul; Remenyte-Prescott, Rasa; Andrews, John
2017-01-01
The Overhead Line Equipment (OLE) is a critical sub-system of the 25kV AC overhead railway electrification system. If OLE asset management strategies can be evaluated using a whole lifecycle cost analysis that considers degradation processes and maintenance activities of the OLE components, the investment required to deliver the level of performance desired by railway customers and regulators can be based on evidence from the analysis results. A High Level Petri Net (HLPN) model, proposed in ...
A multi-purpose electromagnetic actuator for magnetic resonance elastography.
Feng, Yuan; Zhu, Mo; Qiu, Suhao; Shen, Ping; Ma, Shengyuan; Zhao, Xuefeng; Hu, Chun-Hong; Guo, Liang
2018-04-19
An electromagnetic actuator was designed for magnetic resonance elastography (MRE). The actuator is unique in that it is simple, portable, and capable of brain, abdomen, and phantom imagings. A custom-built control unit was used for controlling the vibration frequency and synchronizing the trigger signals. An actuation unit was built and mounted on the specifically designed clamp and holders for different imaging applications. MRE experiments with respect to gel phantoms, brain, and liver showed that the actuator could produce stable and consistent mechanical waves. Estimated shear modulus using local frequency estimate method demonstrated that the measurement results were in line with that from MRE studies using different actuation systems. The relatively easy setup procedure and simple design indicated that the actuator system had the potential to be applied in many different clinical studies. Copyright © 2018 Elsevier Inc. All rights reserved.
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. PMID:25020043
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.
Another lesson from plants: the forward osmosis-based actuator.
Directory of Open Access Journals (Sweden)
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.
Conjugated Polymers as Actuators: Modes of Actuation
DEFF Research Database (Denmark)
Skaarup, Steen
2004-01-01
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...
Conjugated polymers as actuators: modes of actuation
DEFF Research Database (Denmark)
Skaarup, Steen
2007-01-01
The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...
International Nuclear Information System (INIS)
Uvarov, I V; Postnikov, A V; Svetovoy, V B
2016-01-01
Lack of fast and strong microactuators is a well-recognized problem in MEMS community. Electrochemical actuators can develop high pressure but they are notoriously slow. Water electrolysis produced by short voltage pulses of alternating polarity can overcome the problem of slow gas termination. Here we demonstrate an actuation regime, for which the gas pressure is relaxed just for 10 μs or so. The actuator consists of a microchamber filled with the electrolyte and covered with a flexible membrane. The membrane bends outward when the pressure in the chamber increases. Fast termination of gas and high pressure developed in the chamber are related to a high density of nanobubbles in the chamber. The physical processes happening in the chamber are discussed so as problems that have to be resolved for practical applications of this actuation regime. The actuator can be used as a driving engine for microfluidics. (paper)
Mathematical modeling of agricultural fires beneath high voltage transmission lines
International Nuclear Information System (INIS)
El-Zohri, Emad H.; Shafey, Hamdy M.; Abdel-Salam, M.; Ahmed, A.
2011-01-01
This paper presents a mathematical model for agricultural fires based on a multi-phase formulation. The model includes dehydration and pyrolysis of agricultural fuel and pyrolysis products. The model considers a homogeneous distribution of the agricultural solid fuel particles, interacting with the gas flow via source terms. These terms include: drag forces, production of water vapour and pyrolysis products, radiative and convective heat exchange. A multi-phase radiative transfer equation for absorbing-emitting medium is considered to account for the radiative heat exchange between the gas and solid phases of the fire. The main outputs of the present model are most important to study the influence of agricultural fire occurring beneath high voltage transmission lines. The agricultural fire causes a flashover due to the ambient temperature rise and soot accumulation on the insulator of these transmission lines. Numerical results of the present model are obtained for flat grassland fires to study the effects of wind velocity, solid fuel moisture content and ignition length on some selected fire outputs. These outputs include the temperature, velocity, soot volume fraction fields of the gas phase, together with fire propagation rate and flame geometry. The numerical results are compared to the available experimental work in the literature. -- Research highlights: → The model is sensitive to the initial condition of the ignition length affecting the fire propagation rate and width. → The model predicts the effects of both the wind velocity and the fuel moisture content on fire propagation rate, in agreement with the available experimental work in the literature. → The model shows that both the wind velocity and the fuel moisture content are important factors affecting the fire plume thickness, location, and inclination. → The model is able to visualize the flame geometry through tracing radiative heat rates exceeding a threshold value for flame visibility (60 k
Mechatronics and Bioinspiration in Actuator Design and Control
Directory of Open Access Journals (Sweden)
J. L. Pons
2008-01-01
Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.
Evaluation of piezoceramic actuators for control of aircraft interior noise
Silcox, Richard J.; Lefebvre, Sylvie; Metcalf, Vern L.; Beyer, Todd B.; Fuller, Chris R.
1992-01-01
Results of an experiment to evaluate piezoceramic actuators as the control actuator for active control of interior noise in a large-scale fuselage model are presented. Control was demonstrated for tonal excitation using a time domain least mean squares algorithm. A maximum of four actuator channels and six error signals were used. The actuators were employed for control of noise at frequencies where interior cavity modes were the dominant response and for driven acoustic responses where a structure resonance was dominant. Global reductions of 9 to 12 dB were obtained for the cases examined. The most effective configuration of skin-mounted actuators was found to be a pure in-plane forcing function as opposed to a bending excitation. The frame-mounted actuators were found to be equally effective as the skin-mounted actuators. However, both configurations resulted in local regions of unacceptably high vibration response in the structure.
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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
A low-power-consumption out-of-Plane electrothermal actuator
Girbau Sala, David; Llamas Morote, Marco Antonio; Casals Terré, Jasmina; Simó Selvas, Francisco Javier; Pradell i Cara, Lluís; Lázaro Guillén, Antoni
2007-01-01
This paper proposes a new vertical electrothermal actuator. It can be considered as a hybrid between the traditional in-plane buckle-beam actuator and the vertical hot-cold actuator. It is here referred to as vertical buckle beam. At identical dimensional and bias conditions, it features a displacement larger than that of other vertical electrothermal actuators proposed so far in the literature. The actuator performance is demonstrated by means of an analytical model along with finite-element...
Evaluation of linear DC motor actuators for control of large space structures
Ide, Eric Nelson
1988-01-01
This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...
Comparing the line broadened quasilinear model to Vlasov code
International Nuclear Information System (INIS)
Ghantous, K.; Berk, H. L.; Gorelenkov, N. N.
2014-01-01
The Line Broadened Quasilinear (LBQ) model is revisited to study its predicted saturation level as compared with predictions of a Vlasov solver BOT [Lilley et al., Phys. Rev. Lett. 102, 195003 (2009) and M. Lilley, BOT Manual. The parametric dependencies of the model are modified to achieve more accuracy compared to the results of the Vlasov solver both in regards to a mode amplitude's time evolution to a saturated state and its final steady state amplitude in the parameter space of the model's applicability. However, the regions of stability as predicted by LBQ model and BOT are found to significantly differ from each other. The solutions of the BOT simulations are found to have a larger region of instability than the LBQ simulations
Comparing the line broadened quasilinear model to Vlasov code
Energy Technology Data Exchange (ETDEWEB)
Ghantous, K. [Laboratoire de Physique des Plasmas, Ecole Polytechnique, 91128 Palaiseau Cedex (France); Princeton Plasma Physics Laboratory, P.O. Box 451, Princeton, New Jersey 08543-0451 (United States); Berk, H. L. [Institute for Fusion Studies, University of Texas, 2100 San Jacinto Blvd, Austin, Texas 78712-1047 (United States); Gorelenkov, N. N. [Princeton Plasma Physics Laboratory, P.O. Box 451, Princeton, New Jersey 08543-0451 (United States)
2014-03-15
The Line Broadened Quasilinear (LBQ) model is revisited to study its predicted saturation level as compared with predictions of a Vlasov solver BOT [Lilley et al., Phys. Rev. Lett. 102, 195003 (2009) and M. Lilley, BOT Manual. The parametric dependencies of the model are modified to achieve more accuracy compared to the results of the Vlasov solver both in regards to a mode amplitude's time evolution to a saturated state and its final steady state amplitude in the parameter space of the model's applicability. However, the regions of stability as predicted by LBQ model and BOT are found to significantly differ from each other. The solutions of the BOT simulations are found to have a larger region of instability than the LBQ simulations.
Comparing the line broadened quasilinear model to Vlasov code
Ghantous, K.; Berk, H. L.; Gorelenkov, N. N.
2014-03-01
The Line Broadened Quasilinear (LBQ) model is revisited to study its predicted saturation level as compared with predictions of a Vlasov solver BOT [Lilley et al., Phys. Rev. Lett. 102, 195003 (2009) and M. Lilley, BOT Manual. The parametric dependencies of the model are modified to achieve more accuracy compared to the results of the Vlasov solver both in regards to a mode amplitude's time evolution to a saturated state and its final steady state amplitude in the parameter space of the model's applicability. However, the regions of stability as predicted by LBQ model and BOT are found to significantly differ from each other. The solutions of the BOT simulations are found to have a larger region of instability than the LBQ simulations.
International Nuclear Information System (INIS)
Kim, Dae-Kwan; Han, Jae-Hung; Kwon, Ki-Jung
2009-01-01
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
Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators
Nguyen, Quang Sang; Heo, Seok; Park, Hoon Cheol; Goo, Nam Seo; Byun, Doyoung
2009-03-01
The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.
Actuator disc edge singularity. The key to a revised actuator disc concept and momentum theory
Energy Technology Data Exchange (ETDEWEB)
Kuik, G.A.M. van (The Wind Energy Group of the Technical University Eindhoven (NL))
1989-01-01
Since the beginning of rotor aerodynamics the actuator disc momentum theory occupies a prominant place in almost any textbook on this subject. Specially in axial flow the theory provides an easy and rather accurate performance prediction. The results first obtained by Lanchester for the induced power of a hovering rotor and the maximum power of a wind turbine are still used as guidelines for complicated calculations. On the other hand, experimental results for propellers are known to deviate systematically (some 10%) from the momentum theory results. This is commonly attributed to the differences between a real rotor and an actuator disc. However, some actuator disc- and actuator strip (the 2-dimensional version) experiments are described in literature, showing the same deviations from momentum theory results. Therefore, apart from the question how representative an actuator disc is for a real rotor, the actuator disc concept itself may be inadequate. This problem is the subject of the work describe here. It will be shown that the classical actuator disc concept ignores discrete forces resulting from a flow singularity at the edge of the disc. The (extended) momentum theory, applied to this actuator strip model, shows a shift of the results towards the experimental data, and for the static case (hover) even a quantitative agreement is obtained. (author) 12 refs.
Wang, Nianfeng; Guo, Hao; Chen, Bicheng; Cui, Chaoyu; Zhang, Xianmin
2018-05-01
Dielectric elastomers (DE), known as electromechanical transducers, have been widely used in the field of sensors, generators, actuators and energy harvesting for decades. A large number of DE actuators including bending actuators, linear actuators and rotational actuators have been designed utilizing an experience design method. This paper proposes a new method for the design of DE actuators by using a topology optimization method based on pairs of curves. First, theoretical modeling and optimization design are discussed, after which a rotary dielectric elastomer actuator has been designed using this optimization method. Finally, experiments and comparisons between several DE actuators have been made to verify the optimized result.
Modeling stretched solitary waves along magnetic field lines
Directory of Open Access Journals (Sweden)
L. Muschietti
2002-01-01
Full Text Available A model is presented for a new type of fast solitary waves which is observed in downward current regions of the auroral zone. The three-dimensional, coherent structures are electrostatic, have a positive potential, and move along the magnetic field lines with speeds on the order of the electron drift. Their parallel potential profile is flattened and cannot fit to the Gaussian shape used in previous work. We develop a detailed BGK model which includes a flattened potential and an assumed cylindrical symmetry around a centric magnetic field line. The model envisions concentric shells of trapped electrons slowly drifting azimuthally while bouncing back and forth in the parallel direction. The electron dynamics is analysed in terms of three basic motions that occur on different time scales characterized by the cyclotron frequency We , the bounce frequency wb , and the azimuthal drift frequency wg. The ordering We >> wb >> wg is required. Self-consistent distribution functions are calculated in terms of approximate constants of motion. Constraints on the parameters characterizing the amplitude and shape of the stretched solitary wave are discussed.
Considerations for Contractile Electroactive Materials and Actuators
Energy Technology Data Exchange (ETDEWEB)
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.
Twisted sigma-model solitons on the quantum projective line
Landi, Giovanni
2018-04-01
On the configuration space of projections in a noncommutative algebra, and for an automorphism of the algebra, we use a twisted Hochschild cocycle for an action functional and a twisted cyclic cocycle for a topological term. The latter is Hochschild-cohomologous to the former and positivity in twisted Hochschild cohomology results into a lower bound for the action functional. While the equations for the critical points are rather involved, the use of the positivity and the bound by the topological term lead to self-duality equations (thus yielding twisted noncommutative sigma-model solitons, or instantons). We present explicit nontrivial solutions on the quantum projective line.
A novel multi-actuation CMOS RF MEMS switch
Lee, Chiung-I.; Ko, Chih-Hsiang; Huang, Tsun-Che
2008-12-01
This paper demonstrates a capacitive shunt type RF MEMS switch, which is actuated by electro-thermal actuator and electrostatic actuator at the same time, and than latching the switching status by electrostatic force only. Since thermal actuators need relative low voltage compare to electrostatic actuators, and electrostatic force needs almost no power to maintain the switching status, the benefits of the mechanism are very low actuation voltage and low power consumption. Moreover, the RF MEMS switch has considered issues for integrated circuit compatible in design phase. So the switch is fabricated by a standard 0.35um 2P4M CMOS process and uses wet etching and dry etching technologies for postprocess. This compatible ability is important because the RF characteristics are not only related to the device itself. If a packaged RF switch and a packaged IC wired together, the parasitic capacitance will cause the problem for optimization. The structure of the switch consists of a set of CPW transmission lines and a suspended membrane. The CPW lines and the membrane are in metal layers of CMOS process. Besides, the electro-thermal actuators are designed by polysilicon layer of the CMOS process. So the RF switch is only CMOS process layers needed for both electro-thermal and electrostatic actuations in switch. The thermal actuator is composed of a three-dimensional membrane and two heaters. The membrane is a stacked step structure including two metal layers in CMOS process, and heat is generated by poly silicon resistors near the anchors of membrane. Measured results show that the actuation voltage of the switch is under 7V for electro-thermal added electrostatic actuation.
Uncertainty quantification for PZT bimorph actuators
Bravo, Nikolas; Smith, Ralph C.; Crews, John
2018-03-01
In this paper, we discuss the development of a high fidelity model for a PZT bimorph actuator used for micro-air vehicles, which includes the Robobee. We developed a high-fidelity model for the actuator using the homogenized energy model (HEM) framework, which quantifies the nonlinear, hysteretic, and rate-dependent behavior inherent to PZT in dynamic operating regimes. We then discussed an inverse problem on the model. We included local and global sensitivity analysis of the parameters in the high-fidelity model. Finally, we will discuss the results of Bayesian inference and uncertainty quantification on the HEM.
Pneumatic Muscle Actuator Control
National Research Council Canada - National Science Library
Lilly, John
2000-01-01
This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans...
Energy Technology Data Exchange (ETDEWEB)
Higuchi, Toshiro
1987-06-01
This report explains on the present status of the clean room actuators including the author's research results. In a clean room, there exists a possibility of dust generation, even when a direct human work is eliminated by the use of robots or automatic machines, from the machines themselves. For this, it is important to develop such clean robots and transfer/positioning mechanism that do not generate dusts, and to develop an actuator and its control technique. Topics described in the report are as follows: 1. Prevention of dust diffusion by means of sealing. 2. Elimination of mechanical contact (Linear induction motor and pneumatic float, linear motor and magnetic attraction float, linear motor and air bearing, and magnetic bearing). 3. Contactless actuator having a positioning mechanism (Use of linear step motor and rotary contactless actuator). (15 figs, 11 refs)
On Energy Efficient Mobile Hydraulic Systems : with Focus on Linear Actuation
Heybroek, Kim
2017-01-01
In this dissertation, energy efficient hydraulic systems are studied. The research focuses on solutions for linear actuators in mobile applications, with emphasis on construction machines. Alongside the aspect of energy efficiency, the thesis deals with competing aspects in hydraulic system design found in the development of construction machines. Simulation models and controls for different concepts are developed, taking the whole machine into account. In line with this work, several proof o...
Molecular Line Survey of CRL618 and Complete Modeling
Pardo, J. R.; Cernicharo, J.; Goicoechea, J. R.; Phillips, T. G.
We present a complete survey and model of the emission from the C-rich protoplanetary nebula CRL 618 at the frequencies accessible with the IRAM-30m telescope (80.25-115.75 GHz, 131.25-179.25 GHz, and 204.25-275.25 GHz) and some results of still on-going observations at the Caltech Submillimeter Observatory (280-360 GHz). Although the number of lines detected is large (several hundreds), the number of chemical species from which they arise is rather small. In fact, lines from cyanopolyynes HC3N and HC5N dominate by far the long-wave spectrum of CRL618, with detection of numerous vibrationally excited states and isotopic substituted species. Most of detected species exhibit P-Cygni profiles at the lowest frequencies (3 mm window), and they evolve to pure emission as frequency increases. This fact can only be explained by the behavior of the continuum emission arising from the inner ultracompact HII region and surrounding dust. The data set itself has been used to characterize the continuum emission by averaging all the continuum measurements during the time span of the survey (~8 years). The physical parameters of the different gas regions have been established by studying the large number of detected cyanopolyynes lines. Using these constraints, the abundances of many other species relative to HC3N could also be determined and a general model, that reproduce the whole data set at a very detailed level of agreement, could be built. 1. Introduction The motivation to perform the complete millimeter line survey presented here with the IRAM-30m telescope has been to gather the most complete information on the molecular content in one particular stage (protoplanetary nebula, PPNe) of stellar evolution from the Asymptotic Giant Branch (AGB) to Planetary Nebulae (PN), of which CRL618 is the best example. Its chemical richness and its complex morphology are now very well known. Detailed chemical models for this object have been developed (Cernicharo 2004) indicating the
Tetherless thermobiochemically actuated microgrippers.
Leong, Timothy G; Randall, Christina L; Benson, Bryan R; Bassik, Noy; Stern, George M; Gracias, David H
2009-01-20
We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy).
Soft actuators and soft actuating devices
Energy Technology Data Exchange (ETDEWEB)
Yang, Dian; Whitesides, George M.
2017-10-17
A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.
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).
Lossy transmission line model of hydrofractured well dynamics
Energy Technology Data Exchange (ETDEWEB)
Patzek, T.W. [Department of Materials Science and Mineral Engineering, University of California at Berkeley, Berkeley, CA (United States); De, A. [Earth Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, CA (United States)
2000-01-01
The real-time detection of hydrofracture growth is crucial to the successful operation of water, CO{sub 2} or steam injection wells in low-permeability reservoirs and to the prevention of subsidence and well failure. In this paper, we describe propagation of very low frequency (1-10 to 100 Hz) Stoneley waves in a fluid-filled wellbore and their interactions with the fundamental wave mode in a vertical hydrofracture. We demonstrate that Stoneley-wave loses energy to the fracture and the energy transfer from the wellbore to the fracture opening is most efficient in soft rocks. We conclude that placing the wave source and receivers beneath the injection packer provides the most efficient means of hydrofracture monitoring. We then present the lossy transmission line model of wellbore and fracture for the detection and characterization of fracture state and volume. We show that this model captures the wellbore and fracture geometry, the physical properties of injected fluid and the wellbore-fracture system dynamics. The model is then compared with experimentally measured well responses. The simulated responses are in good agreement with published experimental data from several water injection wells with depths ranging from 1000 ft to 9000 ft. Hence, we conclude that the transmission line model of water injectors adequately captures wellbore and fracture dynamics. Using an extensive data set for the South Belridge Diatomite waterfloods, we demonstrate that even for very shallow wells the fracture size and state can be adequately recognized at wellhead. Finally, we simulate the effects of hydrofracture extension on the transient response to a pulse signal generated at wellhead. We show that hydrofracture extensions can indeed be detected by monitoring the wellhead pressure at sufficiently low frequencies.
Energy Technology Data Exchange (ETDEWEB)
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)
Energy Technology Data Exchange (ETDEWEB)
Seo, Seong-Ho; Chang, Seok-Bue [Yooshin Engineering Corporation, Seoul(Korea); Lee, Sang-Duk [Ajou University, Suwon(Korea)
2002-06-30
It is the common practice to over design the reinforcement for the secondary tunnel lining due to the lack of rational insight into the ground loosening loads, and due to the conservative application of the empirical design methods. The main loads of the secondary lining are the ground loosening loads and the ground water pressure, and the ground load is critical in the reinforcement design of the secondary lining in the case of drained tunnel. If the external load is absent around a tunnel. the reasons of the load for secondary tunnel lining are the deterioration of the primary supports such as shotcrete, steel rib, and rock bolts. Accordingly, the analysis method considering the ground-primary supports-secondary lining interaction should be required for the rational design of the secondary tunnel lining. In this paper, the interaction was conceptually described by the simple mass-spring model and the load transfer from the ground and primary supports to the secondary lining is showed by the ground-primary supports-secondary lining reaction curves for the theoretical solution of a circular tunnel, And also, the application of this proposed model to numerical analysis is verified in order to check the potential for the tunnel with the complex analysis conditions. (author). 8 refs., 2 tabs., 7 figs.
Robust sampled-data control of hydraulic flight control actuators
Kliffken, Markus Gustav
1997-01-01
In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...
On-Line Core Thermal-Hydraulic Model Improvement
International Nuclear Information System (INIS)
In, Wang Kee; Chun, Tae Hyun; Oh, Dong Seok; Shin, Chang Hwan; Hwang, Dae Hyun; Seo, Kyung Won
2007-02-01
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
On-Line Core Thermal-Hydraulic Model Improvement
Energy Technology Data Exchange (ETDEWEB)
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.
A new tectonic model for the Cameroon Line, Central Africa
Moreau, C.; Regnoult, J.-M.; Déruelle, B.; Robineau, B.
1987-10-01
The Cameroon Line, a major geological feature in Central Africa, has been considered successively as a series of horsts and grabens, a continental rift and a mega-shear zone. It is marked out by about 60 anorogenic complexes and a dozen volcanic centres, all of which have alkaline affinity. Remote sensing allows us recognition of the main lineament trends: N70°, N-S, N135° and E-W, while autocorrelation analysis reveals a major fault zone striking N30° in western Cameroon and N15° in the northern region. A mega left-lateral shear zone is the model that best accounts for the fracture pattern and associated features such as linear and circular structures alignment of subvolcanic complexes, syntectonic leucogranites marking out older shear zones and vein dykes. The N70° Adamawa fault zone, a Pan-African fracture reworked during Albian-Aptian times, is the only shear zone of continental scale that could have initiated "en echelon" mega-tension gashes within the Cameroon Line during a Cainozoic left-lateral transcurrent movement.
Numerical modelling of multimode fibre-optic communication lines
Energy Technology Data Exchange (ETDEWEB)
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)
International Nuclear Information System (INIS)
Kim, S. T.; Jeong, W. T.
2008-01-01
The sludge grown up in steam generators of nuclear power plants shortens the life-cycle of steam generators and reduces the output of power plants. So KHNP(Korea Hydro and Nuclear Power), the only nuclear power utility in Korea, removes it periodically using a steam generator lancing system during the outage of plants for an overhaul. KEPRI(Korea Electric Power Research Institute) has developed lancing systems with high pressured water nozzle for steam generators of nuclear power plants since 2001. In this paper, the design of a partial inter-tube lancing system for model F type steam generators will be described. The system is actuated without a DC motor inner steam generators because the motors in a steam generator make a trouble from high intensity of radioactivity as a break down
Validation of community models: 3. Tracing field lines in heliospheric models
MacNeice, Peter; Elliott, Brian; Acebal, Ariel
2011-10-01
Forecasting hazardous gradual solar energetic particle (SEP) bursts at Earth requires accurately modeling field line connections between Earth and the locations of coronal or interplanetary shocks that accelerate the particles. We test the accuracy of field lines reconstructed using four different models of the ambient coronal and inner heliospheric magnetic field, through which these shocks must propagate, including the coupled Wang-Sheeley-Arge (WSA)/ENLIL model. Evaluating the WSA/ENLIL model performance is important since it is the most sophisticated model currently available to space weather forecasters which can model interplanetary coronal mass ejections and, when coupled with particle acceleration and transport models, will provide a complete model for gradual SEP bursts. Previous studies using a simpler Archimedean spiral approach above 2.5 solar radii have reported poor performance. We test the accuracy of the model field lines connecting Earth to the Sun at the onset times of 15 impulsive SEP bursts, comparing the foot points of these field lines with the locations of surface events believed to be responsible for the SEP bursts. We find the WSA/ENLIL model performance is no better than the simplest spiral model, and the principal source of error is the model's inability to reproduce sufficient low-latitude open flux. This may be due to the model's use of static synoptic magnetograms, which fail to account for transient activity in the low corona, during which reconnection events believed to initiate the SEP acceleration may contribute short-lived open flux at low latitudes. Time-dependent coronal models incorporating these transient events may be needed to significantly improve Earth/Sun field line forecasting.
Menzel, R.; Paynter, D.; Jones, A. L.
2017-12-01
Due to their relatively low computational cost, radiative transfer models in global climate models (GCMs) run on traditional CPU architectures generally consist of shortwave and longwave parameterizations over a small number of wavelength bands. With the rise of newer GPU and MIC architectures, however, the performance of high resolution line-by-line radiative transfer models may soon approach those of the physical parameterizations currently employed in GCMs. Here we present an analysis of the current performance of a new line-by-line radiative transfer model currently under development at GFDL. Although originally designed to specifically exploit GPU architectures through the use of CUDA, the radiative transfer model has recently been extended to include OpenMP in an effort to also effectively target MIC architectures such as Intel's Xeon Phi. Using input data provided by the upcoming Radiative Forcing Model Intercomparison Project (RFMIP, as part of CMIP 6), we compare model results and performance data for various model configurations and spectral resolutions run on both GPU and Intel Knights Landing architectures to analogous runs of the standard Oxford Reference Forward Model on traditional CPUs.
Energy Technology Data Exchange (ETDEWEB)
Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst
2014-09-01
There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator
Coordination Protocols for a Reliable Sensor, Actuator, and Device Network (SADN
Directory of Open Access Journals (Sweden)
Keiji Ozaki
2008-01-01
Full Text Available A sensor, actuator, and device network (SADN is composed of three types of nodes, which are sensor, actuator, and actuation device nodes. Sensor nodes and actuator nodes are interconnected in wireless networks as discussed in wireless sensor and actuator networks (WSANs. Actuator nodes and device nodes are interconnected in types of networks, i.e. wireless and wired network. Sensor nodes sense an physical event and send sensed values of the event to actuator nodes. An actuator node makes a decision on proper actions on receipt of sensed values and then issue the action requests to the device nodes. A device node really acts to the physical world. For example, moves a robot arms by performing the action on receipt of the action request. Messages may be lost and nodes may be faulty. Especially, messages are lost due to noise and collision in a wireless network. We propose a fully redundant model for an SADN where each of sensor, actuator, and device functions is replicated in multiple nodes and each of sensor-actuator and actuator-device communication is realized in many-to-many type of communication protocols. Even if some number of nodes are faulty, the other nodes can perform requested tasks. Here, each sensor node sends sensed values to multiple actuator nodes and each actuator node receives sensed values from multiple sensor nodes. While multiple actuator nodes communicate with multiple replica nodes of a device. Even if messages are lost and some number of nodes are faulty, device nodes can surely receive action requests required for sensed values and the actions are performed. In this paper, we discuss a type of semi-passive coordination (SPC protocol of multiple actuator nodes for multiple sensor nodes. We discuss a type of active coordination protocol for multiple actuator nodes and multiple actuation device nodes. We evaluate the SPC protocol for the sensor-actuator coordination in terms of the number of messages exchanged among
Neelakantan, Vijay A.; Washington, Gregory N.; Bucknor, Norman K.
2005-05-01
High bandwidth actuation systems that are capable of simultaneously producing relatively large forces and displacements are required for use in automobiles and other industrial applications. Conventional hydraulic actuation mechanisms used in automotive brakes and clutches are complex, inefficient and have poor control robustness. These lead to reduced fuel economy, controllability issues and other disadvantages. This paper involves the design, development, testing and control of a two-stage hybrid actuation mechanism by combining classical actuators like DC motors and advanced smart material actuators like piezoelectric actuators. The paper also discusses the development of a robust control methodology using the Internal Model Control (IMC) principle and emphasizes the robustness property of this control methodology by comparing and studying simulation and experimental results.
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.
EMC design for actuators in the FAST reflector
Zhang, Hai-Yan; Wu, Ming-Chang; Yue, You-Ling; Gan, Heng-Qian; Hu, Hao; Huang, Shi-Jie
2018-04-01
An active reflector is one of the three main innovations incorporated in the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The deformation of such a huge spherically shaped reflector into different transient parabolic shapes is achieved by using 2225 hydraulic actuators which change the position of the 2225 nodes through the connected down tied cables. For each different tracking process of the telescope, more than 1/3 of these 2225 actuators must be in operation to tune the parabolic aperture accurately and meet the surface error restriction. This means that some of these actuators are inevitably located within the main beam of the receiver, and Electromagnetic Interference (EMI) from the actuators must be mitigated to ensure the scientific output of the telescope. Based on the threshold level of interference detrimental to radio astronomy described in ITU-R Recommendation RA.769 and EMI measurements, the shielding efficiency (SE) requirement for each actuator is set to be 80 dB in the frequency range from 70 MHz to 3 GHz. Therefore, Electromagnetic Compatibility (EMC) was taken into account in the actuator design by measures such as power line filters, optical fibers, shielding enclosures and other structural measures. In 2015, all the actuators had been installed at the FAST site. Till now, no apparent EMI from the actuators has been detected by the receiver, which demonstrates the effectiveness of these EMC measures.
DEFF Research Database (Denmark)
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 pa...
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.
Actuator with Multi Degrees of Freedom(Actuator)
矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所
2006-01-01
The advantages, problems and the recent developments of the actuator with multi degrees of freedom are presented. At first, the advantages of the actuator with multi degrees of freedom are described. Next, the problems needed to solve for practical use are presented. The recent applications of the actuator with multi degrees of freedom are also reviewed.
CORRECTION OF FAULTY LINES IN MUSCLE MODEL, TO BE USED IN 3D BUILDING NETWORK CONSTRUCTION
Directory of Open Access Journals (Sweden)
I. R. Karas
2012-07-01
Full Text Available This paper describes the usage of MUSCLE (Multidirectional Scanning for Line Extraction Model for automatic generation of 3D networks in CityGML format (from raster floor plans. MUSCLE (Multidirectional Scanning for Line Extraction Model is a conversion method which was developed to vectorize the straight lines through the raster images including floor plans, maps for GIS, architectural drawings, and machine plans. The model allows user to define specific criteria which are crucial for acquiring the vectorization process. Unlike traditional vectorization process, this model generates straight lines based on a line thinning algorithm, without performing line following-chain coding and vector reduction stages. In this method the nearly vertical lines were obtained by scanning the images horizontally, while the nearly horizontal lines were obtained by scanning the images vertically. In a case where two or more consecutive lines are nearly horizontal or nearly vertical, raster data become unmanageable and the process generates wrongly vectorized lines. In this situation, to obtain the precise lines, the image with the wrongly vectorized lines is diagonally scanned. By using MUSCLE model, the network models are topologically structured in CityGML format. After the generation process, it is possible to perform 3D network analysis based on these models. Then, by using the software that was designed based on the generated models, a geodatabase of the models could be established. This paper presents the correction application in MUSCLE and explains 3D network construction in detail.
DEFF Research Database (Denmark)
Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.
2013-01-01
Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand...... interaction with the guitar is immense. We therefore divided the right hand techniques into three main areas: Strumming, string picking / skipping, and string muting. This paper explores the first stage, strum- ming. We have developed an exploratory platform called the Actuated Guitar that utilizes a normal...
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.
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.
Fiber-Reinforced Origamic Robotic Actuator.
Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng
2018-02-01
A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.
Design process and modeling studies of SSRL beam line wunder
International Nuclear Information System (INIS)
Bachrach, R.Z.; Bringans, R.D.
1984-01-01
SSRL Beam Line Wunder will be the first soft X-ray energy range synchrotron radiation beam line specifically designed to exploit the unique aspects of periodic insertion devices in the wiggler-undulator (wunder) regime. Aspects of the development of this beam line are described in this paper and in particular, we discuss the design methodology adopted and emphasize the joint optical, thermal and mechanical optimization studies that were required. (orig.)
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....
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.
Performance evaluation of an improved fish robot actuated by piezoceramic actuators
Nguyen, Q. S.; Heo, S.; Park, H. C.; Byun, D.
2010-03-01
This paper presents an improved fish robot actuated by four lightweight piezocomposite actuators. Our newly developed actuation mechanism is simple to fabricate because it works without gears. With the new actuation mechanism, the fish robot has a 30% smaller cross section than our previous model. Performance tests of the fish robot in water were carried out to measure the tail-beat angle, the thrust force, the swimming speed for various tail-beat frequencies from 1 to 5 Hz and the turning radius at the optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s - 1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming direction of the fish robot can be controlled by changing the duty ratio of the driving voltage; the fish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn.
Multiscale Modeling of Point and Line Defects in Cubic Lattices
National Research Council Canada - National Science Library
Chung, P. W; Clayton, J. D
2007-01-01
.... This multiscale theory explicitly captures heterogeneity in microscopic atomic motion in crystalline materials, attributed, for example, to the presence of various point and line lattice defects...
Electric-Pneumatic Actuator: A New Muscle for Locomotion
Directory of Open Access Journals (Sweden)
Maziar Ahmad Sharbafi
2017-10-01
Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.
Micro-mechanics of ionic electroactive polymer actuators
Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo
2015-04-01
Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.
Iterative Learning Control of Hysteresis in Piezoelectric Actuators
Directory of Open Access Journals (Sweden)
Guilin Zhang
2014-01-01
input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.
Design and development of a linear thermal actuator
Bush, G.; Osborne, D.
1985-01-01
The design and development of a linear thermal actuator (LTA) for space applications is described. The actuator is driven by thermal energy and utilizes the property of thermal expansion to do work. Equations to predict performance are developed and used to optimize the design of the development model LTA. Design details and test results are presented and discussed.
Parallel-beams/lever electrothermal out-of-plane actuator
Deladi, S.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt
2004-01-01
We report on the design, modeling, fabrication and testing of a powerful electrothermal actuator allowing for various modes of movement and exhibiting forces large enough to be usable in a micro-tribotester. The performance of the actuator has been simulated combining numerical and analytical
Disc type thermal actuator with straight beams for angular motion
International Nuclear Information System (INIS)
Anwar, M. Arefin; Packirisamy, Muthukumaran; Ahmed, A.K. Waiz
2013-01-01
Motion of a micro thermal actuator largely depends on its structural topology. This paper presents designs for a novel rotary type micro thermal actuator. This actuator has unique arrangement of hot segments around the cold segment. Upon application of potential difference, hot segments expand against the cold segment of disc and make the cold disc rotate about its center. This rotary motion can be used for various optical applications like, switching, attenuation and diffraction. The actuator has been fabricated using poly MUMPS process technology. An analytical model was used for predicting steady state temperature profile along the actuator length and rotational behavior of the cold disc under different applied voltages. A finite element analysis (FEA) was carried out to predict the behavior of the actuator by defining an air volume around the structure and also between structure and substrate. Finally testing was done for predicting feasibility of the actuator. Comparison of the rotational behavior obtained from both analytical model and FEA with that of obtained from testing shows close agreement. -- Highlights: ► Electro-thermo-mechanical modeling and verification of rotary micro thermal actuator. ► Modeling with conduction, convection and radiation modes for the air gap below 3 micron. ► In micro level, shape factor and material resistivity were estimated and verified through I–V characteristics. ► Two different designs of different shape factors were designed, fabricated and tested. ► The devices were fabricated using surface micromachining technology and tested for verification
Actuating movement in refined wearables
Toeters, M.J.; Feijs, L.M.G.
2014-01-01
Nowadays it is quite possible to deploy textiles as sensors and avoid traditional hard sensors. Actuation (movement) turns out more difficult. It is advantageous to combine sensing and actuation, similar to ecological perception theory. Although several actuators are known: SMA, voice coil, motors,
Bistable microelectromechanical actuator
Fleming, James G.
1999-01-01
A bistable microelectromechanical (MEM) actuator is formed on a substrate and includes a stressed membrane of generally rectangular shape that upon release assumes a curvilinear cross-sectional shape due to attachment at a midpoint to a resilient member and at opposing edges to a pair of elongate supports. The stressed membrane can be electrostatically switched between a pair of mechanical states having mirror-image symmetry, with the MEM actuator remaining in a quiescent state after a programming voltage is removed. The bistable MEM actuator according to various embodiments of the present invention can be used to form a nonvolatile memory element, an optical modulator (with a pair of mirrors supported above the membrane and moving in synchronism as the membrane is switched), a switchable mirror (with a single mirror supported above the membrane at the midpoint thereof) and a latching relay (with a pair of contacts that open and close as the membrane is switched). Arrays of bistable MEM actuators can be formed for applications including nonvolatile memories, optical displays and optical computing.
Airplane Actuation Trade Study
1983-01-01
Some of these advancements were high voltage power supplies, permanent magnet motors using rare earth magnets, electronic comnmutation and an...Essentially the inverter chops and pulse width modulates the 270 VDC power supplied by the electrical power system to cause the actuator’s permanent magnet motors to
Virtual Shaping of a Two-dimensional NACA 0015 Airfoil Using Synthetic Jet Actuator
Chen, Fang-Jenq; Beeler, George B.
2002-01-01
The Aircraft Morphing Program at NASA Langley envisions an aircraft without conventional control surfaces. Instead of moving control surfaces, the vehicle control systems may be implemented with a combination of propulsive forces, micro surface effectors, and fluidic devices dynamically operated by an intelligent flight control system to provide aircraft maneuverability over each mission segment. As a part of this program, a two-dimensional NACA 0015 airfoil model was designed to test mild maneuvering capability of synthetic jets in a subsonic wind tunnel. The objective of the experiments is to assess the applicability of using unsteady suction and blowing to alter the aerodynamic shape of an airfoil with a purpose to enhance lift and/or to reduce drag. Synthetic jet actuation at different chordwise locations, different forcing frequencies and amplitudes, under different freestream velocities are investigated. The effect of virtual shape change is indicated by a localized increase of surface pressure in the neighborhood of synthetic jet actuation. That causes a negative lift to the airfoil with an upper surface actuation. When actuation is applied near the airfoil leading edge, it appears that the stagnation line is shifted inducing an effect similar to that caused by a small angle of attack to produce an overall lift change.
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.
International Nuclear Information System (INIS)
Balino, J.L.; Carrica, P.M.; Larreteguy, A.E.
1993-01-01
The pressure transient occurred at Atucha I Nuclear Power Plant in March 1990 is simulated. The transient was due to the fast closure of a flow control valve at the steam generators feedwater lines. The system was modelled, including the actuation of the relief valves. The minimum closure time for no actuation of the relief valves and the evolution of the velocity and piezo metric head for different cases were calculated. (author)
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
Method for driving an actuator, actuator drive, and apparatus comprising an actuator
2010-01-01
An actuator driver circuit includes a drive signal source and an electrical damping element having a negative resistance connected in series with the drive signal source. A controllable switch is provided for selectively switching the electrical damping element into or put of a signal path from a drive signal source output to a driver circuit output, in order to selectively change the electrical damping of an actuator. For example, the electrical damping of a radial actuator or a focus actuat...
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.
IUE observations of Si and C lines and comparison with non-LTE models
Kamp, L. W.
1982-01-01
Classical model atmosphere techniques are applied to analyze IUE spectra, and to determine abundances, effective temperatures and gravities. Measurements of the equivalent widths and other properties of the line profiles of 24 photospheric lines of Si II, Si III, Si IV, C II, C III and C IV are presented in the range of 1175-1725 A for seven B and two O stars. Observed line profiles are compared with theoretical profiles computed using non-LTE theory and models, and using line-blanketed model atmospheres. Agreement is reasonably good, although strong lines are calculated to be systematically stronger than those observed, while the reverse occurs for weak lines, and empirical profiles have smaller wings than theoretical profiles. It is concluded that the present theory of line formation when used with solar abundances, represents fairly well observed UV photospheric lines of silicon and carbon ions in the atmospheres of main sequence stars of types B5-O9.
Modeling of hydrogen Stark line shapes with kinetic theory methods
Rosato, J.; Capes, H.; Stamm, R.
2012-12-01
The unified formalism for Stark line shapes is revisited and extended to non-binary interactions between an emitter and the surrounding perturbers. The accuracy of this theory is examined through comparisons with ab initio numerical simulations.
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.
Design method for marine direct drive volume control ahead actuator
Directory of Open Access Journals (Sweden)
WANG Haiyang
2018-02-01
Full Text Available [Objectives] In order to reduce the size, weight and auxiliary system configuration of marine ahead actuators, this paper proposes a kind of direct drive volume control electro-hydraulic servo ahead actuator. [Methods] The protruding and indenting control of the servo oil cylinder are realized through the forward and reverse of the bidirectional working gear pump, and the flow matching valve implements the self-locking of the ahead actuator in the target position. The mathematical model of the ahead actuator is established, and an integral separation fuzzy PID controller designed. On this basis, using AMESim software to build a simulation model of the ahead actuator, and combined with testing, this paper completes an analysis of the control strategy research and dynamic and static performance of the ahead actuator. [Results] The experimental results agree well with the simulation results and verify the feasibility of the ahead actuator's design. [Conclusions] The research results of this paper can provide valuable references for the integration and miniaturization design of marine ahead actuators.
Bassan, M.; Cavalleri, A.; De Laurentis, M.; De Marchi, F.; De Rosa, R.; Di Fiore, L.; Dolesi, R.; Finetti, N.; Garufi, F.; Grado, A.; Hueller, M.; Marconi, L.; Milano, L.; Minenkov, Y.; Pucacco, G.; Stanga, R.; Vetrugno, D.; Visco, M.; Vitale, S.; Weber, W. J.
2018-01-01
In this paper we report on measurements on actuation crosstalk, relevant to the gravitational reference sensors for LISA Pathfinder and LISA. In these sensors, a Test Mass (TM) falls freely within a system of electrodes used for readout and control. These measurements were carried out on ground with a double torsion pendulum that allowed us to estimate both the torque injected into the sensor when a control force is applied and, conversely, the force leaking into the translational degree of freedom due to the applied torque.The values measured on our apparatus (the engineering model of the LISA Pathfinder sensor) agree to within 0.2% (over a maximum measured crosstalk of 1%) with predictions of a mathematical model when measuring force to torque crosstalk, while it is somewhat larger than expected (up to 3.5%) when measuring torque to force crosstalk. However, the values in the relevant range, i.e. when the TM is well centered ( ± 10 μm) in the sensor, remain smaller than 0.2%, satisfying the LISA Pathfinder requirements.
Genomic prediction based on data from three layer lines using non-linear regression models.
Huang, Heyun; Windig, Jack J; Vereijken, Addie; Calus, Mario P L
2014-11-06
Most studies on genomic prediction with reference populations that include multiple lines or breeds have used linear models. Data heterogeneity due to using multiple populations may conflict with model assumptions used in linear regression methods. In an attempt to alleviate potential discrepancies between assumptions of linear models and multi-population data, two types of alternative models were used: (1) a multi-trait genomic best linear unbiased prediction (GBLUP) model that modelled trait by line combinations as separate but correlated traits and (2) non-linear models based on kernel learning. These models were compared to conventional linear models for genomic prediction for two lines of brown layer hens (B1 and B2) and one line of white hens (W1). The three lines each had 1004 to 1023 training and 238 to 240 validation animals. Prediction accuracy was evaluated by estimating the correlation between observed phenotypes and predicted breeding values. When the training dataset included only data from the evaluated line, non-linear models yielded at best a similar accuracy as linear models. In some cases, when adding a distantly related line, the linear models showed a slight decrease in performance, while non-linear models generally showed no change in accuracy. When only information from a closely related line was used for training, linear models and non-linear radial basis function (RBF) kernel models performed similarly. The multi-trait GBLUP model took advantage of the estimated genetic correlations between the lines. Combining linear and non-linear models improved the accuracy of multi-line genomic prediction. Linear models and non-linear RBF models performed very similarly for genomic prediction, despite the expectation that non-linear models could deal better with the heterogeneous multi-population data. This heterogeneity of the data can be overcome by modelling trait by line combinations as separate but correlated traits, which avoids the occasional
Electrical Actuation Technology Bridging
Hammond, Monica (Compiler); Sharkey, John (Compiler)
1993-01-01
This document contains the proceedings of the NASA Electrical Actuation Technology Bridging (ELA-TB) Workshop held in Huntsville, Alabama, September 29-October 1, 1992. The workshop was sponsored by the NASA Office of Space Systems Development and Marshall Space Flight Center (MSFC). The workshop addressed key technologies bridging the entire field of electrical actuation including systems methodology, control electronics, power source systems, reliability, maintainability, and vehicle health management with special emphasis on thrust vector control (TVC) applications on NASA launch vehicles. Speakers were drawn primarily from industry with participation from universities and government. In addition, prototype hardware demonstrations were held at the MSFC Propulsion Laboratory each afternoon. Splinter sessions held on the final day afforded the opportunity to discuss key issues and to provide overall recommendations. Presentations are included in this document.
Thermally actuated linkage arrangement
International Nuclear Information System (INIS)
Anderson, P.M.
1981-01-01
A reusable thermally actuated linkage arrangement includes a first link member having a longitudinal bore therein adapted to receive at least a portion of a second link member therein, the first and second members being sized to effect an interference fit preventing relative movement there-between at a temperature below a predetermined temperature. The link members have different coefficients of thermal expansion so that when the linkage is selectively heated by heating element to a temperature above the predetermined temperature, relative longitudinal and/or rotational movement between the first and second link members is enabled. Two embodiments of a thermally activated linkage are disclosed which find particular application in actuators for a grapple head positioning arm in a nuclear reactor fuel handling mechanism to facilitate back-up safety retraction of the grapple head independently from the primary fuel handling mechanism drive system. (author)
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.
Secondary beam line phase space measurement and modeling at LAMPF
International Nuclear Information System (INIS)
Floyd, R.; Harrison, J.; Macek, R.; Sanders, G.
1979-01-01
Hardware and software have been developed for precision on-line measurement and fitting of secondary beam line phase space parameters. A system consisting of three MWPC planes for measuring particle trajectories, in coincidence with a time-of-flight telescope and a range telescope for particle identification, has been interfaced to a computer. Software has been developed for on-line track reconstruction, application of experimental cuts, and fitting of two-dimensional phase space ellipses for each particle species. The measured distributions have been found to agree well with the predictions of the Monte Carlo program DECAY TURTLE. The fitted phase space ellipses are a useful input to optimization routines, such as TRANSPORT, used to search for superior tunes. Application of this system to the LAMPF Stopped Muon Channel is described
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.
International Nuclear Information System (INIS)
Sung, Rak Jin
1988-01-01
This book introduces solenoid as actuator, magnetic attraction of current, a magnetic field generated by coil, calculation of inductance, thinking way of magnetic energy, principle and application of DC motor, basic expression of DC motor, sorts and characteristics of DC motor, electric control of DC motor, exchange operation by electric control, action of free wheeling diodes, principle and characteristic induction motor electric control of induction motor, stepping motor and hysteresis motor and linear motor.
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.
Vibration analysis of a functionally graded piezoelectric cylindrical actuator
International Nuclear Information System (INIS)
Zhang, T T; Shi, Z F; Spencer, B F Jr
2008-01-01
This paper focuses on the response of a functionally graded piezoelectric cylindrical actuator placed in a harmonic electric field based on elastic membrane theory and shell theory. The actuator is polarized in the radial direction with its piezoelectric coefficient d 31 varying linearly along the axial direction. In the present investigation, non-dimensional expressions are introduced, and analytical solutions for this class of actuator are obtained. The results provided in the present study are compared with other investigations, with good agreement being found. The major differences between a functionally graded actuator and an actuator with homogeneous material properties are identified, and the advantages of the former are demonstrated. In the last section of this paper, limitations of membrane theory and shell theory models are discussed
Optimum Actuator Selection with a Genetic Algorithm for Aircraft Control
Rogers, James L.
2004-01-01
The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. For example, the desired actuators produce a pure roll moment without at the same time causing much pitch or yaw. For a typical wing, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements and mission constraints. A genetic algorithm has been developed for finding the best placement for four actuators to produce an uncoupled pitch moment. The genetic algorithm has been extended to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control. A simplified, untapered, unswept wing is the model for each application.
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.
Microelectromechanical (MEM) thermal actuator
Garcia, Ernest J [Albuquerque, NM; Fulcher, Clay W. G. [Sandia Park, NM
2012-07-31
Microelectromechanical (MEM) buckling beam thermal actuators are disclosed wherein the buckling direction of a beam is constrained to a desired direction of actuation, which can be in-plane or out-of-plane with respect to a support substrate. The actuators comprise as-fabricated, linear beams of uniform cross section supported above the substrate by supports which rigidly attach a beam to the substrate. The beams can be heated by methods including the passage of an electrical current through them. The buckling direction of an initially straight beam upon heating and expansion is controlled by incorporating one or more directional constraints attached to the substrate and proximal to the mid-point of the beam. In the event that the beam initially buckles in an undesired direction, deformation of the beam induced by contact with a directional constraint generates an opposing force to re-direct the buckling beam into the desired direction. The displacement and force generated by the movement of the buckling beam can be harnessed to perform useful work, such as closing contacts in an electrical switch.
Energy Technology Data Exchange (ETDEWEB)
Tasevski, Gotse; Petreski, Zlatko; Shishkovski, Dejan [Faculty of Mechanical Engineering, ' Ss. Cyril and Methodius' University, Skopje (Macedonia, The Former Yugoslav Republic of)
2014-07-01
Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)
International Nuclear Information System (INIS)
Gutiérrez, J M; Barbero, E J; Cairns, D R; Mucino, V H; Mayugo, J A
2012-01-01
Analytical and numerical tools for the analysis and design of actuated polymer films (APFs) are developed and described in this paper. Computational micromechanical models are set up and correlated in order to calculate the deformation and power requirement to actuate an APF taking into account hyperelastic and viscous effects. A method is developed to correlate material parameters in the viscous branch of the Bergström–Boyce model to available experimental data. The effects of various geometric and material parameters are elucidated by a parametric study including coherent versus non-coherent actuators, excitation frequency and magnitude, modulus of elasticity of the actuator and the top film, and actuator volume fraction. (paper)
Reactivity Accidents in CAREM-25 Core with and Without Safety Systems Actuation
International Nuclear Information System (INIS)
Gimenez, Marcelo; Vertullo, Alicia; Schlamp, Miguel
2000-01-01
A reactivity accident in CAREM core can be provoked by different initiating events, a cold water injection in pressure vessel, a secondary side steam line breakage and a failure in the absorbing rods drive system.The present work analyses inadverted control rod withdraws transients.Maximum worth control rod (2.5 $) at normal velocity (1 cm/s) is adopted for the simulations (Reactivity ramp of 0.018 $/s).Different scenarios considering actuation of first shutdown system (FSS), second shutdown system (SSS) and selflimiting conditions were modeled.Results of the accident with actuation of FSS show that safety margins are well above critical values (DNBR and CPR).In the cases with failure of the FSS and success of SSS or selflimited, safety margins are below critical values, however, the SSS provides a reduction of elapsed time under advised margins
Integrated model for line balancing with workstation inventory management
Directory of Open Access Journals (Sweden)
Dilip Roy
2010-06-01
Full Text Available 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. Research works reported in the literature so far mainly deals with minimization of cost for inbound and outbound logistic subsystems. In most of the cases conversion process has been ignored. We suggest a generic approach for linking the balancing of the line of production in the conversion area with the customers’ rate of demand in the market and for configuring the related stock chambers. Thus, the main aim of this paper is to translate the underlying problem in the form of mixed nonlinear programming problem and design the optimum supply chain so that the total inventory cost and the cost of balancing loss of the conversion process is jointly minimized and ideal cycle time of the production process is determined along with ideal sizes of the stock chambers. A numerical example has been added to demonstrate the suitability of our approach.
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
Ziqiang Chi; Minping Jia; Qingsong Xu
2014-01-01
Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to deri...
Topological design of compliant smart structures with embedded movable actuators
International Nuclear Information System (INIS)
Wang, Yiqiang; Zhang, Xiaopeng; Kang, Zhan; Luo, Zhen
2014-01-01
In the optimal configuration design of piezoelectric smart structures, it is favorable to use actuation elements with certain predefined geometries from the viewpoint of manufacturability of fragile piezoelectric ceramics in practical applications. However, preserving the exact shape of these embedded actuators and tracking their dynamic motions presents a more challenging research task than merely allowing them to take arbitrary shapes. This paper proposes an integrated topology optimization method for the systematic design of compliant smart structures with embedded movable PZT (lead zirconate titanate) actuators. Compared with most existing studies, which either optimize positions/sizes of the actuators in a given host structure or design the host structure with pre-determined actuator locations, the proposed method simultaneously optimizes the positions of the movable PZT actuators and the topology of the host structure, typically a compliant mechanism for amplifying the small strain stroke. A combined topological description model is employed in the optimization, where the level set model is used to track the movements of the PZT actuators and the independent point-wise density interpolation (iPDI) approach is utilized to search for the optimal topology of the host structure. Furthermore, we define an integral-type constraint function to prevent overlaps between the PZT actuators and between the actuators and the external boundaries of the design domain. Such a constraint provides a unified and explicit mathematical statement of the non-overlap condition for any number of arbitrarily shaped embedded actuators. Several numerical examples are used to demonstrate the effectiveness of the proposed optimization method. (paper)
Mixed Modeling of a SAW Delay Line Using VHDL-AMS
Wilson, William C.; Atkinson, Gary M.
2006-01-01
To aid in the development of SAW sensors for aerospace applications we have created a model of a SAW Delay line using VHDL. The model implements the Impulse Response method to calculate the frequency response, impedance, and insertion loss. The model includes optimization for the number of finger pairs in the IDTs and for the aperture height. This paper presents the model and the results from the model for a SAW delay line design.
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.
Identifying anti-growth factors for human cancer cell lines through genome-scale metabolic modeling
DEFF Research Database (Denmark)
Ghaffari, Pouyan; Mardinoglu, Adil; Asplund, Anna
2015-01-01
Human cancer cell lines are used as important model systems to study molecular mechanisms associated with tumor growth, hereunder how genomic and biological heterogeneity found in primary tumors affect cellular phenotypes. We reconstructed Genome scale metabolic models (GEMs) for eleven cell lines...... based on RNA-Seq data and validated the functionality of these models with data from metabolite profiling. We used cell line-specific GEMs to analyze the differences in the metabolism of cancer cell lines, and to explore the heterogeneous expression of the metabolic subsystems. Furthermore, we predicted...... for inhibition of cell growth may provide leads for the development of efficient cancer treatment strategies....
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.
Heterotic line bundle models on elliptically fibered Calabi-Yau three-folds
Braun, Andreas P.; Brodie, Callum R.; Lukas, Andre
2018-04-01
We analyze heterotic line bundle models on elliptically fibered Calabi-Yau three-folds over weak Fano bases. In order to facilitate Wilson line breaking to the standard model group, we focus on elliptically fibered three-folds with a second section and a freely-acting involution. Specifically, we consider toric weak Fano surfaces as base manifolds and identify six such manifolds with the required properties. The requisite mathematical tools for the construction of line bundle models on these spaces, including the calculation of line bundle cohomology, are developed. A computer scan leads to more than 400 line bundle models with the right number of families and an SU(5) GUT group which could descend to standard-like models after taking the ℤ2 quotient. A common and surprising feature of these models is the presence of a large number of vector-like states.
Nonlinear Parameter Identification of a Resonant Electrostatic MEMS Actuator
Al-Ghamdi, Majed S.; Alneamy, Ayman M.; Park, Sangtak; Li, Beichen; Khater, Mahmoud E.; Abdel-Rahman, Eihab M.; Heppler, Glenn R.; Yavuz, Mustafa
2017-01-01
We experimentally investigate the primary superharmonic of order two and subharmonic of order one-half resonances of an electrostatic MEMS actuator under direct excitation. We identify the parameters of a one degree of freedom (1-DOF) generalized Duffing oscillator model representing it. The experiments were conducted in soft vacuum to reduce squeeze-film damping, and the actuator response was measured optically using a laser vibrometer. The predictions of the identified model were found to be in close agreement with the experimental results. We also identified the noise spectral density of process (actuation voltage) and measurement noise. PMID:28505097
Piezoelectric actuation of helicopter rotor blades
Lieven, Nicholas A. J.
2001-07-01
The work presented in this paper is concerned with the application of embedded piezo-electric actuators in model helicopter rotor blades. The paper outlines techniques to define the optimal location of actuators to excite particular modes of vibration whilst the blade is rotating. Using composite blades the distribution of strain energy is defined using a Finite Element model with imposed rotor-dynamic and aerodynamics loads. The loads are specified through strip theory to determine the position of maximum bending moment and thus the optimal location of the embedded actuators. The effectiveness of the technique is demonstrated on a 1/4 scale fixed cyclic pitch rotor head. Measurement of the blade displacement is achieved by using strain gauges. In addition a redundant piezo-electric actuator is used to measure the blades' response characteristics. The addition of piezo-electric devices in this application has been shown to exhibit adverse aeroelastic effects, such as counter mass balancing and increased drag. Methods to minimise these effects are suggested. The outcome of the paper is a method for defining the location and orientation of piezo-electric devices in rotor-dynamic applications.
Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages
International Nuclear Information System (INIS)
Kumari, N; Bahadur, V; Garimella, S V
2008-01-01
Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets using dc voltages (classical electrowetting). Electrical actuation of conducting droplets using ac voltages and the actuation of insulating droplets (using dc or ac voltages) has remained relatively unexplored. This paper utilizes an energy-minimization-based analytical framework to study the electrical actuation of a liquid droplet (electrically conducting or insulating) under ac actuation. It is shown that the electromechanical regimes of classical electrowetting, electrowetting under ac actuation and insulating droplet actuation can be extracted from the generic electromechanical actuation framework, depending on the electrical properties of the droplet, the underlying dielectric layer and the frequency of the actuation voltage. This paper also presents experiments which quantify the influence of the ac frequency and the electrical properties of the droplet on its velocity under electrical actuation. The velocities of droplets moving between two parallel plates under ac actuation are experimentally measured; these velocities are then related to the actuation force on the droplet which is predicted by the electromechanical model developed in this work. It is seen that the droplet velocities are strongly dependent on the frequency of the ac actuation voltage; the cut-off ac frequency, above which the droplet fails to actuate, is experimentally determined and related to the electrical conductivity of the liquid. This paper then analyzes and directly compares the various electromechanical regimes for the actuation of droplets in microfluidic applications
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.
Line profile studies of hydrodynamical models of cometary compact H II regions
International Nuclear Information System (INIS)
Zhu, Feng-Yao; Zhu, Qing-Feng
2015-01-01
We simulate the evolution of cometary H II regions based on several champagne flow models and bow shock models, and calculate the profiles of the [Ne II] fine-structure line at 12.81 μm, the H30α recombination line and the [Ne III] fine-structure line at 15.55 μm for these models at different inclinations of 0°, 30° and 60°. We find that the profiles in the bow shock models are generally different from those in the champagne flow models, but the profiles in the bow shock models with lower stellar velocity (≤ 5 km s −1 ) are similar to those in the champagne flow models. In champagne flow models, both the velocity of peak flux and the flux weighted central velocities of all three lines point outward from molecular clouds. In bow shock models, the directions of these velocities depend on the speed of stars. The central velocities of these lines are consistent with the stellar motion in the high stellar speed cases, but they are opposite directions from the stellar motion in the low speed cases. We notice that the line profiles from the slit along the symmetrical axis of the projected 2D image of these models are useful for distinguishing bow shock models from champagne flow models. It is also confirmed by the calculation that the flux weighted central velocity and the line luminosity of the [Ne III] line can be estimated from the [Ne II] line and the H30α line. (paper)
International Nuclear Information System (INIS)
Zhou, Jianyou; Jiang, Liying; Khayat, Roger E
2014-01-01
As a widely used configuration for dielectric elastomer (DE) actuators, DE tube actuators (or cylindrical actuators) are also found to be susceptible to electromechanical instability (EMI), which may lead to a premature electrical breakdown (EB), and inhibit the potential actuation of DE actuators. This work investigates the electromechanical response of a DE tube actuator with and without boundary constraints to demonstrate an alternative to avoid EMI while achieving large actuation. Our simulation results based on the Gent strain energy model show that the EMI of a DE tube actuator can be eliminated, and larger actuation deformation can be achieved by applying boundary constraints. As a result of these constraints, consideration is also given to the possible mechanical buckling failure that may occur. Mechanisms of possible failure modes of constrained and unconstrained DE tube actuators, such as electromechanical instability, electrical breakdown and mechanical buckling, are elucidated. This paper should provide better theoretical guidance on how to improve the actuation performance of DE actuators, thus leading to the optimal design of DE-based devices. (paper)
Recent developments in the line-by-line modeling of outgoing longwave radiation
International Nuclear Information System (INIS)
Buehler, S.A.; Engeln, A. von; Brocard, E.; John, V.O.; Kuhn, T.; Eriksson, P.
2006-01-01
High frequency resolution radiative transfer model calculations with the Atmospheric Radiative Transfer Simulator (ARTS) were used to simulate the clear-sky outgoing longwave radiative flux (OLR) at the top of the atmosphere. Compared to earlier calculations by Clough and coworkers the model used a spherical atmosphere instead of a plane parallel atmosphere, updated spectroscopic parameters from HITRAN, and updated continuum parameterizations from Mlawer and coworkers. These modifications lead to a reduction in simulated OLR by approximately 4.1%, the largest part, approximately 2.5%, being due to the absence of the plane parallel approximation. As a simple application of the new model, the sensitivity of OLR to changes in humidity, carbon dioxide concentration, and temperature were investigated for different cloud-free atmospheric scenarios. It was found that for the tropical scenario a 20% change in humidity has a larger impact than a doubling of the carbon dioxide concentration. The sensitive altitude region for temperature and humidity changes is the entire free troposphere, including the upper troposphere where humidity data quality is poor
Li, Jiangtao; Zhao, Zheng; Li, Longjie; He, Jiaxin; Li, Chenjie; Wang, Yifeng; Su, Can
2017-09-01
A transmission line transformer has potential advantages for nanosecond pulse generation including excellent frequency response and no leakage inductance. The wave propagation process in a secondary mode line is indispensable due to an obvious inside transient electromagnetic transition in this scenario. The equivalent model of the transmission line transformer is crucial for predicting the output waveform and evaluating the effects of magnetic cores on output performance. However, traditional lumped parameter models are not sufficient for nanosecond pulse generation due to the natural neglect of wave propagations in secondary mode lines based on a lumped parameter assumption. In this paper, a distributed parameter model of transmission line transformer was established to investigate wave propagation in the secondary mode line and its influential factors through theoretical analysis and experimental verification. The wave propagation discontinuity in the secondary mode line induced by magnetic cores is emphasized. Characteristics of the magnetic core under a nanosecond pulse were obtained by experiments. Distribution and formation of the secondary mode current were determined for revealing essential wave propagation processes in secondary mode lines. The output waveform and efficiency were found to be affected dramatically by wave propagation discontinuity in secondary mode lines induced by magnetic cores. The proposed distributed parameter model was proved more suitable for nanosecond pulse generation in aspects of secondary mode current, output efficiency, and output waveform. In depth, comprehension of underlying mechanisms and a broader view of the working principle of the transmission line transformer for nanosecond pulse generation can be obtained through this research.
Excitation of waves in elastic waveguides by piezoelectric patch actuators
CSIR Research Space (South Africa)
Loveday, PW
2006-01-01
Full Text Available for waveguides excited by piezoelectric patch actuators. The waveguide is modelled using specially developed waveguide finite elements. These elements are formulated using a complex exponential to describe the wave propagation along the structure and finite...
Nonlinear Mechanics of MEMS Rectangular Microplates under Electrostatic Actuation
Saghir, Shahid
2016-01-01
The first objective of the dissertation is to develop a suitable reduced order model capable of investigating the nonlinear mechanical behavior of von-Karman plates under electrostatic actuation. The second objective is to investigate the nonlinear
Analytical solutions of the electrostatically actuated curled beam problem
Younis, Mohammad I.
2014-01-01
This works presents analytical expressions of the electrostatically actuated initially deformed cantilever beam problem. The formulation is based on the continuous Euler-Bernoulli beam model combined with a single-mode Galerkin approximation. We
Multi-scale modelling of supercapacitors: From molecular simulations to a transmission line model
Pean, C.; Rotenberg, B.; Simon, P.; Salanne, M.
2016-09-01
We perform molecular dynamics simulations of a typical nanoporous-carbon based supercapacitor. The organic electrolyte consists in 1-ethyl-3-methylimidazolium and hexafluorophosphate ions dissolved in acetonitrile. We simulate systems at equilibrium, for various applied voltages. This allows us to determine the relevant thermodynamic (capacitance) and transport (in-pore resistivities) properties. These quantities are then injected in a transmission line model for testing its ability to predict the charging properties of the device. The results from this macroscopic model are in good agreement with non-equilibrium molecular dynamics simulations, which validates its use for interpreting electrochemical impedance experiments.
Actuator technology and market outlook: where does the actuator move
Directory of Open Access Journals (Sweden)
Aleksanin Sergei Andreevich
2013-11-01
There are made conclusions about the "migration" of demand from hydraulic and pneumatic solutions to electromechanical actuators in the aerospace and manufacturing industries. Identify advantages of electromechanics over more traditional actuators in terms of energy efficiency and reliability. Also identify the most promising areas of the drive technological development.
Simulation of dynamics of a permanent magnet linear actuator
DEFF Research Database (Denmark)
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....
Recent Advances in the Control of Piezoelectric Actuators
Directory of Open Access Journals (Sweden)
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.
Performance Comparison of Sweeping/Steady Jet Actuators
Hirsch, Damian; Mercier, Justin; Noca, Flavio; Gharib, Morteza
2015-11-01
Flow control through the use of steady jet actuators has been used on various aircraft models since the late 1950's. However, the focus of recent studies has shifted towards the use of sweeping jets (fluidic oscillators) rather than steady jet actuators. In this work, experiments using various jet actuator designs were conducted at GALCIT's Lucas Wind Tunnel on a NACA 0012 vertical tail model similar to that of the Boeing 767 vertical stabilizer at Reynolds numbers ranging from 0.5 to 1.2 million. The rudder angle was fixed at 20 degrees. A total of 32 jet actuators were installed along the wingspan perpendicular to the trailing edge and the rudder shoulder of the vertical stabilizer. It is known that these types of flow control prevent separation. However, the goal of this work is to compare different jet designs and evaluate their performance. Parameters such as the number of actuators, their volumetric flow, and the wind tunnel speed were varied. The lift generation capabilities of steady and sweeping jet actuators were then compared. Another set of experiments was conducted to compare a new sweeping jet actuator design with one of the standard versions. Supported by Boeing.
Elastic Cube Actuator with Six Degrees of Freedom Output
Directory of Open Access Journals (Sweden)
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.
DEFF Research Database (Denmark)
Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.
2014-01-01
functioning hands. In this study we try to enable people with Hemiplegia to play a real electrical guitar, by modifying it in a way that allows people with Hemiplegia able to actually use the instrument. We developed a guitar platform utilizing sensors to capture the rhythmic motion of alternate fully....... The initial user studies showed that children with Hemiplegia were able to play the actuated guitar by producing rhythmical movement across the strings, enabling them to enter a world of music they so often see as closed....
Stepper Motor Actuated Microvalve
Energy Technology Data Exchange (ETDEWEB)
Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko [MESA Research Institute, University of Twente EWI/TST, P. off Box 217 Enschede (Netherlands)
2006-04-01
We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized with airflows. It is shown that flow rates of 220 ml/min at a pressure difference of 4 bars could be achieved with the minimum accurate flow rate of 2-8 ml/min.
Non-LTE profiles of the Al I autoionization lines. [for solar model atmospheres
Finn, G. D.; Jefferies, J. T.
1974-01-01
A non-LTE formulation is given for the transfer of radiation in the autoionizing lines of neutral aluminum at 1932 and 1936 A through both the Bilderberg and Harvard-Smithsonian model atmospheres. Numerical solutions for the common source function of these lines and their theoretical line profiles are calculated and compared with the corresponding LTE profiles. The results show that the non-LTE profiles provide a better match with the observations. They also indicate that the continuous opacity of the standard solar models should be increased in this wavelength region if the center-limb variations of observed and theoretical profiles of these lines are to be in reasonable agreement.
Droplet Translation Actuated by Photoelectrowetting.
Palma, Cesar; Deegan, Robert D
2018-03-13
In traditional electrowetting-on-dielectric (EWOD) devices, droplets are moved about a substrate using electric fields produced by an array of discrete electrodes. In this study, we show that a drop can be driven across a substrate with a localized light beam by exploiting the photoelectrowetting (PEW) effect, a light-activated variant of EWOD. Droplet transport actuated by PEW eliminates the need for electrode arrays and the complexities entailed in their fabrication and control, and offers a new approach for designing lab-on-a-chip applications. We report measurements of the maximum droplet speed as a function of frequency and magnitude of the applied bias, intensity of illumination, volume of the droplet, and viscosity and also introduce a model that reproduces these data.
Zhang, Donghao; Matsuura, Haruki; Asada, Akiko
2017-04-01
Some automobile factories have segmented mixed-model production lines into shorter sub-lines according to part group, such as engine, trim, and powertrain. The effects of splitting a line into sub-lines have been reported from the standpoints of worker motivation, productivity improvement, and autonomy based on risk spreading. There has been no mention of the possibility of shortening the line length by altering the product sequence using sub-lines. The purpose of the present paper is to determine the conditions under which sub-lines reduce the line length and the degree to which the line length may be shortened. The line lengths for a non-split line and a line that has been split into sub-lines are compared using three methods for determining the working area, the standard closed boundary, the optimized open boundary, and real-life constant-length stations. The results are discussed by analyzing the upper and lower bounds of the line length. Based on these results, a procedure for deciding whether or not to split a production line is proposed.
Analysis of the type II robotic mixed-model assembly line balancing problem
Çil, Zeynel Abidin; Mete, Süleyman; Ağpak, Kürşad
2017-06-01
In recent years, there has been an increasing trend towards using robots in production systems. Robots are used in different areas such as packaging, transportation, loading/unloading and especially assembly lines. One important step in taking advantage of robots on the assembly line is considering them while balancing the line. On the other hand, market conditions have increased the importance of mixed-model assembly lines. Therefore, in this article, the robotic mixed-model assembly line balancing problem is studied. The aim of this study is to develop a new efficient heuristic algorithm based on beam search in order to minimize the sum of cycle times over all models. In addition, mathematical models of the problem are presented for comparison. The proposed heuristic is tested on benchmark problems and compared with the optimal solutions. The results show that the algorithm is very competitive and is a promising tool for further research.
Institute of Scientific and Technical Information of China (English)
呼义翔; 雷天时; 吴撼宇; 郭宁; 韩娟娟; 邱爱慈; 王亮平; 黄涛; 丛培天; 张信军; 李岩; 曾正中; 孙铁平
2011-01-01
The transmission-line-circuit model of the Z accelerator, developed originally by W. A. STYGAR, P. A. CORCORAN, et al., is revised. The revised model uses different calculations for the electron loss and flow impedance in the magnetically insulated transmission line system of the Z accelerator before and after magnetic insulation is established. By including electron pressure and zero electric field at the cathode, a closed set of equations is obtained at each time step, and dynamic shunt resistance （used to represent any electron loss to the anode） and flow impedance are solved, which have been incorporated into the transmission line code for simulations of the vacuum section in the Z accelerator. Finally, the results are discussed in comparison with earlier findings to show the effectiveness and limitations of the model.
Creech, Angus; Früh, Wolf-Gerrit; Maguire, A. Eoghan
2015-05-01
We present here a computational fluid dynamics (CFD) simulation of Lillgrund offshore wind farm, which is located in the Øresund Strait between Sweden and Denmark. The simulation combines a dynamic representation of wind turbines embedded within a large-eddy simulation CFD solver and uses hr-adaptive meshing to increase or decrease mesh resolution where required. This allows the resolution of both large-scale flow structures around the wind farm, and the local flow conditions at individual turbines; consequently, the response of each turbine to local conditions can be modelled, as well as the resulting evolution of the turbine wakes. This paper provides a detailed description of the turbine model which simulates the interaction between the wind, the turbine rotors, and the turbine generators by calculating the forces on the rotor, the body forces on the air, and instantaneous power output. This model was used to investigate a selection of key wind speeds and directions, investigating cases where a row of turbines would be fully aligned with the wind or at specific angles to the wind. Results shown here include presentations of the spin-up of turbines, the observation of eddies moving through the turbine array, meandering turbine wakes, and an extensive wind farm wake several kilometres in length. The key measurement available for cross-validation with operational wind farm data is the power output from the individual turbines, where the effect of unsteady turbine wakes on the performance of downstream turbines was a main point of interest. The results from the simulations were compared to the performance measurements from the real wind farm to provide a firm quantitative validation of this methodology. Having achieved good agreement between the model results and actual wind farm measurements, the potential of the methodology to provide a tool for further investigations of engineering and atmospheric science problems is outlined.
Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault
DEFF Research Database (Denmark)
Tabatabaeipour, Mojtaba; Galeazzi, Roberto
2015-01-01
loop is preserved. The RB is realized by a virtual actuator and a reference model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does...... not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping....
Numerical Simulation of Plasma Actuator Using OpenFOAM
H. Yazdani; K. Ghorbanian
2016-01-01
This paper deals with modeling and simulation of the plasma actuator with OpenFOAM. Plasma actuator is one of the newest devices in flow control techniques which can delay separation by inducing external momentum to the boundary layer of the flow. The effects of the plasma actuators on the external flow are incorporated into Navier-Stokes computations as a body force vector which is obtained as a product of the net charge density and the electric field. In order to compute this body force vec...
Electromagnetic actuation in MEMS switches
DEFF Research Database (Denmark)
Oliveira Hansen, Roana Melina de; Mátéfi-Tempfli, Mária; Chemnitz, Steffen
. Electromagnetic actuation is a very promising approach to operate such MEMS and Power MEMS devices, due to the long range, reproducible and strong forces generated by this method, among other advantages. However, the use of electromagnetic actuation in such devices requires the use of thick magnetic films, which...
Holdener, Fred R.; Boyd, Robert D.
2000-01-01
The present invention is a bi-stable optical actuator device that is depowered in both stable positions. A bearing is used to transfer motion and smoothly transition from one state to another. The optical actuator device may be maintained in a stable position either by gravity or a restraining device.
Nonmagnetic driver for piezoelectric actuators
DEFF Research Database (Denmark)
Ekhtiari, Marzieh
2014-01-01
actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...
On-line control models for the Stanford Linear Collider
International Nuclear Information System (INIS)
Sheppard, J.C.; Helm, R.H.; Lee, M.J.; Woodley, M.D.
1983-03-01
Models for computer control of the SLAC three-kilometer linear accelerator and damping rings have been developed as part of the control system for the Stanford Linear Collider. Some of these models have been tested experimentally and implemented in the control program for routine linac operations. This paper will describe the development and implementation of these models, as well as some of the operational results
On the synthesis of resonance lines in dynamical models of structured hot-star winds
Puls, J.; Owocki, S. P.; Fullerton, A. W.
1993-01-01
We examine basic issues involved in synthesizing resonance-line profiles from 1-D, dynamical models of highly structured hot-star winds. Although these models exhibit extensive variations in density as well as velocity, the density scale length is still typically much greater than the Sobolev length. The line transfer is thus treated using a Sobolev approach, as generalized by Rybicki & Hummer (1978) to take proper account of the multiple Sobolev resonances arising from the nonmonotonic velocity field. The resulting reduced-lambda-matrix equation describing nonlocal coupling of the source function is solved by iteration, and line profiles are then derived from formal solution integration using this source function. Two more approximate methods that instead use either a stationary or a structured, local source function yield qualitatively similar line-profiles, but are found to violate photon conservation by 10% or more. The full results suggest that such models may indeed be able to reproduce naturally some of the qualitative properties long noted in observed UV line profiles, such as discrete absorption components in unsaturated lines, or the blue-edge variability in saturated lines. However, these particular models do not yet produce the black absorption troughs commonly observed in saturated lines, and it seems that this and other important discrepancies (e.g., in acceleration time scale of absorption components) may require development of more complete models that include rotation and other 2-D and/or 3-D effects.
Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators
International Nuclear Information System (INIS)
Khalili, N; Naguib, H E; Kwon, R H
2014-01-01
Polypyrrole (PPy) conducting polymers have shown a great potential for the fabrication of conjugated polymer-based actuating devices. Consequently, they have been a key point in developing many advanced emerging applications such as biomedical devices and biomimetic robotics. When designing an actuator, taking all of the related decision variables, their roles and relationships into consideration is of pivotal importance to determine the actuator’s final performance. Therefore, the central focus of this study is to develop an electrochemomechanical constrained multiobjective optimization model of a PPy/MWCNTs trilayer actuator. For this purpose, the objective functions are designed to capture the three main characteristics of these actuators, namely their tip vertical displacement, blocking force and response time. To obtain the optimum range of the designated decision variables within the feasible domain, a multiobjective optimization algorithm is applied while appropriate constraints are imposed. The optimum points form a Pareto surface on which they are consistently spread. The numerical results are presented; these results enable one to design an actuator with consideration to the desired output performances. For the experimental analysis, a multilayer bending-type actuator is fabricated, which is composed of a PVDF layer and two layers of PPy with an incorporated layer of multi-walled carbon nanotubes deposited on each side of the PVDF membrane. The numerical results are experimentally verified; in order to determine the performance of the fabricated actuator, its outputs are compared with a neat PPy actuator’s experimental and numerical counterparts. (paper)
Dielectric elastomer actuators for octopus inspired suction cups.
Follador, M; Tramacere, F; Mazzolai, B
2014-09-25
Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms.