Actuator Line Modeling of Wind Turbine Wakes
DEFF Research Database (Denmark)
Troldborg, Niels
2009-01-01
with the 3D Navier Stokes solver EllipSys3D and a LES turbulence model. Simple models, based on applying body forces in the computational domain, are developed for imposing sheared and turbulent infow and their validity is discussed. A few computations on stand alone turbines are compared to measurements...... and good to fair agreement are shown in terms of respectively power coefficient and mean wake properties. The turbulence properties in the wake are generally characterized by its spectral characteristics and include estimation of spectral coherence, length scales and Reynolds stresses. Simulations...... of the wake from an isolated turbine operating in uniform inflow at tip-speed ratios ranging from λ = 3.21 to λ = 11.78 is presented and provides detailed information about the wake development including vortex properties and turbulence characteristics. Calculations on the wake of turbines subject to sheared...
Actuator line modeling of vertical-axis turbines
Bachant, Peter; Wosnik, Martin
2016-01-01
To bridge the gap between high and low fidelity numerical modeling tools for vertical-axis (or cross-flow) turbines (VATs or CFTs), an actuator line model (ALM) was developed and validated for both a high and a medium solidity vertical-axis turbine at rotor diameter Reynolds numbers $Re_D \\sim 10^6$. The ALM is a hybridization of classical blade element theory with Navier--Stokes based flow models, and in this study both $k$--$\\epsilon$ Reynolds-averaged Navier--Stokes (RANS) and Smagorinsky large eddy simulation (LES) turbulence models were tested. The RANS models were able to be run on coarse grids while still providing good convergence behavior in terms of the mean power coefficient, and also approximately four orders of magnitude reduction in computational expense compared with 3-D blade-resolved RANS simulations. Submodels for dynamic stall, end effects, added mass, and flow curvature were implemented, resulting in reasonable performance predictions for the high solidity rotor, more discrepancies for the...
Wind Turbine Large-Eddy Simulations on Very Coarse Grid Resolutions using an Actuator Line Model
Tossas, Luis A Martínez; Meneveau, Charles
2016-01-01
In this work the accuracy of the Actuator Line Model (ALM) in Large Eddy Simulations of wind turbine flow is studied under the specific conditions of very coarse spatial resolutions. For finely-resolved conditions, it is known that ALM provides better accuracy compared to the standard Actuator Disk Model (ADM) without rotation. However, we show here that on very coarse resolutions, flow induction occurring at rotor scales can affect the predicted inflow angle and can adversely affect the ALM predictions. We first provide an illustration of coarse LES to reproduce wind tunnel measurements. The resulting flow predictions are good, but the challenges in predicting power outputs from the detailed ALM motivate more detailed analysis on a case with uniform inflow. We present a theoretical framework to compare the filtered quantities that enter the Large-Eddy Simulation equations as body forces with a scaling relation between the filtered and unfiltered quantities. The study aims to apply the theoretical derivation ...
Determining the optimal smoothing length scale for actuator line models of wind turbine blades
Martinez, Luis; Meneveau, Charles
2015-11-01
The actuator line model (ALM) is a widely used tool for simulating wind turbines when performing Large-Eddy Simulations. The ALM uses a smearing kernel ηɛ = 1 /ɛ3π 3 / 2 exp (-r2 /ɛ2) , where r is the distance to an actuator point, and ɛ is the smoothing length scale which establishes the kernel width, to project the lift and drag forces onto the grid. In this work, we develop formulations to establish the optimum value of the smoothing length scale ɛ, based on physical arguments, instead of purely numerical constraints. This parameter has a very important role in the ALM, to provide a length scale, which may, for example, be related to the chord of the airfoil being studied. In the proposed approach, we compare features (such as vertical pressure gradient) of a potential flow solution for flow over a lifting surface with features of the solution of the Euler equations with a body force term. The potential flow solution over a lifting surface is used as a general representation of an airfoil. The method presented aims to minimize the difference between these features of the flow fields as a function of the smearing length scale (ɛ), in order to obtain the optimum value. This work is supported by NSF (IGERT and IIA-1243482) and computations use XSEDE resources.
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......, a pitch angle of 3˚, a wind speed of 5 m/s and yaw angles of 10˚ and 30˚. The computed loads are compared to the loads measured from pressure measurement....
Model of magnetostrictive actuator
Institute of Scientific and Technical Information of China (English)
LI Lin; ZHANG Yuan-yuan
2005-01-01
The hysteresis of the magnetostrictive actuator was studied. A mathematical model of the hysteresis loop was obtained on the basis of experiment. This model depends on the frequency and the amplitude of the alternating current inputted to the magnetostrictive actuator. Based on the model, the effect of hysteresis on dynamic output of the magnetostrictive actuator was investigated. Then how to consider hysteresis and establish a dynamic model of a magnetostrictive actuator system is discussed when a practical system was designed and applied.
Optimal smoothing length scale for actuator line models of lifting surfaces
Martinez-Tossas, Luis A
2015-01-01
The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within Large-Eddy Simulations (LES). In ALM the lift and drag forces are replaced by an imposed body force which is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width $\\epsilon$. To date, the choice of $\\epsilon$ has most often been based on numerical considerations mostly related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order or smaller than the chord-length of the blade, the best choice of $\\epsilon$ is not known. Focusing first on the lift force, here we find $\\epsilon$ and the force center location that minimize the square difference between the velocity fields obtained from solving 2D potential flow over Joukowski airfoils and solving the Euler equations including the imposed body force. The latter solution is found for the linearized problem, and is valid for small angles of at...
Improving actuator disk wake model
International Nuclear Information System (INIS)
The wind energy industry has traditionally relied on simple wake models for estimating Wind Turbine (WT) wake losses. Despite limitations, low requirements in terms of detailed rotor information makes their use feasible, unlike more complex models, such as Blade Element Method (BEM) or Actuator Line. Froude's Actuator Disk (AD) does not suffer the simpler model's limitation of prescribing the wake through a closed set of equations, while sharing with them the low rotor data requirements. On the other hand they require some form of parametrization to close the model and calculate total thrust acting on the flow. An Actuator Disk model was developed, using an iterative algorithm based on Froude's one-dimensional momentum theory to determine the WT's performance, proving to be successful in estimating the performance of both machines in undisturbed flow and in the wake of an upstream machines. Before Froude's AD limitations compared to more complex rotor models, load distributions emulating those of a BEM model were tested. The results show that little impact is obtained at 3 rotor diameters downstream and beyond, agreeing with common definition of a far-wake that starts at 1-2 diameters downstream, where rotor characteristics become negligible and atmospheric flow effects dominate
Analytical dynamic modeling of fast trilayer polypyrrole bending actuators
International Nuclear Information System (INIS)
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
Simulation of wind turbine wakes using the actuator line technique
Sørensen, Jens N.; Mikkelsen, Robert F.; Henningson, Dan S.; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J.
2015-01-01
The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. PMID:25583862
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. PMID:25583862
Modeling and control of precision actuators
Kiong, Tan Kok
2013-01-01
IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict
DEFF Research Database (Denmark)
Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming;
2016-01-01
The flow around an isolated horizontal-axis wind turbine is estimated by means of a new vortex code based on the Biot–Savart law with constant circulation along the blades. The results have been compared with numerical simulations where the wind turbine blades are replaced with actuator lines. Two...... 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...
Fabrication of Spiral Micro Coil Lines for Electromagnetic Actuators
Setomoto, Masaru; Matsumoto, Yoshifumi; Yamashita, Shuhei; Noda, Daiji; Hattori, Tadashi
With the recent progress in downsizing and the sophistication of various industrial products, the need for more compact actuators is increasing. Actuators account for the larger percentage of volume and weight of a product compared with other parts and devices. We have proposed fabrication process of spiral micro coils that employs X-ray lithography. This process will be effective for fabricating coils of a high aspect ratio lines. Reducing the size of coil lines and increasing their aspect ratio are expected to reduce the size and increase the output of actuators. Using this process, we formed spiral coil lines that can be used in electromagnetic actuators. X-ray lithography was used to form a high aspect ratio helical structure on the surface of an acrylic resin pipe. As a measure to suppress void generation, which is one of the shortcomings of electroplating processes, the sputtering apparatus and plating equipment were improved, a pretreatment process was additionally provided, and the actual electroplating method was improved. As a result, a void-free metallic deposit could be formed on a thin coil line. At the final step of this research study, we etched the coil line to determine optimal etching conditions.
Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread
Arakawa, Takeshi; Takagi, Kentaro; Tahara, Kenji; Asaka, Kinji
2016-04-01
Recently, fishing line artificial muscle has been developed and is paid much attention due to the properties such as large contraction, light weight and extremely low cost. Typical fishing line artificial muscle is made from Nylon thread and made by just twisting the polymer. In this paper, because of the structure of the actuator, such actuators may be named as coiled polymer actuators (CPAs). In this paper, a CPA is fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire is wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model is proposed. According to the physical principle of the actuator, two first-order transfer functions are introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it is shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the voltage-driven CPA is discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification is shown.
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...
Design, test and model of a hybrid magnetostrictive hydraulic actuator
Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M.
2009-08-01
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 cm3 s-1 and 22.7 cm3 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.
Modeling dynamics of multilayered SMA actuators
Melnik, Roderick V. N.; Roberts, Anthony J.
2001-03-01
Since the phase change in SMA-based devices such as actuators is accompanied by a significant heat exchange with the surroundings, different concepts to heat/cool SMAs have been proposed in the literature. Most of these concepts require the analysis of a multilayered (e.g. ``sandwich"-type) structure where the SMA layer is placed between layers with another material. In this paper we propose a mathematical model and an efficient numerical method for this analysis. Although our approach can be applied to a wide range of different designs of multilayered actuators, the basic idea of the model construction is explained in this paper for a specific design based on the introduction of semiconductor ``heat pump" modules into the device and the Peltier effect for the heat exchange. The dynamics of thermomechanical fields is studied with a coupled system of PDEs based on conservation laws. The system, supplemented by constitutive relationships in the Falk form, is reduced to a differential-algebraic (DA) model and solved with an effective DA solver developed in our previous works. Numerical results on thermomechanical behaviour of SMA components in multilayered actuators are presented.
Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman
2011-01-01
Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654
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...
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
of tip speed ratios, have been simulated by large-eddy simulations using a Navier–Stokes code combined with the actuator line method. The flow field is analyzed in terms of wake expansion, vortex core radius, circulation and axial and radial velocity distributions. Generally, the actuator line method......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...
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.
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......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...
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.
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...
Model and control of tendon actuated robots
Palli, Gianluca
2007-01-01
The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brie...
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
Wind turbine wake can be studied in computational fluid dynamics with the use of permeable body forces (e.g. actuator disc, line and surface). This paper presents a general flexible method to redistribute wind turbine blade forces as permeable body forces in a computational domain. The method can...
Actuator Line Simulation of Wake of Wind Turbine Operating in Turbulent Inflow
DEFF Research Database (Denmark)
Troldborg, Niels; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming
2007-01-01
The wake of a wind turbine operating in an atmospheric turbulent inflow without mean shear is simulated using a numerical method, which combines large eddy simulations with an actuator line technique. A turbulent inflow with the same spectral characteristics as the atmosphere is produced by intro...
Analysis of power enhancement for a row of wind turbines using the actuator line technique
DEFF Research Database (Denmark)
Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Øye, Stig;
2007-01-01
The effect of wake interaction for a row of three wind turbines in a wind farm is analysed using the actuator line technique. Both full wake and half wake situations are considered with the aim of deriving the optimal pitch setting of the foremost turbine, with respect to the total power from the...
Model of Polysilicon Electro-thermal Micro Actuator and Research of Micro Scale Effect
Institute of Scientific and Technical Information of China (English)
ZHANGYong-yu; SHENXue-jin; CHENXiao-yang
2004-01-01
A type of crank beam electro-thermal mircro actuator was prescribed Mechanical model of the actuatar was estabilished,and the static characteristic was analzed Comparing the theoretical analzsis with experimental data,it is found that the thermodynamic character of material in micro actuator has a different variable regularity contrasted to that used in macro scale machines.it is the micro scale effect that results in the deriation between the simulating result and experimental results the thermodynamic expression of polysilicon which was fitted by means of the experimental data concerned was used to modify the mechanical model The modifiex model ,in which the mircro scale thermodynamic characteristic characteristic was considered,was more reasonable and could make the optimal design and control strategies analyzing the straight-line micro actuator more feasible.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-11-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators
Taleghani, Barmac K.; Campbell, Joel F.
1999-01-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
Nonlinear finite element modeling of THUNDER piezoelectric actuators
Taleghani, Barmac K.; Campbell, Joel F.
1999-06-01
A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (Thin Layer Unimorph Ferroelectric Driver) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.
INSPECTION ROBOTS WITH PIEZO ACTUATORS: MODELING, SIMULATION AND PROTOTYPES
Directory of Open Access Journals (Sweden)
F. Becker
2011-01-01
Full Text Available Models, simulations and experimental setups of resonant inspection robots are presented. The goal is to show ways to cope with the new requirements and to use the given chances to create novel mobile robots. For the creation of a directed motion the vibration behavior of simple beams and plates is used. It is possible to design robots for 2-dimesnional locomotion which are characterized by a light weight, small size, relative simple design and the ability to create controllable motion using only one actuator. Different types of actuators for micro robots are presented and compared. Furthermore the dynamical behavior of a piezoelectric bending actuator under elastic boundary conditions is investigated and a model for the motion of the locomotion-generating limbs is presented. The comparison with experiments and prototypes shows that the results of the analytical and computational models agree
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
hysteretic nonlinearities. In order to model these nonlinearities, the first-order hysteresis reversal curves of the actuators are measured and a discrete Preisach model is derived. This forms a basis that enables the study of different compensation methods. The results show matching between measured...
DYNAMIC FREE ENERGY HYSTERESIS MODEL IN MAGNETOSTRICTIVE ACTUATORS
Institute of Scientific and Technical Information of China (English)
无
2006-01-01
A dynamic free energy hysteresis model in magnetostrictive actuators is presented. It is the free energy hysteresis model coupled to an ordinary different equation in an unusual way. According to its special structure, numerical implementation method of the dynamic model is provided. The resistor parameter in the dynamic model changes according to different frequency ranges. This makes numerical implementation results reasonable in the discussed operating frequency range. The validity of the dynamic free energy model is illustrated by comparison with experimental data.
Nonlinear Model-Based Fault Detection for a Hydraulic Actuator
Van Eykeren, L.; Chu, Q.P.
2011-01-01
This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost effect
National Aeronautics and Space Administration — SSCI proposes to develop innovative algorithms for the integration of Health Monitoring (HM) subsystem with the existing FLARE (Fast on-Line Actuator...
Modelling and control of double-cone dielectric elastomer actuator
Branz, F.; Francesconi, A.
2016-09-01
Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.
Kilohertz scanning all-fiber optical delay line using piezoelectric actuation
Henderson, David A.; Hoffman, Conrad; Culhane, Robert; Viggiano, Dan, III
2004-12-01
Commercial applications for fiber sensing and low-coherence interferometry are rapidly growing in medical, industrial and aerospace markets. These new instruments must be smaller, more robust and less expensive. An all-fiber optical delay line or "fiber stretcher", using piezoelectric (PZT) actuation, offers a simple solid-state solution that eliminates free space optics. The challenges for PZT fiber stretchers include: reducing non-linearity and hysteresis, achieving sufficient scan range with minimum fiber length, maximizing scan frequency and reducing losses in the drive electronics. PZT actuators are essentially large ceramic capacitors that must be rapidly charged and discharged to achieve fast scanning. The mechanical response of the PZT ceramic is greater than 10 kHz which makes it practical to scan at four kilohertz. A thin-walled piezoelectric disk or cylinder achieves 4.5 millimeters of fiber stretch using 20 meters of coiled fiber. Digitally controlled series resonant electronics produce a 1200 volt sinusoidal drive signal at a fixed frequency of four kilohertz while dissipating only 16 Watts. An all-fiber optical delay line module, using piezoelectric actuators and a series resonant drive, is a miniature, robust and efficient alternative to free-space optics with dithering mirrors or spinning polygons.
Zipping dielectric elastomer actuators: characterization, design and modeling
Maffli, L.; Rosset, S.; Shea, H. R.
2013-10-01
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.
A model for ferromagnetic shape memory thin film actuators
Lee, Kwok-Lun; Seelecke, Stefan
2005-05-01
The last decade has witnessed the discovery of materials combining shape memory behavior with ferromagnetic properties (FSMAs), see James & Wuttig1, James et al.2, Ullakko et al.3. These materials feature the so-called giant magnetostrain effect, which, in contrast to conventional magnetostriction is due motion of martensite twins. This effect has motivated the development of a new class of active materials transducers, which combine intrinsic sensing capabilities with superior actuation speed and improved efficiency when compared to conventional shape memory alloys. Currently, thin film technology is being developed intensively in order to pave the way for applications in micro- and nanotechnology. As an example, Kohl et al., recently proposed a novel actuation mechanism based on NiMnGa thin film technology, which makes use of both the ferromagnetic transition and the martensitic transformation allowing the realization of an almost perfect antagonism in a single component part. The implementation of the mechanism led to the award-winning development of an optical microscanner. Possible applications in nanotechnology arise, e.g., by combination of smart NiMnGa actuators with scanning probe technologies. The key aspect of Kohl's device is the fact that it employs electric heating for actuation, which requires a thermo-magneto-mechanical model for analysis. The research presented in this paper aims at the development of a model that simulates this particular material behavior. It is based on ideas originally developed for conventional shape memory alloy behavior, (Mueller & Achenbach, Achenbach, Seelecke, Seelecke & Mueller) and couples it with a simple expression for the nonlinear temperature- and position-dependent effective magnetic force. This early and strongly simplified version does not account for a full coupling between SMA behavior and ferromagnetism yet, and does not incorporate the hysteretic character of the magnetization phenomena either. It can however
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.
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.
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.
Magneto-mechanical actuation model for fin-based locomotion
Carbajal, Juan Pablo; 10.2495/DN100331
2011-01-01
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magneto-mechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements. We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and cente...
Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model
Melton, LaTunia Pack; Koklu, Mehti
2016-01-01
Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.
Hysteresis model of magnetostrictive actuators and its numerical realization
Institute of Scientific and Technical Information of China (English)
TANG Zhi-feng; LV Fu-zai; XIANG Zhan-qin
2007-01-01
This paper presents two numerical realization of Preisach model by Density Function Method (DFM) and F Function Method (FFM) for a giant magnetostrictive actuator (GMA). Experiment and simulation showed that FFM is better than DFM for predicting precision of hysteresis loops. Lagrange bilinear interpolation algorithm is used in Preisach numerical realization to enhance prediction performance. A set of hysteresis loops and higher order reversal curves are predicted and experimentally verified. The good agreement between the measured and predicted curves shows that the classical Preisach model is effective for modelling the quasi-static hysteresis of the GMA.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
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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.
A top-down multi-scale modeling for actuation response of polymeric artificial muscles
Yang, Qianxi; Li, Guoqiang
2016-07-01
A class of innovative artificial muscles made of high-strength polymeric fibers such as fishing lines or sewing threads have been discovered recently. These muscles are fabricated by a simple "twist-insertion" procedure, which have attracted increasing attention due to their low cost and readily availability, giant tensile stroke, record energy density, and easy controllability. In the present paper, we established a multi-scale modeling framework for the thermomechanical actuation responses by a top-down strategy, spanning from macro-scale helical spring analysis down to molecular level chain interaction study. Comparison between modeling results and experimental results exhibited excellent agreement. The effect of the micro-, meso- and macro-scale parameters on the actuation responses of the artificial muscle was further discussed through a parametric study per the validated model. This work helps understand the physical origin behind the remarkable tensile actuation behavior of the twisted-then-coiled polymeric artificial muscles and also provides inspirations for optimal design of advanced artificial muscles made by twist-insertion procedure.
Analytic model and frequency characteristics of plasma synthetic jet actuator
Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min
2015-02-01
This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.
Dynamic Actuator for Centrifuge Modeling of Soil-Structure Interaction
CABRERA, Miguel Angel; Caicedo, Bernardo; THOREL, Luc
2012-01-01
This paper presents a new dynamic actuator useful to study soil-structure interactions in a centrifuge. This new dynamic apparatus is based on an amplified piezoelectric actuator. Using this device it is possible to create vibrations in the soil sample of different frequencies and amplitudes. The dynamic actuator consists of a set of weights in a single degree of freedom system plus a piezoelectric actuator and a piezoelectric load cell, which measures the dynamic load. A description of the d...
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.
Milecki, Andrzej; Pelic, Marcin
2016-10-01
This paper presents results of studies of an application of a new method of piezo bender actuators modelling. A special hysteresis simulation model was developed and is presented. The model is based on a geometrical deformation of main hysteresis loop. The piezoelectric effect is described and the history of the hysteresis modelling is briefly reviewed. Firstly, a simple model for main loop modelling is proposed. Then, a geometrical description of the non-saturated hysteresis is presented and its modelling method is introduced. The modelling makes use of the function describing the geometrical shape of the two hysteresis main curves, which can be defined theoretically or obtained by measurement. These main curves are stored in the memory and transformed geometrically in order to obtain the minor curves. Such model was prepared in the Matlab-Simulink software, but can be easily implemented using any programming language and applied in an on-line controller. In comparison to the other known simulation methods, the one presented in the paper is easy to understand, and uses simple arithmetical equations, allowing to quickly obtain the inversed model of hysteresis. The inversed model was further used for compensation of a non-saturated hysteresis of the piezo bender actuator and results have also been presented in the paper.
Validation of high displacement piezoelectric actuator finite element models
Taleghani, Barmac K.
2000-08-01
The paper presents the results obtained by using NASTRAN and ANSYS 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 and important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN and ANSYS used different methods for modeling piezoelectric effects. In NASTRAN, a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
Validation of thermal models for a prototypical MEMS thermal actuator.
Energy Technology Data Exchange (ETDEWEB)
Gallis, Michail A.; Torczynski, John Robert; Piekos, Edward Stanley; Serrano, Justin Raymond; Gorby, Allen D.; Phinney, Leslie Mary
2008-09-01
This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the
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
Nonlinear model accounting for minor hysteresis of embedded SMA actuators
Institute of Scientific and Technical Information of China (English)
YANG Kai; GU Chenglin
2007-01-01
A quantitative index martensite fraction was used to describe the phase transformation degree of shape memory alloy (SMA).On the basis of the martensite fraction,a nonlinear analysis model for major and minor hysteresis loops was developed.The model adopted two exponential equations to calculate the martensite fractions for cooling and heating,respectively.The martensite fractions were derived as the relative parameters were adjusted timely according to continuous,common initial and common limit constraints.By use of the linear relationship between the curvature of embedded SMA actuator and SMA's martensite fraction,the curvature was determined.The results of the simulations and experiments prove the validity and veracity of the model.
Institute of Scientific and Technical Information of China (English)
Thananchai Leephakpreeda
2012-01-01
Quantitative understanding of mechanical actuation of intricate Pneumatic Artificial Muscle (PAM) actuators is technically required in control system design for effective real-time implementation.This paper presents mathematical modeling of the PAM driven by hydrogen-gas pressure due to absorption and desorption of metal hydride.Empirical models of both mechanical actuation of industrial PAM and chemical reaction of the metal hydride-LaNi5 are derived systematically where their interactions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM actuator (PAM and hydriding/dehydriding-reaction bed).Simulation studies of mechanical actuation under various loads are conducted so as to present dynamic responses of the PAM actuators.From the promising results,it is intriguing that the heat input for the PAM actuator can be supplied to,or pumped from the reaction bed,in such a way that absorption and desorption of hydrogen gas take place,respectively,in controlling the pressure of hydrogen gas within the PAM actuator.Accordingly,this manipulation results in desired mechanical actuation of the PAM actuator in practical uses.
Design, modeling, and fabrication of piezoelectric polymer actuators
Fu, Yao; Harvey, Erol C.; Ghantasala, Muralidhar K.; Spinks, Geoff
2004-04-01
Piezoelectric polymers are a class of materials with great potential and promise for many applications. Because of their ideally suitable characteristics, they make good candidates for actuators. However, the difficulty of forming structures and shapes has limited the range of mechanical design. In this work, the design and fabrication of a unimorph piezoelectric cantilever actuator using piezoelectric polymer PVDF with an electroplated layer of nickel alloy has been described. The modeling and simulation of the composite cantilever with planar and microstructured surfaces has been performed by CoventorWare to optimize the design parameters in order to achieve large tip deflections. These simulation results indicated that a microstructured cantilever could produce 25 percent higher deflection compared to a simple planar cantilever surface. The tip deflection of the composite cantilever with a length of 6mm and a width of 1mm can reach up to 100μm. A PVDF polymer with a specifically designed shape was punched out along the elongation direction on the embossing machine at room temperature. The nickel alloy layer was electroplated on one side of the PVDF to form a composite cantilever. The tip deflection of the cantilever was observed and measured under an optical microscope. The experimental result is in agreement with the theoretical analysis.
Vortex ring state by full-field actuator disc model
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.
A new class of actuator surface models incorporating wind turbine blade and nacelle geometry effects
Yang, Xiaolei; Sotiropoulos, Fotis
2015-11-01
It was shown by Kang, Yang and Sotiropoulos that the nacelle has significant effects on the turbine wake even in the far wake region, which the standard actuator line model is not able to predict. We develop a new class of actuator surface models for the blades and nacelle, which is able to resolve the effects of both tip vortices and nacelle vortex. The new nacelle model, which is based on distributing forces from the actual nacelle geometry as in the diffused interface immersed boundary methods, is first tested by carrying out LES of the flow past a sphere and demonstrating good agreement with available in the literature DNS results. The proposed model is subsequently validated by simulating the flow past the hydrokinetic turbine used in the simulations of Kang et al. and good agreement with the measurements is demonstrated. Finally, the proposed model is applied to utility scale wind turbines to elucidate the role of nacelle vortex dynamics on turbine wake meandering. This work was supported by Department of Energy DOE (DE-EE0002980, DE-EE0005482 and DE-AC04-94AL85000), and Sandia National Laboratories. Computational resources were provided by SNL and MSI.
Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators
Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.
2015-04-01
The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.
Tian, Pengfei; Jones, Richard W.; Yu, Fei
2016-07-01
A dielectric elastomer (DE) tubular actuator, based on compliant metal electrode technology, exhibits hysteresis-like characteristics when driven with a low power rated high voltage power supply (HVPS). This behavior occurs mainly because the DE actuator acts as a capacitive load compromising the ‘slew rate’ of the HVPS during the actuator’s operation. The motivation of this contribution is to investigate the use of elliptical modelling approaches for capturing the hysteresis characteristics exhibited by the DE tubular actuator when it is driven by a low cost low power rated HVPS. The DE tubular actuator considered in this work demonstrates asymmetric hysteresis behaviour due to the nonlinear voltage–strain behaviour of the actuator. A linearization filter placed in series with the actuator (during its operation) ensures a symmetric hysteresis characteristic that can then be modelled using an ellipse-based approach. Elliptical models come in many forms with the two most popular being the constrained general conic form and the general parametric form. Elliptical-based hysteresis model fits are carried out on experimental data obtained from the application of periodic input voltages, at a number of different low-frequencies, to the tubular actuator. The range of frequencies used is related to the possible use of the tubular actuator for attenuating low frequency vibration during DE actuator-based load positioning applications. Constrained conic and general parametric forms of elliptical model are used for modelling the hysteresis characteristics of the DE actuator and rate dependent models developed based on both approaches. The sensitivity of both of these rate dependent models to small inaccuracies in model parameters was then investigated. The general parametric form was found to be more robust in this respect.
Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla M.; Nicolini, E.; Gürdal, Z.
2007-01-01
This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as boun
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.
A modeling framework for deteriorating control system and predictive maintenance of actuators
International Nuclear Information System (INIS)
Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy
Modeling posture-dependent leg actuation in sagittal plane locomotion
Energy Technology Data Exchange (ETDEWEB)
Schmitt, J [Department of Mechanical Engineering, Oregon State University, Corvallis, OR 97331 (United States); Clark, J, E-mail: schmitjo@engr.orst.ed [Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 (United States)
2009-12-15
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
Inverse grey-box model-based control of a dielectric elastomer actuator
DEFF Research Database (Denmark)
Jones, Richard William; Sarban, Rahimullah
2012-01-01
An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... 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...
Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications
Kadooka, Kevin; Taya, Minoru; Naito, Keishi; Saito, Makoto
2015-04-01
Dielectric elastomer actuators have many advantages, including light weight, simplicity, high energy density, and silent operation. These features make them suitable to replace conventional actuators and transducers, especially in artificial muscle applications where large contractile strains are necessary for lifelike motions. This paper will introduce the concept of a corrugated dielectric elastomer actuator (DEA), which consists of dielectric elastomer (DE) laminated to a thin elastic layer to induce bending motion at each of the corrugations, resulting in large axial deformation. The location of the DE and elastic layers can be configured to provide tensile or compressive axial strain. Such corrugated DE actuators are also highly scalable: linking multiple actuators in series results in greater deformation, whereas multiple actuators in parallel results in larger force output. Analytical closed-form solutions based on linear elasticity were derived for the displacement and force output of curved unimorph and corrugated DEA, both consisting of an arbitrary number of lamina. A total strain energy analysis and Castigiliano's theorem were used to predict the nonlinear force-displacement behavior of the corrugated actuator. Curved unimorph and corrugated DEA were fabricated using VHB F9469PC as the DE material. Displacement of the actuators observed during testing agreed well with the modeling results. Large contractile strain (25.5%) was achieved by the corrugated DEA. Future work includes investigating higher performance DE materials such as plasticized PVDF terpolymers, processed by thin film deposition methods.
Dynamic actuator for Soil-Structure Interaction physical modelling in centrifuge
CABRERA, Miguel; Caicedo, Bernardo; THOREL, Luc
2014-01-01
Dynamic interactions in centrifuge modelling are often induced with external or not controlled sources. This paper presents a method to study Soil-Structure Interaction in centrifuge, with the use of a dynamic actuator developed for centrifuge testing. The dynamic actuator is employed into the model giving the possibility to test the dynamic response of a wind turbine structure, without any additional supporting accessory. The centrifuge soil model was instrumented in order to measure the wav...
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 presented, aiming at defining a temperature-dependent phenomenological model of hysteresis for a better understanding of the non-linear effects in piezo actuators....
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
DEFF Research Database (Denmark)
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes...... an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which...
Yang, Hyun-Ho; Han, Chang-Hoon; Oen Lee, Jeong; Yoon, Jun-Bo
2014-06-01
As a powerful method to reduce actuation voltage in an electrostatic micro-actuator, we propose and investigate an electrostatic micro-actuator with a pre-charged series capacitor. In contrast to a conventional electrostatic actuator, the injected pre-charges into the series capacitor can freely modulate the pull-in voltage of the proposed actuator even after the completion of fabrication. The static characteristics of the proposed actuator were investigated by first developing analytical models based on a parallel-plate capacitor model. We then successfully designed and demonstrated a micro-switch with a pre-charged series capacitor. The pull-in voltage of the fabricated micro-switch was reduced from 65.4 to 0.6 V when pre-charged with 46.3 V. The on-resistance of the fabricated micro-switch was almost the same as the initial one, even when the device was pre-charged, which was demonstrated for the first time. All results from the analytical models, finite element method simulations, and measurements were in good agreement with deviations of less than 10%. This work can be favorably adapted to electrostatic micro-switches which need a low actuation voltage without noticeable degradation of performance.
Stuebner, Michael; Smith, Ralph C.
2010-04-01
Macro Fiber Composite (MFC) actuators utilize PZT fibers embedded in an epoxy matrix for structural actuation. Due to their construction, they are lightweight and provide broadband inputs. Significant advantages of MFC actuators are their high performance, durability, and flexibility when compared to traditional piezoceramic actuators. They are presently being considered for a range of applications including positioning of membrane mirrors and structural control in the aerospace and automotive industry. However, they exhibit varying degrees of hysteresis and constitutive nonlinearities throughout their operating range that must be incorporated in models to achieve the full capabilities of the materials. In this paper, hysteresis is modeled using the homogenized energy model. The inverse model is then used to construct an inverse compensator framework suitable for subsequent control design. The performance of the inverse compensator is illustrated through a numerical example.
Directory of Open Access Journals (Sweden)
Iyyappan Balaguru
2013-10-01
Full Text Available Due to the advancements in smart actuators, morphing (changing of aircraft wings has been investigated by increasing number of researchers in recent years. In this research article, the concept of morphing is introduced to the conventional aircraft wing model with the utilization of Shape memory alloys (SMAs. An actuating mechanism is developed and built inside the aircraft wing model along with the SMA actuators which is used to morph its shape. The aircraft wing model with the SMA actuating mechanism is known as, ‘the smart wing model’. The aerodynamic characteristics (Lift, Drag, Velocity, and Pressure of the conventional and smart wing model are investigated by using the FLUENT numerical codes. The experimental aerodynamic test is carried out at various angles of incidence in an open circuit subsonic wind tunnel to validate the numerical results.
Modelling the nonlinear response of fibre-reinforced bending fluidic actuators
Cacucciolo, Vito; Renda, Federico; Poccia, Ernesto; Laschi, Cecilia; Cianchetti, Matteo
2016-10-01
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Energy Technology Data Exchange (ETDEWEB)
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 m
Fast Preisach modeling method for shape memory alloy actuators using major hysteresis loops
Choi, Byung-Jun; Lee, Yun-Jung; Choi, Bong-Yeol
2004-10-01
The control accuracy of smart actuators, such as a shape memory alloy (SMA) or piezoceramic actuator, is limited due to their inherent hysteresis nonlinearities with a local memory, resulting from the influence of a previous input on subsequent behavior. In addition, the existence of minor loops in the major loop because of a local memory also makes the mathematical modeling and design of a controller difficult for SMA actuators. Therefore, to enhance the controllability of a smart actuator, the Preisach hysteresis model has emerged as an appropriate behavioral model, yet the modeling is difficult and the model equation complex. Accordingly, to resolve these difficulties, the current paper proposes a simple method based on applying the proportional relationship between the major loop and the FOD curves of an SMA actuator to the Preisach model. As such, using only data for the major hysteresis loop, the proposed method enables the FOD curves to be easily approximated and the output length rapidly computed. The efficacy of the proposed Preisach modeling method is confirmed based on comparative experiments with the classical Preisach model.
One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust
Yoon, Jae-San; Han, Jae-Hung
2014-10-01
Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Directory of Open Access Journals (Sweden)
Eid Mohamed
2012-01-01
Full Text Available Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC engines. Applications of solenoid valve actuators in (IC engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA uses solenoid to actuate valve movement independently for the application of (IC engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA structure by incorporating the hybrid magneto-motive force (MMF implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR optimal control is designed with the evaluation reasonable the performance and energy of (EMV valve are obtained with the design.
Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru
2016-10-01
This work presents a linear viscoelastic model to describe the time-dependent actuation behavior of multilayer unimorph dielectric elastomer actuators (MUDEA), with experimental validation by actuators produced by a robotic dispenser system. MUDEA are a type of soft actuator which can produce large bending deformation without prestretch typically required by dielectric elastomer actuators. Current analytical and finite element models of MUDEA do not consider material viscoelasticity and cannot predict the change over time of performance metrics such as tip displacement and blocking force. The linear viscoelastic model presented in this work is based on a linear elastic model for the MUDEA extended to account for viscous effects by the elastic-viscoelastic correspondence principle. The model is easily implemented because it is based on explicit expressions which can be evaluated numerically by any computer algebra system. The model was used to predict the tip displacement and blocking force of MUDEAs consisting of two, four, six, eight, and ten layers of dielectric elastomer material. The model predictions agreed well with experimental data obtained from MUDEA produced by a robotic dispenser system, which was capable of producing multilayered structures of thin layers of dielectric elastomer and carbon nanotube based electrode material.
Verification of Beam Models for Ionic Polymer-Metal Composite Actuator
Institute of Scientific and Technical Information of China (English)
Ai-hong Ji; Hoon Cheol Park; Quoc Viet Nguyen; Jang Woo Lee; Young Tai Yoo
2009-01-01
Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages. A thick IPMC actuator, where Nation-117 membrane was synthesized with polypyrrole/alumina composite tiller, was analyzed to verify the equivalent beam and equivalent bimorph beam models. The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively. The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data. Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator. The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data. It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement, blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.
A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators
Energy Technology Data Exchange (ETDEWEB)
Sepiani, H.; Ebrahimi, F. [University of Tehran, Tehran (Iran, Islamic Republic of); Karimipour, H. [Iran University of Science and Technology, Tehran (Iran, Islamic Republic of)
2009-12-15
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
Study of a pseudo-empirical model approach to characterize plasma actuators
Energy Technology Data Exchange (ETDEWEB)
Marziali Bermudez, M [Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina); Sosa, R; Artana, G [Laboratorio de Fluidodinamica, Facultad de Ingenieria, UBA, Av. Paseo Colon 850, Buenos Aires 1063 (Argentina); Grondona, D; Marquez, A; Kelly, H, E-mail: rsosa@fi.uba.ar [Instituto de Fisica del Plasma (CONICET) - Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina)
2011-05-01
The use of plasma actuators is a recent technology that imposes a localized electric force that is used to control air flows. A suitable representation of actuation enables to undertake plasma actuators optimization, to design flow-control strategies, or to analyse the flow stabilization that can be attained by plasma forcing. The problem description may be clearly separated in two regions. An outer region, where the fluid is electrically neutral, in which the flow is described by the Navier-Stokes equation without any forcing term. An inner region, that forms a thin boundary layer, where the fluid is ionized and electric forces are predominant. The outer limit of the inner solution becomes the boundary condition for the outer problem. The outer problem can then be solved with a slip velocity that is issued from the inner solution. Although the solution for the inner problem is quite complex it can be contoured proposing pseudo-empirical models where the slip velocity of the outer problem is determined indirectly from experiments. This pseudo-empirical model approach has been recently tested in different cylinder flows and revealed quite adapted to describe actuated flow behaviour. In this work we determine experimentally the influence of the duty cycle on the slip velocity distribution. The velocity was measured by means of a pitot tube and flow visualizations of the starting vortex (i.e. the induced flow when actuation is activated in a quiescent air) have been done by means of the Schlieren technique. We also performed numerical experiments to simulate the outer region problem when actuation is activated in a quiescent air using a slip velocity distribution as a boundary condition. The experimental and numerical results are in good agreement showing the potential of this pseudo-empirical model approach to characterize the plasma actuation.
Development of piezoelectric-based membranes for synthetic jet actuators: experiments and modeling
Housley, Kevin W.; Clingman, Dan J.; Amitay, Michael
2016-04-01
A mathematical model was developed to represent the behavior of circular piezoelectric bimorphs in a synthetic jet actuator. Synthetic jet actuators are popular active flow control devices whose application is being widely explored in aerodynamics. The material properties were matched to those of PZT-5A mounted on a substrate. The actuator's geometry consisted of a cylindrical cavity of low height to diameter aspect ratio. A bimorph formed one of the cylinder's bases. The ingestion/expulsion orifice for the synthetic jet actuator was placed in the edge of the cavity so as to allow for either the present single bimorph or future dual bimorph configurations. Simply supported and rigidly supported boundary conditions were assessed around the circumference of the bimorph. The potential of alternate mode shapes occurring in the bimorphs during operation of the synthetic jet was evaluated. A limited parametric study was conducted varying the thickness of the piezoelectric wafers used in the bimorphs and the geometry of the cavity and orifice. Results were obtained for the displacement of the center of the bimorph's surface and the peak velocity of the air being ingested and expulsed through the orifice. These results were compared to values obtained through a mathematical model. Experimental data present in literature were also compared. The mathematical model was seen to have considerable potential for predicting the performance of synthetic jet actuators and their resonant frequencies but failed to capture the effects of acoustic coupling with the cavity, which is a topic of future research.
Development of the computer-actuator on-line testing system
International Nuclear Information System (INIS)
The pseudo-dynamic testing is an epoch-making experimental method, which can grasp the dynamic properties of structures during static loading experiment by linking a computer with an oscillator on-line, because the method compensates the shortcomings of both conventional static loading experiment using hydraulic jacks and dynamic vibration experiment at the same time. This method has already been implemented at a few places, and noticeable results have been obtained. The authors also have developed a system of this kind, completed the arrangements and applied the pseudo- dynamic testing to understand the seismic response properties of a steel frame of one story, one span gate form and the aseismic properties of a reinforced concrete reactor containment vessel model under thermal stress. In this report, first the outline of the on-line testing system is described, and the principle of pseudo-dynamic testing, its software programs and the above two examples are reported. In the gate form steel frame experiment, the results of the experimental and theoretical response analysis well agreed, thus it was confirmed that the system has sufficient performance to satisfy the fundamental system of pseudo-dynamic testing. In the containment vessel experiment, it was found that the damage was little even against the seismic force at maximum acceleration of 400 gal, and the maximum force in the subsequent static breaking experiment was seven times as large as the maximum horizontal load at 400 gal response, therefore the vessel had sufficient aseismic capability. (Wakatsuki, Y.)
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....
Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.
Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing
2016-08-22
Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications.
Modeling and control of a self-sensing polymer metal composite actuator
International Nuclear Information System (INIS)
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.
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 ...
Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators
Prattico, Flavio; Yamamoto, Shin-ichiroh
2014-01-01
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.
Minami Takato; Masaki Tatani; Hirozumi Oku; Yuki Okane; Junichi Tanida; Shinpei Yamasaki; Ken Saito; Fumio Uchikoba
2014-01-01
Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS) technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to th...
Transmission line model for nanoelectronics
Nelin E. A.
2009-01-01
Analytical expressions for resonant parametres and characteristics of typical barrier nanoelectronic structures have been received on the basis of the transmission line model. Characteristics illustrating the efficiency of such approach are presented in the article.
Transmission line model for nanoelectronics
Directory of Open Access Journals (Sweden)
Nelin E. A.
2009-08-01
Full Text Available Analytical expressions for resonant parametres and characteristics of typical barrier nanoelectronic structures have been received on the basis of the transmission line model. Characteristics illustrating the efficiency of such approach are presented in the article.
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
DEFF Research Database (Denmark)
Xu, Chang; Han, Xingxing; Wang, Xin;
2015-01-01
This paper presented an improved computational fluid dynamics (CFD) model for simulating a horizontal-axis wind turbine wake. The model used the actuator disk model to simplify the wind turbine effect on the aerodynamic field by adding an extra momentum source and an improved term to correct...... the underestimation issue of the wind speed deficit when applying the STD k-ε model. In addition, the model also introduced a radial distribution function to assess the non-uniform load on the actuator disk and a coefficient C4ε of the turbulent source. To validate the model, the wind turbines of Nibe `B' and Dawin...... 180/23 were checked by different wake models with multiple entrance velocities. Results show that the improved wake model has better prediction accuracy with experimental data and can be used for wind turbine wake calculation....
Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-metal Composite Actuated Robot
Directory of Open Access Journals (Sweden)
Qi Shen
2013-10-01
Full Text Available In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC. A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The comparison of the results of the simulations and experiments shows the feasibility of the dynamic model. By using this model, we found that the harmonic control of the actuation frequency and voltage amplitude of the IPMC is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the IPMC fish’s dynamic behaviour, successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with other control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration compared with what could be achieved with a conventional PID controller. The thrust efficiency during a steady state was superior to that with conventional control methods. We also found that when using the fuzzy control method the robotic fish can always swim near a higher actuation frequency, which could obtain both the desired speed and high thrust efficiency.
Joshi, Suresh M.
2012-01-01
This paper explores a class of multiple-model-based fault detection and identification (FDI) methods for bias-type faults in actuators and sensors. These methods employ banks of Kalman-Bucy filters to detect the faults, determine the fault pattern, and estimate the fault values, wherein each Kalman-Bucy filter is tuned to a different failure pattern. Necessary and sufficient conditions are presented for identifiability of actuator faults, sensor faults, and simultaneous actuator and sensor faults. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have biases.
Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys
Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David
2016-07-01
This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.
A validated model for induction heating of shape memory alloy actuators
Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.
2016-04-01
Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.
An Asymmetric Hysteresis Model and Parameter Identification Method for Piezoelectric Actuator
Directory of Open Access Journals (Sweden)
Haichen Qin
2014-01-01
Full Text Available Hysteresis behaviour degrades the positioning accuracy of PZT actuator for ultrahigh-precision positioning applications. In this paper, a corrected hysteresis model based on Bouc-Wen model for modelling the asymmetric hysteresis behaviour of PZT actuator is established by introducing an input bias φ and an asymmetric factor ΔΦ into the standard Bouc-Wen hysteresis model. A modified particle swarm optimization (MPSO algorithm is established and realized to identify and optimize the model parameters. Feasibility and effectiveness of MPSO are proved by experiment and numerical simulation. The research results show that the corrected hysteresis model can represent the asymmetric hysteresis behaviour of the PZT actuator more accurately than the noncorrected hysteresis model based on the Bouc-Wen model. The MPSO parameter identification method can effectively identify the parameters of the corrected and noncorrected hysteresis models. Some cases demonstrate the corrected hysteresis model and the MPSO parameter identification method can be used to model smart materials and structure systems with the asymmetric hysteresis behaviour.
Yan, Su
2007-12-01
To improve the fuel consumption of a satellite, maintain the position and orientation and eliminate the unwanted thruster vibration, intelligent composite structure technology was proposed in the ADPICAS (Adaptive Damping and Positioning using Intelligent Composite Active Structures) project funded by the ONR (Office of Naval Research) in collaboration with the NRL (Naval Research Laboratory) in 2000. This dissertation introduces the author's research achievements in developing smart composite panels for the ADPICAS project, including modeling, actuator optimization, and vibration control. The method of separation of variables is presented to derive the analytical shape functions for complex composite structures with asymmetric constraints, i.e., the 2-D Adaptive Composite Circular Plate (ACCP) in cylindrical coordinates and the 3-D Adaptive Composite Satellite Dish (ACSD) in spherical coordinates. Following these solutions, two modeling approaches are developed to obtain the models of adaptive composite panels including an adaptive composite beam, the ACCP, and the ACSD. One model approach is to employ the Lagrange-Rayleigh-Ritz method based on the developed analytical shape functions. Meanwhile, the transfer function estimation technique, combining the finite element analyses, is applied to obtain the numerical model of the composite panels. Aiming at improving the actuation efficiency, a Genetic Algorithm is presented to optimize the piezoelectric actuator placement on the composite panels. Taking the inertia and stiffness characteristics of the piezoelectric actuators into account, this algorithm defines the performance index as a weighted summation of control error and control energy consumption, and obtained the optimal solution that minimizes the performance index. Furthermore, an adaptive disturbance observer/feed-forward (ADOB/FF) controller is proposed to achieve simultaneous precision positioning and vibration suppression of the adaptive composite panels
Hodgins, M.; Rizzello, G.; Naso, D.; York, A.; Seelecke, S.
2014-10-01
Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments.
A Strategy Tackling Local Minimum of Direct Search Method in Modeling a Hydraulic Actuator
Institute of Scientific and Technical Information of China (English)
刘云山; 陈晓辉
2013-01-01
A strategy for attacking the local minimum problem of direct search method is developed for modeling a hydraulic actuator. The Nelder-Mead direct search method is combined with Ordinary Least Squares which can used to optimize the parameters which the model function is in linear with. The model fitting results show that this strategy can reach a solution more close to the global minimum than the Nelder-Mead direct search method used alone.
Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.
2016-03-01
Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.
Institute of Scientific and Technical Information of China (English)
Wang Shaoping; Cui Xiaoyu; Shi Jian; Mileta M. Tomovic; Jiao Zongxia
2016-01-01
Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple-mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec-trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli-ability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards.
Luo, J.; Olthuis, W.; Bergveld, P.; Bos, M.; Linden, van der W.E.
1993-01-01
The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed ISFET-base
Modeling molecular hyperfine line emission
Keto, Eric
2010-01-01
In this paper we discuss two approximate methods previously suggested for modeling hyperfine spectral line emission for molecules whose collisional transitions rates between hyperfine levels are unknown. Hyperfine structure is seen in the rotational spectra of many commonly observed molecules such as HCN, HNC, NH3, N2H+, and C17O. The intensities of these spectral lines can be modeled by numerical techniques such as Lambda-iteration that alternately solve the equations of statistical equilibrium and the equation of radiative transfer. However, these calculations require knowledge of both the radiative and collisional rates for all transitions. For most commonly observed radio frequency spectral lines, only the net collisional rates between rotational levels are known. For such cases, two approximate methods have been suggested. The first method, hyperfine statistical equilibrium (HSE), distributes the hyperfine level populations according to their statistical weight, but allows the population of the rotationa...
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 of a micro-cantilevered piezo-actuator considering the buffer layer and electrodes
International Nuclear Information System (INIS)
Considering the buffer layer and electrodes, we set up a piezoelectric multilayered cantilever model to evaluate the dynamic performance of the micro-cantilevered piezo-actuator (MCPA) based on Euler–Bernoulli beam theory without considering the residual stresses on the MCPA. Adopting the material and geometric parameters of the previous MCPAs with the different lengths, the first-mode resonance frequency–beam length, the tip deflection–voltage and harmonic response curves are simulated by using the traditional and proposed models, and the results based on the proposed model are much closer to the experimental and finite element simulation results than those based on the traditional model, indicating that the proposed model is valid for evaluating the actuation performances of the MCPA. The effect of the mechanical damping and bending stiffness on the actuation performance of the MCPA is also discussed. Using the proposed model, the dependences of the first-mode resonance frequency and tip deflection of the MCPA on non-piezoelectric layer thicknesses are analyzed at the certain driving voltage. The above-mentioned methods and conclusions can be used for the structure optimized design and performance improvement of MCPAs. (paper)
Modeling the dynamic behavior of a shape memory alloy actuated catheter
Veeramani, Arun S.; Buckner, Gregory D.; Owen, Stephen B.; Cook, Richard C.; Bolotin, Gil
2008-02-01
In this paper we investigate the transient behavior of a simple active catheter: a central tube actuated by a single nitinol tendon enclosed by an outer sleeve. Dynamic models are developed to characterize the transient behavior and optimize the design of an experimental prototype. The bending mechanics are derived using a circular arc model and are experimentally validated. Nitinol actuation is described using the Seelecke-Muller-Achenbach model for single-crystal shape memory alloys using experimentally determined parameters. The dynamic characteristics of this active catheter system are simulated and compared with experimental results. Joule heating is used to generate tip deflections, which are computed in real time using a dual-camera imaging system. The effects of outer sleeve thickness on heat transfer and transient response characteristics are studied.
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.
A dynamic model for generating actuator specifications for small arms barrel active stabilization
Pathak, Anupam; Brei, Diann; Luntz, Jonathan; Lavigna, Chris
2006-03-01
Due to stresses encountered in combat, it is known that soldier marksmanship noticeably decreases regardless of prior training. Active stabilization systems in small arms have potential to address this problem to increase soldier survivability and mission effectiveness. The key to success is proper actuator design, but this is highly dependent on proper specification which is challenging due to the human/weapon interaction. This paper presents a generic analytical dynamic model which is capable of defining the necessary actuation specifications for a wide range of small arms platforms. The model is unique because it captures the human interface--shoulder and arm--that introduces the jitter disturbance in addition to the geometry, inertial properties and active stabilization stiffness of the small arms platform. Because no data to date is available for actual shooter-induced disturbance in field conditions, a method is given using the model to back-solve from measured shooting range variability data the disturbance amplitude information relative to the input source (arm or shoulder). As examples of the applicability of the model to various small arms systems, two different weapon systems were investigated: the M24 sniper weapon and the M16 assault rifle. In both cases, model based simulations provided valuable insight into impact on the actuation specifications (force, displacement, phase, frequency) due to the interplay of the human-weapon-active stabilization interface including the effect of shooter-disturbance frequency, disturbance location (shoulder vs. arm), and system parameters (stiffness, barrel rotation).
Modeling and optimal vibration control of conical shell with piezoelectric actuators
Institute of Scientific and Technical Information of China (English)
Wang Weiyuan; Wei Yingjie; Wang Cong; Zou Zhenzhu
2008-01-01
In this paper numerical simulations of active vibration control for conical shell structure with distributed piezoelectric actuators is presented. The dynamic equations of conical shell structure are derived using the finite element model (FEM) based on Mindlin's plate theory. The results of modal calculations with FEM model are accurate enough for engineering applications in comparison with experiment results. The Electromechanical influence of distributed piezoelectric actuators is treated as a boundary condition for estimating the control force. The independent modal space control (IMSC) method is adopted and the optimal linear quadratic state feedback control is implemented so that the best control performance with the least control cost can be achieved. Optimal control effects are compared with controlled responses with other non-optimal control parameters. Numerical simulation results are given to demonstrate the effectiveness of the control scheme.
Institute of Scientific and Technical Information of China (English)
RU Chang-hai; SUN Li-ning; RONG Wei-bin
2008-01-01
Aiming at the limitation of control accuracy caused by hysteresis and creep for a piezoelectric actuator, the hysteresis phenomenon is explained based on the microscopic polarization mechanism and domain wall theory. Then a control model based on polarization is established, which can reduce the hysteresis and creep remarkablely. The experimental results show that the polarization control method is with more linearity and less hysteresis compared with the voltage control method.
Complete modelling of a piezo actuator last-generation injector for diesel injection systems
Salvador Rubio, Francisco Javier; PLAZAS TORRES, ALEJANDRO HERNÁN; Gimeno García, Jaime; Carreres Talens, Marcos
2014-01-01
An experimental and computational study of an increasingly used third-generation common-rail injection system with a piezo actuator has been carried out. A complete characterization of the different elements of the system, both geometrically and hydraulically, has been performed in order to describe its behaviour. The information obtained through the characterization has been used to create a one-dimensional model that has been implemented in the commercial software AMESim and ext...
Actuator disk modeling of the Mexico rotor with OpenFOAM⋆
Jeromin A.; Bentamy A.; Schaffarczyk A.P.
2014-01-01
The implementation of an actuator disk with prescribed constant load for OpenFOAM was first presented by Svenning. In our presentation it was enhanced to compute local loads from local velocities by given aerodynamic lift and drag coefficients. The new model was then verified using the so called MEXICO rotor. Extensive comparisons to the experiments and other simulations were performed. The results for the thrust force was comparable to BEm and measurement wereas torque for the separated case...
Modeling fluid structure interaction with shape memory alloy actuated morphing aerostructures
Oehler, Stephen D.; Hartl, Darren J.; Turner, Travis L.; Lagoudas, Dimitris C.
2012-04-01
The development of efficient and accurate analysis techniques for morphing aerostructures incorporating shape memory alloys (SMAs) continues to garner attention. These active materials have a high actuation energy density, making them an ideal replacement for conventional actuation mechanisms in morphing structures. However, SMA components are often exposed to the same highly variable environments experienced by the aeroelastic assemblies into which they are incorporated. This is motivating design engineers to consider modeling fluidstructure interaction for prescribing dynamic, solution-dependent boundary conditions. This work presents a computational study of a particular morphing aerostructure with embedded, thermally actuating SMA ribbons and demonstrates the effective use of fluid-structure interaction modeling. A cosimulation analysis is utilized to determine the surface deflections and stress distributions of an example aerostructure with embedded SMA ribbons using the Abaqus Finite Element Analysis (FEA) software suite, combined with an Abaqus Computational Fluid Dynamics (CFD) processor. The global FEA solver utilizes a robust user-defined material subroutine which contains an accurate three-dimensional SMA constitutive model. Variations in the ambient fluid environment are computed using the CFD solver, and fluid pressure is mapped into surface distributed loads. Results from the analysis are qualitatively validated with independently obtained data from representative flow tests previously conducted on a physical prototype of the same aerostructure.
An analytical model for electrode-ceramic interaction in multilayer piezoelectric actuators
Institute of Scientific and Technical Information of China (English)
B. L. Wang; J. C. Han
2007-01-01
The present paper develops an analytical model for multi-electrodes in multi-layered piezoelectric actuators, in which the electrodes are vertical to and terminated at the edges of the medium and electroelastic field concentrations ahead of the electrodes in the multilayer piezoelectric actuators are examined. By considering a representative unit in realistic multilayers, the problem is formulated in terms of electric potential between the electrode tips and results in a system of singular integral equations in which the electric potential is taken as unknown function. Effects are investigated of electrode spacing and piezoelectric coupling on the singular electroelastic fields at the electrode tips, and closed-form expressions are given for the electromechanical field near the electrode tips. Exact solution for un-coupled dielectrics is provided, where no piezoelectric coupling is present.
Modelling of piezoelectric actuator dynamics for active structural control
Hagood, Nesbitt W.; Chung, Walter H.; Von Flotow, Andreas
1990-01-01
The paper models the effects of dynamic coupling between a structure and an electrical network through the piezoelectric effect. The coupled equations of motion of an arbitrary elastic structure with piezoelectric elements and passive electronics are derived. State space models are developed for three important cases: direct voltage driven electrodes, direct charge driven electrodes, and an indirect drive case where the piezoelectric electrodes are connected to an arbitrary electrical circuit with embedded voltage and current sources. The equations are applied to the case of a cantilevered beam with surface mounted piezoceramics and indirect voltage and current drive. The theoretical derivations are validated experimentally on an actively controlled cantilevered beam test article with indirect voltage drive.
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.
Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin
2016-07-01
Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.
International Nuclear Information System (INIS)
Electromagnetic (EM) solenoid actuators are widely used in many applications such as the automobile, aerospace, printing and food industries where repetitive, often high-speed linear or rotating motions are required. In some of these applications they are used as highspeed 'switching' valves for switching pneumatic channels. This paper describes the finite element (FE) modelling and design of high-speed solenoid actuators. Operating at frequencies between 150-300 Hz, these actuators are unique in terms of the large force they produce (8-15 N) and the requirement for very long lifetime (2-5 billion cycles). The complex nature of electromagnetic, motional and thermal problems is discussed. The methodologies for FE modelling of such high-performance actuators are developed and discussed. These are used for modelling, design, performance evaluation and prediction of the above high-speed actuators. Modelling results showing some of the key design features of the actuators are presented in terms of force produced as a function of various design parameters
Abel, Julianna; Luntz, Jonathan; Brei, Diann
2012-08-01
Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
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.
Absolute stability for the lateral-directional BWB model with rate limited actuator
Directory of Open Access Journals (Sweden)
Ionel IORGA
2012-06-01
Full Text Available In this paper the authors present a study regarding the interaction between the human pilot and the aircraft which may result in a dangerous phenomenon called Pilot Induced Oscillations (PIO, in the context of the lateral directional motion. The theoretical model of the airplane used is a Blended Wing Body (BWB configuration and the human operator is expressed by the Synchronous Pilot Model (represented by a simple gain. The Popov criterion, in the case of the infinite parameter, is applied in order to investigate the absolute stability of the pilot-airplane linearized system in the presence of the rate saturation of the actuator.
Tracking control of piezoelectric actuators using a polynomial-based hysteresis model
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-06-01
A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.
Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle
Directory of Open Access Journals (Sweden)
Vimal Rau Aparow
2016-01-01
Full Text Available In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.
A mixture theory framework for modeling the mechanical actuation of ionic polymer metal composites
International Nuclear Information System (INIS)
An ionic polymer metal composite (IPMC) is a porous charged polymer saturated with an electrolytic solvent and plated by two metallic electrodes. A voltage difference across the electrodes generates structural deformations; similarly, a mechanical deformation yields a voltage difference across the electrodes. The electrolytic solvent comprises a mobile ionic species and an uncharged solvent. Interactions between mobile ions and the solvent and between the solvent and the backbone polymer are responsible for sensing and actuation. We present a mixture theory framework for mechanical modeling of IPMCs and of species interactions occurring therein. The model consists of three coupled linear partial differential equations, and it is applicable to a large variety of IPMC geometries and microstructures. The framework allows for a thorough description of actuation mechanisms, including osmotic pressure, hydraulic pressure, and electrostatic forces. The model describes the presence of boundary layers of mobile ions and solvent concentrations in the vicinity of the electrodes. We particularize the general three-dimensional model to a slender IPMC, and we derive a one-dimensional distributed model using the Euler–Bernoulli beam theory and a parallel-plate approximation. We validate our theoretical findings through a set of experiments conducted on Nafion-based IPMCs
Hybrid Swarm Algorithms for Parameter Identification of an Actuator Model in an Electrical Machine
Directory of Open Access Journals (Sweden)
Ying Wu
2011-01-01
Full Text Available Efficient identification and control algorithms are needed, when active vibration suppression techniques are developed for industrial machines. In the paper a new actuator for reducing rotor vibrations in electrical machines is investigated. Model-based control is needed in designing the algorithm for voltage input, and therefore proper models for the actuator must be available. In addition to the traditional prediction error method a new knowledge-based Artificial Fish-Swarm optimization algorithm (AFA with crossover, CAFAC, is proposed to identify the parameters in the new model. Then, in order to obtain a fast convergence of the algorithm in the case of a 30 kW two-pole squirrel cage induction motor, we combine the CAFAC and Particle Swarm Optimization (PSO to identify parameters of the machine to construct a linear time-invariant(LTI state-space model. Besides that, the prediction error method (PEM is also employed to identify the induction motor to produce a black box model with correspondence to input-output measurements.
Directory of Open Access Journals (Sweden)
Vahid Hassani
2012-01-01
Full Text Available One of the major problems occurring in many technical applications is the presence of the hysteretic behavior in sensors and actuators, which causes a nonlinear relationship between input and output variables in such devices. Since the nonlinear phenomenon of hysteresis degrades the performance of the piezoelectric materials and piezoelectric drive mechanisms, for example, in positioning control framework, it has to be characterized in order to mitigate the effect of the nonlinearity in the devices. This paper is aimed to characterize and model the hysteresis in typical piezoelectric actuators under load-free and preloaded circumstances incorporating the inertial effect of the system. For this purpose, the piezoelectric actuator is modeled as a mass-spring-damper system, which is expressed in terms of a stop operator as one of the essential yet efficient hysteresis operators in the Prandtl-Ishlinskii (PI model. The reason of utilizing the stop operator in this study is for the sake of control purposes, as the stop operator plays as the inverse of the play operator in the PI model and can be used in a feed-forward controller scheme to suppress the effect of hysteresis in general control framework. The results reveal that this model exhibits better correspondence to the measurement output compared to that of the classical PI model.
National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...
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.
Actuator disk modeling of the Mexico rotor with OpenFOAM⋆
Directory of Open Access Journals (Sweden)
Jeromin A.
2014-01-01
Full Text Available The implementation of an actuator disk with prescribed constant load for OpenFOAM was first presented by Svenning. In our presentation it was enhanced to compute local loads from local velocities by given aerodynamic lift and drag coefficients. The new model was then verified using the so called MEXICO rotor. Extensive comparisons to the experiments and other simulations were performed. The results for the thrust force was comparable to BEm and measurement wereas torque for the separated case (25 m/s inflow velocity gave rather wide-spreading results.
Pusey, Jason L.; Yoo, Jin-Hyeong
2014-06-01
We document the design and preliminary numerical simulation study of a high fidelity model of Canid, a recently introduced bounding robot. Canid is a free-standing, power-autonomous quadrupedal machine constructed from standard commercially available electromechanical and structural elements, incorporating compliant C-shaped legs like those of the decade old RHex design, but departing from that standard (and, to the best of our knowledge, from any prior) robot platform in its parallel actuated elastic spine. We have used a commercial modeling package to develop a finite-element model of the actuated, cable-driven, rigid-plate-reinforced harness for the carbon-fiber spring that joins the robot's fore- and hind-quarters. We compare a numerical model of this parallel actuated elastic spine with empirical data from preliminary physical experiments with the most important component of the spine assembly: the composite leaf spring. Specifically, we report our progress in tuning the mechanical properties of a standard modal approximation to a conventional compliant beam model whose boundary conditions represent constraints imposed by the actuated cable driven vertebral plates that comprise the active control affordance over the spine. We conclude with a brief look ahead at near-term future experiments that will compare predictions of this fitted composite spring model with data taken from the physical spine flexed in isolation from the actuated harness.
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.
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets
Directory of Open Access Journals (Sweden)
Stuart Bradley
2015-11-01
Full Text Available Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings” to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.
Theoretical modeling of pulse discharge cycle in dielectric barrier discharge plasma actuator
Sato, Shintaro; Ohnishi, Naofumi
2016-07-01
Simple models based on two-dimensional simulations are proposed to estimate intervals of periodically observed current pulses with a positive-going voltage in a dielectric barrier discharge plasma actuator. There are two distinct peaks in one streamer discharge; one is related to the formation of an ion cloud and the other is related to a filamentary discharge that is identified as a streamer. Simulation results show that the intervals of the current pulses depend on the slope of the applied voltage. For the ion-cloud formation phase, we model the time evolution of electron number density at the exposed electrode with ionization frequency. For the ion-cloud expansion phase, a positive ion cylinder model is proposed to estimate the electric field generated by surface charge on the dielectric. These models well reproduce the discharge intervals obtained in the numerical simulations.
Weetman, Philip; Akhras, George
2009-01-01
A phenomenological dynamical model of ferromagnetic shape memory alloy based actuators is developed. The parameters of effective mass density, viscosity, and elasticity are defined and used in a dissipative Euler-Lagrange equation to determine the martensite variant fraction and strain as a function of time. These three parameters are determined by fitting our simulations to recent experiments on a NiMnGa based actuator. In addition to the simplicity of only three fitting parameters to model martensite variant evolution, the present model is a convenient formulation of the problem because it incorporates self-consistently all stresses and loads in the system.
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP.
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP. PMID:26980164
Numerical Simulation and Wake Modeling of Wind Turbine Rotor as AN Actuator Disk
Shen, Xiang; Wang, Tongguang; Zhong, Wei
Numerical simulations of flow fields around the wind turbine rotor simplified as an actuator disk (AD) with zero thickness have been made to investigate the flow structure and wake development in different operation states. A N-S solver has been used and the energy extracted by the rotor is represented by a discontinuous pressure jump through the actuator disk. Axial pressure and velocity development from far upstream to far downstream is fully described by the simulations, which could never be obtained by the momentum theory. It is showed that there are significant differences in wake development between inviscid and viscous conditions. In inviscid simulations, the axial velocity keeps decreasing along the oncoming flow direction, which is consistent with the momentum theory. In viscous simulations, however, the axial velocity first decreases but then gradually recovers approaching to the undisturbed velocity, due to momentum transport from outer flow to wake flow by viscous shear effect. Based on the numerical analysis, the work of this paper is also focused on wake modeling. A new two-dimensional models based on nonlinear wake development has been developed, which is capable to describe the far wake more accurately.
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.
A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle
Orr, Jeb S.
2011-01-01
A comprehensive set of motion equations for a multi-actuated flight vehicle is presented. The dynamics are derived from a vector approach that generalizes the classical linear perturbation equations for flexible launch vehicles into a coupled three-dimensional model. The effects of nozzle and aerosurface inertial coupling, sloshing propellant, and elasticity are incorporated without restrictions on the position, orientation, or number of model elements. The present formulation is well suited to matrix implementation for large-scale linear stability and sensitivity analysis and is also shown to be extensible to nonlinear time-domain simulation through the application of a special form of Lagrange s equations in quasi-coordinates. The model is validated through frequency-domain response comparison with a high-fidelity planar implementation.
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.
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 ...
Institute of Scientific and Technical Information of China (English)
Hamid Moeenfard; Mohammad Taghi Ahmadian
2012-01-01
In this paper,the effect of van der Waals (vdW)force on the pull-in behavior of electrostatically actuated nano/micromirrors is investigated.First,the minimum potential energy principle is utilized to find the equation governing the static behavior of nano/microminror under electrostatic and vdW forces.Then,the stability of static equilibrium points is analyzed using the energy method.It is found that when there exist two equilibrium points,the smaller one is stable and the larger one is unstable.The effects of different design parameters on the mirror's pull-in angle and pull-in voltage are studied and it is found that vdW force can considerably reduce the stability limit of the mirror.At the end,the nonlinear equilibrium equation is solved numerically and analytically using homotopy perturbation method (HPM).It is observed that a sixth order perturbation approximation can precisely model the mirror's behavior.The resuits of this paper can be used for stable operation design and safe fabrication of torsional nano/micro actuators.
Directory of Open Access Journals (Sweden)
Minami Takato
2014-07-01
Full Text Available Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to the piezoelectric element. The millimetre-size robot is fitted with six legs, three on either side of the developed actuator, and can walk on uneven surfaces like an insect. The three leg parts on each side are connected by a linking mechanism. The control system is a hardware neuron model constructed from analogue electronic circuits that mimic the behaviour of biological neurons. The output signal ports of the controller are connected to the multilayer piezoelectric element. This robot system requires no specialized software programs or A/D converters. The rotation speed of the rotary actuator reaches 60 rpm at an applied neuron frequency of 25 kHz during the walking motion. The width, length and height of the robot are 4.0, 4.6 and 3.6 mm, respectively. The motion speed is 180 mm/min.
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.
Computational design and multiscale modeling of a nanoactuator using DNA actuation
International Nuclear Information System (INIS)
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.
Singh, Yadvinder
2013-01-01
Piezoelectric actuators are increasingly used for the electronic control of fuel injector opening valves. Hydrogen is considered an attractive clean alternative fuel for automobile and power generation applications. Current understanding of the performance of piezoelectric actuators in a hydrogen environment is very limited. This work is aimed at experimentally investigating the performance of hydrogen-exposed piezoelectric actuators under conditions directly relevant to a hydrogen-based fuel...
Analysis of the giant magnetostrictive actuator with strong bias magnetic field
International Nuclear Information System (INIS)
Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically
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.
International Nuclear Information System (INIS)
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 of effects of matrix on actuation characteristics of embedded shape memory alloy wires
Institute of Scientific and Technical Information of China (English)
CUI Xiao-long; ZHENG Yan-jun; CUI Li-shan
2005-01-01
Effects of matrix properties on the actuation characteristics of embedded shape memory alloy wires were studied. The coefficient of thermal expansion and the modulus of matrix have significant effect on the maximum recovery stress. The thermal strain rate of the SMA wires upon heating is more sensitive to the matrix properties than the stress rate does. Additional fibers embedded in the matrix have significant effect on the stress distribution between the SMA wires and the matrix, and thus affect the interface quality significantly. Fibers with negative thermal expansion coefficient are beneficial to the interface between shape memory alloy wires and the epoxy matrix. All conclusions based on the numerical modeling can find experimental supports.
Stellar model atmospheres with magnetic line blanketing
Kochukhov, O; Shulyak, D
2004-01-01
Model atmospheres of A and B stars are computed taking into account magnetic line blanketing. These calculations are based on the new stellar model atmosphere code LLModels which implements direct treatment of the opacities due to the bound-bound transitions and ensures an accurate and detailed description of the line absorption. The anomalous Zeeman effect was calculated for the field strengths between 1 and 40 kG and a field vector perpendicular to the line of sight. The model structure, high-resolution energy distribution, photometric colors, metallic line spectra and the hydrogen Balmer line profiles are computed for magnetic stars with different metallicities and are discussed with respect to those of non-magnetic reference models. The magnetically enhanced line blanketing changes the atmospheric structure and leads to a redistribution of energy in the stellar spectrum. The most noticeable feature in the optical region is the appearance of the 5200 A depression. However, this effect is prominent only in ...
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 competitivene...
Nishino, Takafumi
2012-01-01
Modelling of turbine blade-induced turbulence (BIT) is discussed within the framework of three-dimensional Reynolds-averaged Navier-Stokes (RANS) actuator disk computations. We first propose a generic (baseline) BIT model, which is applied only to the actuator disk surface, does not include any model coefficients (other than those used in the original RANS turbulence model) and is expected to be valid in the limiting case where BIT is fully isotropic and in energy equilibrium. The baseline model is then combined with correction functions applied to the region behind the disk to account for the effect of rotor tip vortices causing a mismatch of Reynolds shear stress between short- and long-time averaged flow fields. Results are compared with wake measurements of a two-bladed wind turbine model of Medici and Alfredsson [Wind Energy, Vol. 9, 2006, pp. 219-236] to demonstrate the capability of the new model.
DEFF Research Database (Denmark)
Habib, Tufail
2012-01-01
investigation of Electro-mechanical actuator at simulated pressure conditions for a single cylinder engine. For this purpose, a scaled down actuator with reduced armature lift and high stiffness springs are being used. Experiments are conducted to measure valve release timings, transition times and contact...
Static and transient modeling of fast moving ball actuator as a display device
Lee, Jongmo; Yoon, Ho Won; Hong, MunPyo; Jhun, Chul Gyu; Bae, Byung Seong; Han, Seungoh
2016-04-01
FMBA(Fast Moving Ball Actuator), developed as novel electronic-paper display, has already proven its operability and functionality. However, optimization issues related with low operating voltage, high refresh rate, fine pixel and higher display resolution, etc. are still remaining to be improved for a successful commercialization. In order to optimize such issues effectively, static and transient model were developed and verified by comparing the calculated results to the measured. The static model is based on the force balancing equation between the driving and the holding forces while the transient model is developed from Newton's 2nd law by adding the inertia as well as the resistive damping forces caused by the surroundings. With the simplified static model, driving voltage of 30.71 V was obtained, which is reasonably matched to the measured voltage of 40 V. Based on the transient model, also, the transient response of the device can be estimated within reasonable margin. Considering the absence of reliable key parameters of surface roughness, static and dynamic frictional coefficient, and refractive indices, the developed static and transient models account well the experimental results and thus they are expected to contribute further improvements in FMBA.
Directory of Open Access Journals (Sweden)
Haigen Yang
2015-01-01
Full Text Available In order to accurately model the hysteresis and dynamic characteristics of piezoelectric stack actuators (PSAs, consider that a linear force and a hysteresis force will be generated by piezoelectric wafers under the voltage applied to a PSA, and the total force suffering from creep will result in the forced vibration of the two-degree-of-freedom mass-spring-damper system composed of the equivalent mass, stiffness, and damping of the piezoelectric wafers and the bonding layers. A modified comprehensive model for PSAs is put forward by using a linear function, an asymmetrical Bouc-Wen hysteresis operator, and a creep function to model the linear force, the hysteresis force, and the creep characteristics, respectively. In this way, the effect of the bonding layers on the hysteresis and dynamic characteristics of PSAs can be analyzed via the modified comprehensive model. The experimental results show that the modified comprehensive model for PSAs with the corresponding parameter identification method can accurately portray the hysteresis and dynamic characteristics of PSAs fabricated by different layering/stacking processes. Finally, the theoretical analyzing on utilizing the modified comprehensive model to linearize the hysteresis characteristics and design the dynamic characteristics of PSAs is given.
Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots
S, Arumugom; V, Ponselvan
2009-01-01
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...
Buoso, Stefano; Palacios, Rafael
2016-04-01
This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.
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.)
Directory of Open Access Journals (Sweden)
Saggam Narendar
2011-07-01
Full Text Available In this study, a rotating single-walled carbon nanotube (SWCNT is modelled as an Euler-Bernoulli beam using the non-local/non-classical continuum mechanics. These rotating SWCNTs are used in nanoscale rotational actuators. The mathematical model has been used to study the wave behaviour in rotating SWCNTs. The governingpartial differential equation for a uniform rotating beam is derived incorporating the non-local scale effects. The spatial variation in centrifugal force has been modelled in an average sense. Even though this averaging seems to be a crude approximation, one can use this as a powerful model in analysing the wave dispersion characteristics ofthe rotating CNTs. Spectrum and dispersion curves as a function of rotating speed and non-local scaling parameter were obtained. It has been shown that the dispersive ﬂexural wave tends to behave non-dispersively at very high rotation speeds. The numerical results have been simulated for a rotating SWCNT as a waveguide.Defence Science Journal, 2011, 61(4, pp.317-324, DOI:http://dx.doi.org/10.14429/dsj.61.1091
Boz, Utku; Basdogan, Ipek
2015-12-01
Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-01
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. PMID:26751448
Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin
2016-01-06
Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved.
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.
Digital Model of Railway Electric Traction Lines
Garg, Rachana; Mahajan, Priya; Kumar, Parmod
2016-08-01
The characteristic impedance and propagation constant define the behavior of signal propagation over the transmission lines. The digital model for railway traction lines which includes railway tracks is developed, using curve fitting technique in MATLAB. The sensitivity of this model has been computed with respect to frequency. The digital sensitivity values are compared with the values of analog sensitivity. The developed model is useful for digital protection, integrated operation, control and planning of the system.
ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT
Institute of Scientific and Technical Information of China (English)
SONG Qi; JIANG Zhe; HAN Jianda
2007-01-01
A novel fault-tolerant adaptive control methodology against the actuator faults is proposed.The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
International Nuclear Information System (INIS)
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
On reliable control system designs. Ph.D. Thesis; [actuators
Birdwell, J. D.
1978-01-01
A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.
A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model
Directory of Open Access Journals (Sweden)
Labib Omar El-Farouk E.
2016-01-01
Full Text Available Aerial vehicles have been investigated recently in different contexts, due to their high potential of utilization in multiple application areas. Different mechanisms can be used for aerial vehicles actuation, such as the rotating multi-blade systems (Multi-Copters and more recently flapping wings. Flapping wing robots have attracted much attention from researchers in recent years. In this study, a simple dual-actuated flapping mechanism is proposed for actuating a flapping wing robot. The mechanism is designed, simulated and validated in both simulation and experiments. A roll controlling approach is proposed to control the roll angle of the robot via controlling the speeds of both motors actuating each of the wings. The results achieved are validated experimentally, and are promising opening the door for further investigation using our proposed system
Jacobs, William R.; Wilson, Emma D.; Assaf, Tareq; Rossiter, Jonathan; Dodd, Tony J.; Porrill, John; Anderson, Sean R.
2015-05-01
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.
Rajappa, Sujit; Ryll, Markus; Heinrich H Bülthoff; Franchi, Antonio
2015-01-01
International audience Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4 DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory over time. In this paper, we consider a different hexarotor architecture where propellers are tilted, without the need of any additional hardware. In this way, the hexarotor possess a 6 DoF actuation which a...
Single actuator wave-like robot (SAW): design, modeling, and experiments.
Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz
2016-07-01
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.
Single actuator wave-like robot (SAW): design, modeling, and experiments.
Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz
2016-01-01
In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed. PMID:27367548
Modeling and experiment of three-degree-of-freedom actuators using piezoelectric buzzers
International Nuclear Information System (INIS)
This study presents innovative three-degree-of-freedom piezoelectric actuators. Under the piezoelectric force and dry friction, the piezoelectric actuators not only can move in the Z-axis direction, but also rotate around the Y-axis and Z-axis. The Z-axis displacement can reach 62 mm and the rotation angle around the Y-axis and Z-axis can reach 270° and 360°, respectively. Compared with the literature, this innovative actuator design achieves one-degree-of-freedom translation and two-degree-of-freedom rotation. Equations of motion are derived based on the piezoelectric properties and Newton’s law. Two types of actuators are created in this study. In the first type, the centers of four piezoelectric buzzers are attached to an arm while in the other type each rim of the four piezoelectric buzzers is attached to the arm. Experimental results are compared with theoretical results. According to the experimental results, the present actuator can accomplish a translational velocity of 11 mm s−1, a Y-axis angular velocity of 8.96 rad s−1, a Z-axis angular velocity of 2.63 rad s−1, and a force of 2.49 mN. By using four piezoelectric buzzers, this study creates piezoelectric actuators capable of both translational and rotational motions. (paper)
Model identification of terfenol-D magnetostrictive actuator for precise positioning control
Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah
2016-04-01
Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.
The CFD Investigation of Two Non-Aligned Turbines Using Actuator Disk Model and Overset Grids
International Nuclear Information System (INIS)
In this study flow over two axially non-aligned wind turbines is investigated via 3-D CFD analysis by solving Navier-Stokes equations. This setting is the test case geometry for the NTNU's ''Blind-Test'' Workshop 3 (BT3) and it aims to predict the performance of the wind turbines and their wake development under asymmetrical flow conditions. The performance of the turbine in the wake of the other turbine is numerically studied for different tip speed ratios. The measurements of velocity profile which is severely disturbed by both turbines are also carried out at the several locations of the wind tunnel. The computational results for NTNU wind turbine test case were obtained by 3-D CFD simulations with two different approaches. The first approach is to employ the actuator disk model, which is used in order to approximate the pressure jump across the rotor disk to simulate the impact of the wind turbines. At the second approach, the actual geometry of the turbine rotor was used, and the rotor blades were rotated using an overset grid methodology over the background grids. The thrust coefficients and the velocity profiles are calculated with two different approaches and the results are compared to experimental data presented in BT3
Sun, Zhenglong; Wang, Zheng; Phee, Soo Jay
2015-04-01
Recent study shows that tendon-sheath system (TSS) has great potential in the development of surgical robots for endoscopic surgery. It is able to deliver adequate power in a light-weight and compact package. And the flexibility and compliance of the tendon-sheath system make it capable of adapting to the long and winding path in the flexible endoscope. However, the main difficulties in precise control of such system fall on the nonlinearities of the system behavior and absence of necessary sensory feedback at the surgical end-effectors. Since accurate position control of the tool is a prerequisite for efficacy, safety and intuitive user-experience in robotic surgery, in this paper we propose a system modeling approach for motion compensation. Based on a bidirectional actuated system using two separate tendon-sheaths, motion transmission is firstly characterized. Two types of positional errors due to system backlash and environment loading are defined and modeled. Then a model-based feedforward compensation method is proposed for open-loop control, giving the system abilities to adjust according to changes in the transmission route configuration without any information feedback from the distal end. A dedicated experimental platform emulating a bidirectional TSS robotic system for endoscopic surgery is built for testing. Proposed positional errors are identified and verified. The performance of the proposed motion compensation is evaluated by trajectory tracking under different environment loading conditions. And the results demonstrate that accurate position control can be achieved even if the transmission route configuration is updated. PMID:25819033
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.
International Nuclear Information System (INIS)
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
Cascade model of power lines for PLC
Dziura, Michal
2012-01-01
This bachelor´s thesis deals with studies of power-line in terms of possibilities for using grid as a transmission medium for data transmission. Theoretical part is focused on PLC technology and the parameters of high-voltage lines. In very practical part the modeling of power-line by cascade parameters of two-port network is examined. Influence of va-rious changes in network topology are included in this thesis and also their influence on transfer function. The last part outlines the method ...
Modelling pulsed-power transmission lines
International Nuclear Information System (INIS)
Transmission lines in modern pulsed-power machines such as PBFA-II operate at ten or more megavolts with multi-megampere currents. They often have series (voltage) or parallel (current) power addition. In these transmission lines the cathodes emit electrons freely. In addition, perturbations such as plasma opening switches cause additional electrons to be launched into the flow. The large magnetic field due to the transmission line current prevents these electrons from crossing the transmission line to the anode directly, but in most situations electron current flows to the anode after travelling a long distance down the transmission line. Usually these losses occur just before the load or at adder points. Reliable modelling of these lines is important both for design purposes and for use in analyzing data. This paper presents models that can be used for this purposes. The models are primarily based upon known symmetries plus measurable parameters. Comparisons to data, particularly data taken on PBFA-II, are made
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.
Gan, Jinqiang; Zhang, Xianmin; Wu, Heng
2016-03-01
In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. PMID:27036808
Song, Yan; Fang, Xiaosheng; Diao, Qingda
2016-03-01
In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.
Model to Design Drip Hose Lateral Line
Ludwig, Rafael; Cury Saad, João Carlos
2014-05-01
Introduction The design criterion for non-pressure compensating drip hose is normally to have 10% of flow variation (Δq) in the lateral line, corresponding to 20% of head pressure variation (ΔH). Longer lateral lines in drip irrigation systems using conventional drippers provide cost reduction, but it is necessary to obtain to the uniformity of irrigation [1]. The use of Δq higher levels can provide longer lateral lines. [4] proposes the use of a 30% Δq and he found that this value resulted in distribution uniformity over 80%. [1] considered it is possible to extend the lateral line length using two emitters spacing in different section. He assumed that the spacing changing point would be at 40% of the total length, because this is approximately the location of the average flow according with [2]. [3] found that, for practical purposes, the average pressure is located at 40% of the length of the lateral line and that until this point it has already consumed 75% of total pressure head loss (hf ). In this case, the challenge for designers is getting longer lateral lines with high values of uniformity. Objective The objective of this study was to develop a model to design longer lateral lines using non-pressure compensating drip hose. Using the developed model, the hypotheses to be evaluated were: a) the use of two different spacing between emitters in the same lateral line allows longer length; b) it is possible to get longer lateral lines using high values of pressure variation in the lateral lines since the distribution uniformity stays below allowable limits. Methodology A computer program was developed in Delphi® based on the model developed and it is able to design lateral lines in level using non-pressure compensating drip hose. The input data are: desired distribution uniformity (DU); initial and final pressure in the lateral line; coefficients of relationship between emitter discharge and pressure head; hose internal diameter; pipe cross-sectional area
International Nuclear Information System (INIS)
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)
Nissle, Sebastian; Hübler, Moritz; Gurka, Martin
2016-04-01
For actuation purposes active hybrid structures made of fiber reinforced polymers (FRP) and shape memory alloys (SMA) enable substantial savings concerning weight, space and cost. Such structures allow realizing new functions which are more or less impossible with commonly used systems consisting of the structure and the actuator as separated elements, e.g. morphing winglets in aeronautics. But there are also some challenges that still need to be addressed. For the successful application of SMA FRP composites a precise control of temperature is essential, as this is the activating quantity to reach the required deformation of the structure without overloading the active material. However, a direct measurement of the temperature is difficult due to the complete integration of SMA in the hybrid structure. Also the deformation of the structure which depends on the temperature, the stiffness of the hybrid structure and external loads is hard to determine. An opportunity for controlling the activation is provided by the special behavior of the electrical resistance of SMA. During the phase transformation of the SMA - also causing the actuation travel - the resistance drops with rising temperature. This behavior can be exploited for control purposes, especially as the electrical resistance can be easily measured during the activation done by Joule heating. As shown in this contribution, theoretical modelling and experimental tests provide a load-independent self-sensing control-concept of SMA-FRP-hybrid-structures.
Rotary actuator for space applications
Andión, J. A.; Burgui, C.; Migliorero, G.
2005-07-01
SENER is developing a rotary actuator for space applications. The activity, partially funded under ESA GSTP contract, aims at the design, development and performance testing of an innovative rotary actuator concept for space applications. An engineering model has been manufactured and has been tested to demonstrate the compliance with the requirements specification.
Shahab, S.; Erturk, A.
2016-10-01
Bio-inspired hydrodynamic thrust generation using smart materials has received growing attention over the past few years to enable improved maneuverability and agility, small form factor, reduced power consumption, and ease of fabrication in next-generation aquatic swimmers. In order to develop a high-fidelity model to predict the electrohydroelastic dynamics of macro-fiber composite (MFC) piezoelectric structures, in this work, mixing rules-based (i.e. rule of mixtures) electroelastic mechanics formulation is coupled with the global electroelastic dynamics based on the Euler-Bernoulli kinematics and nonlinear fluid loading based on Morison’s semi-empirical model. The focus is placed on the dynamic actuation problem for the first two bending vibration modes under geometrically and materially linear, hydrodynamically nonlinear behavior. The electroelastic and dielectric properties of a representative volume element (piezoelectric fiber and epoxy matrix) between two subsequent interdigitated electrodes are correlated to homogenized parameters of MFC bimorphs and validated for a set of MFCs that have the same overhang length but different widths. Following this process of electroelastic model development and validation, underwater actuation experiments are conducted for different length-to-width aspect ratios (L/b) in quiescent water, and the empirical drag and inertia coefficients are extracted from Morison’s equation to establish the electrohydroelastic model. The repeatability of these empirical coefficients is demonstrated for experiments conducted using aluminum cantilevers of different aspect ratios with a focus on the first two bending modes. The convergence of the nonlinear electrohydroelastic Euler-Bernoulli-Morison model to its hydrodynamically linear counterpart for increased L/b values is also reported. The proposed model, its harmonic balance analysis, and experimental results can be used not only for underwater piezoelectric actuation, but also for
Wu, Yongxian
IPMCs can also be tailored through the applied DC or AC functions. It is found that the Nafion-based IPMC's initial motion towards the anode can be controlled and ultimately eliminated by applying a potential ramp at a suitably slow rate. These results have significant bearing on verifying various IPMC actuation models.
Electrostatic actuators fabricated by surface micromachining techniques
Legtenberg, Rob
1996-01-01
This thesis deals with "electrostatic actuators fabricated by surface micromachining techniques". It presents fabrication techniques, design issues, modelling and performance characteristics of a number of electrostatic actuators. These actuators can be used in future micromechanical devices and systems which have applications such as micropositioning, microfluidics, microsurgery etc.
Distributed structural control using multilayered piezoelectric actuators
Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov
1990-01-01
A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.
Photoionisation modelling of the broad line region
King, Anthea
2016-08-01
Two of the most fundamental questions regarding the broad line region (BLR) are "what is its structure?" and "how is it moving?" Baldwin et al. (1995) showed that by summing over an ensemble of clouds at differing densities and distances from the ionising source we can easily and naturally produce a spectrum similar to what is observed for AGN. This approach is called the `locally optimally emitting clouds' (LOC) model. This approach can also explain the well-observed stratification of emission lines in the BLR (e.g. Clavel et al. 1991, Peterson et al. 1991, Kollatschny et al. 2001) and `breathing' of BLR with changes in the continuum luminosity (Netzer & Mor 1990, Peterson et al. 2014) and is therefore a generally accepted model of the BLR. However, LOC predictions require some assumptions to be made about the distribution of the clouds within the BLR. By comparing photoionization predictions, for a distribution of cloud properties, with observed spectra we can infer something about the structure of the BLR and distribution of clouds. I use existing reverberation mapping data to constrain the structure of the BLR by observing how individual line strengths and ratios of different lines change in high and low luminosity states. I will present my initial constraints and discuss the challenges associated with the method.
Resonant Transmission Line Method for Econophysics models
Raptis, T E
2016-01-01
In a recent paper [1304.6846], Racorean introduced a formal similarity of the Black-Sholes stock pricing model with a Schr\\"odinger equation. We use a previously introduced method of a resonant transmission line for arbitrary 2nd order Sturm-Liouville problems to attack the same problem from a different perspective revealing some deep structures in the naturally associated eigenvalue problem.
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.
International Nuclear Information System (INIS)
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
Lavaroni, Luca; Watson, Simon J.; Cook, Malcolm J.; Dubal, Mark R.
2014-06-01
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.
FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
A piezoelectric actuator has the benefits of flexibility of its position, without time lag and wide bandpass characteristics. The early results of the wind tunnel flutter suppression test using the piezoeletric actuator were presented in Ref.［1］. A rigid rectangular wing model is constrained by a plunge spring and a pitch spring, and a pair of piezoelectric actuators is bonded on both sides of the plunge spring so as to carry out the active control. Refs.［2,3］ reported two flutter suppression wind tunnel tests where the distributed piezoelectric actuators were used. In Ref.［2］ low speed wind tunnel tests were conducted with aluminum and composite plate-like rectangular models fully covered by piezoelectric actuators. Flutter speed is increased by 11%. In Ref.［3］ a composite plate-like swept back model with piezoceramic actuators bonded on the inboard surface was tested in a transonic wind tunnel and a 12% increment of flutter dynamic pressure was achieved. In the present investigation, an aluminum plate-like rectangular model with inboard bonded piezoceramic actuators is adopted. Active flutter suppression control law has been designed. A series of analyses and ground tests and, finally, low-speed wind tunnel tests with the active control system opened and closed are conducted. Reasonable results have been obtained.
International Nuclear Information System (INIS)
Accurate control systems are critical for safe and practical utilization of microrobots for in vivo operations. There exist uncertainties from the microrobot dynamics and nonlinearities from the magnetic driving force in the electromagnetic in vivo manipulation of microrobots, especially in low Reynolds number fluid flow. We describe the modeling and implementation of a closed-loop control system for a magnetically actuated microrobot based on time-delay estimation (TDE). The microrobot consisted of a cylindrical magnet, 0.5 mm in diameter and 1 mm in length, and the controller used optical sensing for position feedback. In addition, we describe an analytical model to determine the magnetic field components and the field gradients of a custom set of coils used to actuate the microrobot. Simulations were carried out to investigate the properties of the TDE control system, and it was subsequently tested experimentally, demonstrating that it provides robust control of the microrobot trajectory and does not exhibit chattering to follow step inputs. (paper)
Linear stability analysis for an optimum Glauert rotor modelled by an actuator disc
International Nuclear Information System (INIS)
We approximate a wind turbine using the Actuator Disc methodology with loading for an optimum Glauert rotor, and vary blade length and tip speed ratio, to determine base flows for linear stability computations at a Reynolds number of 100. Results from such computations suggest that the least stable mode is axisymmetric and insensitive to changes in tip speed operation, suggesting that the stability properties in the farfield wake for an optimised rotor are independent of the chosen tip speed optimization point. Higher azimuthal modes promote greater variation in velocities and may be relevant to cases at higher Reynolds numbers
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
Kalvig, Siri; Manger, Eirik; Hjertager, Bjørn
2014-12-01
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.
Comparing different CFD wind turbine modelling approaches with wind tunnel measurements
International Nuclear Information System (INIS)
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
Microprocessor controlled proof-mass actuator
Horner, Garnett C.
1987-01-01
The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.
Mangina, R. S.; Enloe, C. L.; Font, G. I.
2015-11-01
We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N2) and electronegative gases (O2 and SF6) 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 N2 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.
Barton, J. E.; Boyer, M. D.; Shi, W.; Wehner, W. P.; Schuster, E.; Ferron, J. R.; Walker, M. L.; Humphreys, D. A.; Luce, T. C.; Turco, F.; Penaflor, B. G.; Johnson, R. D.
2015-09-01
DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, a first-principles-driven (FPD), physics-based model of the q profile and normalized beta ({β\\text{N}} ) dynamics is first embedded into a numerical optimization algorithm to design feedforward actuator trajectories that steer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and {β\\text{N}} . Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Second, a feedback algorithm for q profile control is designed following an FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when {β\\text{N}} is relatively close to the target, indicating the need for integrated q profile and {β\\text{N}} control to further enhance the ability to achieve robust scenario execution. The ability of an integrated q profile + {β\\text{N}} feedback controller to track a desired target is demonstrated through simulation.
Directory of Open Access Journals (Sweden)
M. Manimozhi
2014-05-01
Full Text Available Fault Detection and Isolation (FDI using Linear Kalman Filter (LKF is not sufficient for effective monitoring of nonlinear processes. Most of the chemical plants are nonlinear in nature while operating the plant in a wide range of process variables. In this study we present an approach for designing of Multi Model Adaptive Linear Kalman Filter (MMALKF for Fault Detection and Isolation (FDI of a nonlinear system. The uses a bank of adaptive Kalman filter, with each model based on different fault hypothesis. In this study the effectiveness of the MMALKF has been demonstrated on a spherical tank system. The proposed method is detecting and isolating the sensor and actuator soft faults which occur sequentially or simultaneously.
Large Scale Magnetostrictive Valve Actuator
Richard, James A.; Holleman, Elizabeth; Eddleman, David
2008-01-01
Marshall Space Flight Center's Valves, Actuators and Ducts Design and Development Branch developed a large scale magnetostrictive valve actuator. The potential advantages of this technology are faster, more efficient valve actuators that consume less power and provide precise position control and deliver higher flow rates than conventional solenoid valves. Magnetostrictive materials change dimensions when a magnetic field is applied; this property is referred to as magnetostriction. Magnetostriction is caused by the alignment of the magnetic domains in the material s crystalline structure and the applied magnetic field lines. Typically, the material changes shape by elongating in the axial direction and constricting in the radial direction, resulting in no net change in volume. All hardware and testing is complete. This paper will discuss: the potential applications of the technology; overview of the as built actuator design; discuss problems that were uncovered during the development testing; review test data and evaluate weaknesses of the design; and discuss areas for improvement for future work. This actuator holds promises of a low power, high load, proportionally controlled actuator for valves requiring 440 to 1500 newtons load.
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.
The k-ε-f_{P} 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...... is employed to estimate the power production of the interacting wind turbines, and the results are compared with two existing methods: a method based on tabulated airfoil data and a method based on the axial induction from 1D momentum theory. The proposed method calculates the correct power, while the other...
Directory of Open Access Journals (Sweden)
XU, F.
2013-05-01
Full Text Available Orbital Friction Vibration Actuator (OFVA is a core component of Orbital Friction Welding (OFW, which is a novel apertureless welding technology utilizing friction heat to implement solid-state joining. In this paper, topology and operational principle of OFVA are introduced, the analytical formulas of the electromagnetic force for the x and y directions, which can drive the mover to generate a circular motion trajectory, are derived, and the characteristic of static electromagnetic force is predicted by analytical method and 2-D (two-dimensional FEM (finite element method, 3-D and measurement. The coupled magnetic field-circuit-motion simulation models which are driven by current and voltage source are established, respectively, and some of its operational characteristics are analyzed. Simulation and experiment validate theoretical analysis and the feasibility of the fabricated prototype, demonstrate the good performance of the OFVA, and provide valuable reference for engineering applications.
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.
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.
On line contribution functions and examining spectral line formation in 3D model stellar atmospheres
Amarsi, Anish Mayur
2015-01-01
Line contribution functions are useful diagnostics for studying spectral line formation in stellar atmospheres. I derive an expression for the contribution function to the abso- lute flux depression that emerges from three-dimensional box-in-a-star model stellar atmospheres. I illustrate the result by comparing the local thermodynamic equilibrium (LTE) spectral line formation of the high-excitation permitted OI777nm lines with the non-LTE case.
Dynamic-Model Assembly Line Scheduling
Directory of Open Access Journals (Sweden)
Aaima Najam
2013-07-01
Full Text Available The assembly line scheduling solution is restricted to two assembly lines that fulfill the requirement of small manufacturing industry by identifying the least cost path. Problem arises when large manufacturing industry comes under discussion where more than two assembly lines say three to fulfill the job, In this case two types of assembly line cost are involve: switching from one assembly line to another; switching from one station to the next. This study considers a solution for above mentioned scenario by least cost path identification, path cost calculation through back tracking, and a derived solution formula in order to reduce the computational complexity of scheduling at latter stages for n station. That provides the understanding for m number of assembly lines at the same time.
International Nuclear Information System (INIS)
Highlights: • A Real Time Model of a turbine bypass system is presented and validated. • An Hardware in the Loop rig is used for calibration of positioneers and turbine bypass regulators. • Testing activities on the proposed test rig, confirm the feasibility of the proposed approach. - Abstract: During the start-up and shut-down phases of steam power plants many components are subjected to pressure and temperature transients that have to be carefully regulated both for safety and reliability reasons. For this reason, there is a growing interest in the optimization of turbine bypass controllers and actuators which are mainly used to regulate the plant during this kind of operations. In this work, a numerically efficient model for Real Time (RT) simulation of a steam plant is presented. In particular, a modular Simulink™ library of components such as valves, turbines and heaters has been developed. In this way it is possible to easily assemble and customize models able to simulate different plants and operating scenarios. The code, which is implemented for a fixed, discrete step solver, can be easily compiled for a RT target (such as a Texas Instrument DSP) in order to be executed in Real Time on a low cost industrial hardware. The proposed model has been used for quite innovative applications such as the development of a Hardware In the Loop (HIL) test rig of turbine bypass controllers and valve positioners. Preliminary experimental activities and results of the proposed test rig developed for Velan ABV are introduced and discussed
Transputer Control of Hydraulic Actuators and Robots
DEFF Research Database (Denmark)
Conrad, Finn
1996-01-01
Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real......-time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed....
Xingwu Zhang; Chenxi Wang; Gao, Robert X.; Ruqiang Yan; Xuefeng Chen; Shibin Wang
2016-01-01
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...
Institute of Scientific and Technical Information of China (English)
Minh Khang Phan; Jichul Shin
2016-01-01
Numerical simulation of unsteady flow control over an oscillating NACA0012 airfoil is investigated. Flow actuation of a turbulent flow over the airfoil is provided by low current DC sur-face glow discharge plasma actuator which is analytically modeled as an ion pressure force pro-duced in the cathode sheath region. The modeled plasma actuator has an induced pressure force of about 2 kPa under a typical experiment condition and is placed on the airfoil surface at 0%chord length and/or at 10%chord length. The plasma actuator at deep-stall angles (from 5° to 25°) is able to slightly delay a dynamic stall and to weaken a pressure fluctuation in down-stroke motion. As a result, the wake region is reduced. The actuation effect varies with different plasma pulse frequen-cies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70%by a selec-tive operation of the plasma actuator with various plasma frequencies and locations as the angle of attack changes. Active flow control which is a key advantageous feature of the plasma actuator reveals that a dynamic stall phenomenon can be controlled by the surface plasma actuator with less power consumption if a careful control scheme of the plasma actuator is employed with the opti-mized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.
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.
Energy Technology Data Exchange (ETDEWEB)
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.
Marjanovic, N.; Mirocha, J. D.; Chow, F. K.
2013-12-01
In this work, we examine the performance of a generalized actuator disk (GAD) model embedded within the Weather Research and Forecasting (WRF) atmospheric model to study wake effects on successive rows of turbines at a North American wind farm. These wake effects are of interest as they can drastically reduce down-wind energy extraction and increase turbulence intensity. The GAD, which is designed for turbulence-resolving simulations, is used within downscaled large-eddy simulations (LES) forced with mesoscale simulations and WRF's grid nesting capability. The GAD represents the effects of thrust and torque created by a wind turbine on the atmosphere within a disk representing the rotor swept area. The lift and drag forces acting on the turbine blades are parameterized using blade-element theory and the aerodynamic properties of the blades. Our implementation permits simulation of turbine wake effects and turbine/airflow interactions within a realistic atmospheric boundary layer flow field, including resolved turbulence, time-evolving mesoscale forcing, and real topography. The GAD includes real-time yaw and pitch control to respond realistically to changing flow conditions. Simulation results are compared to SODAR data from operating wind turbines and an already existing WRF mesoscale turbine drag parameterization to validate the GAD parameterization.
Line defects in the 3d Ising model
Billó, M; Gaiotto, D; Gliozzi, F; Meineri, M; Pellegrini, R
2013-01-01
We investigate the properties of the twist line defect in the critical 3d Ising model using Monte Carlo simulations. In this model the twist line defect is the boundary of a surface of frustrated links or, in a dual description, the Wilson line of the Z2 gauge theory. We test the hypothesis that the twist line defect flows to a conformal line defect at criticality and evaluate numerically the low-lying spectrum of anomalous dimensions of the local operators which live on the defect as well as mixed correlation functions of local operators in the bulk and on the defect.
Experimental investigation of resonant MEMS switch with ac actuation
Pal, Jitendra; Zhu, Yong; Wang, Boyi; Lu, Junwei; Khan, Fahimullah; Viet Dao, Dzung; Wang, Yifan
2016-06-01
In this letter, modeling, analysis, and experimental investigation for a resonant MEMS switch are presented. The resonant switch harnesses its mechanical resonance to lower the required actuation voltage by a substantial factor over the switch with static actuation. With alternating actuation voltage at its mechanical resonance frequency of 6.6 kHz, the average capacitance is tuned by changing the gap between fixed and movable electrodes. Based on the proposed actuation method, the device offers 57.44% lower actuation voltage compared with the switch with static actuation.
The Four Intersection-and-Difference Model for Line-Line Topological Relations
Institute of Scientific and Technical Information of China (English)
DENG Min; LI Zhilin; LI Guangqiang; ZHANG Xuesong
2007-01-01
The description of line-line topological relations is still an unsolved issue although much effort has been done. The problem is involved in many practical applications such as spatial query, spatial analysis and cartographic generalization. To develop a sound and effective approach to describe line-line relations, it is first necessary to define the topology of an individual line, i.e., local topology. The concept of connective degree is used for the identification of topological differences in the geometric structure of a line. The general topological definition of a line is given, i.e., endpoints set and interior point set. This definition can be applied to the embedded spaces of different dimensions, whether co-dimension is equal to or larger than zero. On this basis, a generic model called the 4 intersection-and-difference is set up for the description of basic line-line topological relations, upon which a conceptual neighborhood graph is built with consideration of topological distance. It is concluded that the proposed model can represent the property of topological changes, and basic relations between line segments in IR1 and IR2.
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
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...... as a basis for code-generation. The aim is to build protocols with shorter design to implementation time and efforts, along with higher confidence in the protocol designed....
Final report : compliant thermo-mechanical MEMS actuators, LDRD #52553.
Energy Technology Data Exchange (ETDEWEB)
Walraven, Jeremy Allen; Baker, Michael Sean; Headley, Thomas Jeffrey; Plass, Richard Anton
2004-12-01
Thermal actuators have proven to be a robust actuation method in surface-micromachined MEMS processes. Their higher output force and lower input voltage make them an attractive alternative to more traditional electrostatic actuation methods. A predictive model of thermal actuator behavior has been developed and validated that can be used as a design tool to customize the performance of an actuator to a specific application. This tool has also been used to better understand thermal actuator reliability by comparing the maximum actuator temperature to the measured lifetime. Modeling thermal actuator behavior requires the use of two sequentially coupled models, the first to predict the temperature increase of the actuator due to the applied current and the second to model the mechanical response of the structure due to the increase in temperature. These two models have been developed using Matlab for the thermal response and ANSYS for the structural response. Both models have been shown to agree well with experimental data. In a parallel effort, the reliability and failure mechanisms of thermal actuators have been studied. Their response to electrical overstress and electrostatic discharge has been measured and a study has been performed to determine actuator lifetime at various temperatures and operating conditions. The results from this study have been used to determine a maximum reliable operating temperature that, when used in conjunction with the predictive model, enables us to design in reliability and customize the performance of an actuator at the design stage.
Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.
2016-09-01
Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental
Electromagnetic rotational actuation.
Energy Technology Data Exchange (ETDEWEB)
Hogan, Alexander Lee
2010-08-01
There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.
Goal Model Integration for Tailoring Product Line Development Processes
Directory of Open Access Journals (Sweden)
Arfan Mansoor
2016-07-01
Full Text Available Many companies rely on the promised benefits of product lines, targeting systems between fully custom made software and mass products. Such customized mass products account for a large number of applications automatically derived from a product line. This results in the special importance of product lines for companies with a large part of their product portfolio based on their product line. The success of product line development efforts is highly dependent on tailoring the development process. This paper presents an integrative model of influence factors to tailor product line development processes according to different project needs, organizational goals, individual goals of the developers or constraints of the environment. This model integrates goal models, SPEM models and requirements to tailor development processes.
Oishi, Ryutaro; Yoshida, Hitoshi; Nagai, Hideki; Xu, Ya; Jang, Byung-Koog
2002-07-01
A smart composite material system which has three smart functions of sensor, actuator and processor has been developed intend to apply to structure of house for controlling ambient temperature and humidity, hands of robot for holding and feeling an object, and so on. A carbon fiber reinforced plastics (CFRP) is used as matrix in the smart composite. The size of the matrix is 120mm x 24mm x 0.45mm. The CFRP plate is combined two Ni-Ti shape memory alloy (SMA) wires with an elastic rubber to construct a composite material. The composite material has a characteristic of reversible response with respect to temperature. A photo-sensor and temperature sensor are embedded in the composite material. The composite material has a processor function to combine with a simple CPU (processor) unit. For demonstrating the capability of the composite material system, a model is built up for controlling certain behaviors such as gripping and releasing a spherical object. The amplitude of gripping force is (3.0 plus/minus 0.3) N in the measurement, which is consistent with our calculation of 2.7 N. Out of a variety of functions to be executed by the CPU, it is shown to exert calculation and decision making in regard to object selection, object holding, and ON-OFF control of action by external commands.
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.
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...
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....
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...
Microfluidic actuation of insulating liquid droplets in a parallel-plate device
International Nuclear Information System (INIS)
In droplet-based microfluidics, the simultaneous movement and manipulation of dielectric and aqueous droplets on a single platform is important. The actuation forces on both dielectric and aqueous droplets can be calculated with an electromechanical model using an equivalent RC circuit. This model predicts that dielectric droplet actuation can be made compatible with electrowetting-based water droplet manipulation if the oil droplet is immersed in water. Operations such as transporting, splitting, merging, and dispensing of dielectric droplets at voltages less than 100 V are demonstrated in a parallel-plate structure. Such capability opens the way to fully automated assembly line formation of single-emulsion droplets.
Robust Quasi–LPV Model Reference FTC of a Quadrotor Uav Subject to Actuator Faults
Directory of Open Access Journals (Sweden)
Rotondo Damiano
2015-03-01
Full Text Available A solution for fault tolerant control (FTC of a quadrotor unmanned aerial vehicle (UAV is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.
Hydrostatic grounding line parameterization in ice sheet models
Directory of Open Access Journals (Sweden)
H. Seroussi
2014-06-01
Full Text Available Modeling of grounding line migration is essential to simulate accurately the behavior of marine ice sheets and investigate their stability. Here, we assess the sensitivity of numerical models to the parameterization of the grounding line position. We run the MISMIP3D benchmark experiments using a two-dimensional shelfy-stream approximation (SSA model with different mesh resolutions and different sub-element parameterizations of grounding line position. Results show that different grounding line parameterizations lead to different steady state grounding line positions as well as different retreat/advance rates. Our simulations explain why some vertically depth-averaged model simulations exhibited behaviors similar to full-Stokes models in the MISMIP3D benchmark, while the vast majority of simulations based on SSA showed results deviating significantly from full-Stokes results. The results reveal that differences between simulations performed with and without sub-element parameterization are as large as those performed with different approximations of the stress balance equations and that the reversibility test can be passed at much lower resolutions than the steady-state grounding line position. We conclude that fixed grid models that do not employ such a parameterization should be avoided, as they do not provide accurate estimates of grounding line dynamics, even at high spatial resolution. For models that include sub-element grounding line parameterization, a mesh resolution lower than 2 km should be employed.
Modeling of overhead transmission lines for lightning overvoltage calculations
Energy Technology Data Exchange (ETDEWEB)
Martinez-Velasco, J.A.; Castro-Aranda, F.
2010-10-15
This article discussed the modelling of overhead transmission lines for lightning overvoltage calculations. Such a model must include those parts of the line that get involved when a lightning return stroke hits a wire or a tower and that have some influence on the voltage developed across insulator strings. Modelling guidelines differ depending on whether the goal is to estimate overvoltages or to determine arrester energy stresses. Modelling guidelines were summarized for each component, including shield wires and phase conductors; transmission line towers; insulators; phase voltages at the instant lightning hits the line; surge arresters; and the lightning stroke. The applied Monte Carlo procedure was summarized. For line span models, a constant-parameter model generally suffices when the goal is to calculate overvoltages across insulators or to obtain the flashover rate, but a frequency-dependent parameter model is necessary to estimate the energy discharged by arresters. The model selected for representing towers can have some influence on both flashover rates and arrester energy stresses. The representation of footing impedances is critical for calculating overvoltages and arrester energy stresses, but different modelling techniques produce significantly different results. The models are limited in that the corona effect is not included in the line models, the voltages induced by the electric and magnetic fields of lightning channels to shield wires and phase conductors are neglected, and the footing models are too simple, but they are nonetheless realistic approaches for simulating lightning effects. 2 tabs., 9 figs.
Observations and modelling of line intensity ratios of OV multiplet lines for ? - ?
Kato, T.; Rachlew-Källne, E.; Hörling, P.; Zastrow, K.-D.
1996-09-01
Line intensity ratios of OV multiplet lines for the 0953-4075/29/18/019/img3 (J = 2,1,0) transitions are studied using a collisional radiative model and the results are compared with measurements from the reversed field pinch experiments Extrap T1 and T2 at KTH. The measured line intensity ratios deviate from the predictions of the model and the possible causes for the discrepancy are discussed with regard to errors in rate coefficients and non-quasi-steady state.
Advancements in Actuated Musical Instruments
DEFF Research Database (Denmark)
Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert
2011-01-01
in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new......This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies...
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.
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)
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
Optimization of Moving Coil Actuators for Digital Displacement Machines
DEFF Research Database (Denmark)
Nørgård, Christian; Bech, Michael Møller; Roemer, Daniel Beck;
This paper focuses on deriving an optimal moving coil actuator design, used as force producing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetization direction) are optimized...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...
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...
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.
Genetic Algorithm Approaches for Actuator Placement
Crossley, William A.
2000-01-01
This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.
Olthuis, W.; Luo, J.; Schoot, van der B.H.; Bergveld, P.; Bos, M.; Linden, van der W.E.
1990-01-01
Acid or base concentrations can be determined very rapidly by performing an acid—base titration with coulometrically generated OH− or H+ ions at a noble metal actuator electrode in close proximity to the pH-sensitive gate of an ion-sensitive field effect transistor (ISFET). The ISFET is used as the
Directory of Open Access Journals (Sweden)
Zhang Ying
2015-02-01
Full Text Available A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching’ and ‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
Institute of Scientific and Technical Information of China (English)
Zhang Ying; Ye Liang; Yang Shuo
2015-01-01
A method combining rotor actuator disk model and embedded grid technique is pre-sented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is con-sidered in terms of the momentum it impacts to the fluid around it;transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for‘donor searching’ and‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS) time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
Five Mass Power Transmission Line of a Ship Computer Modelling
Kazakoff, Alexander Borisoff; Marinov, Boycho Ivanov
2016-03-01
The work, presented in this paper, appears to be a natural continuation of the work presented and reported before, on the design of power transmission line of a ship, but with different multi-mass model. Some data from the previous investigations are used as a reference data, mainly from the analytical investigations, for the developed in the previ- ous study, frequency and modal analysis of a five mass model of a power transmission line of a ship. In the paper, a profound dynamic analysis of a concrete five mass dynamic model of the power transmission line of a ship is performed using Finite Element Analysis (FEA), based on the previously recommended model, investigated in the previous research and reported before. Thus, the partially validated by frequency analysis five mass model of a power transmission line of a ship is subjected to dynamic analysis. The objective of the work presented in this paper is dynamic modelling of a five mass transmission line of a ship, partial validation of the model and von Mises stress analysis calculation with the help of Finite Element Analysis (FEA) and comparison of the derived results with the analytically calculated values. The partially validated five mass power transmission line of a ship can be used for definition of many dy- namic parameters, particularly amplitude of displacement, velocity and acceleration, respectively in time and frequency domain. The frequency behaviour of the model parameters is investigated in frequency domain and it corresponds to the predicted one.
Five Mass Power Transmission Line of a Ship Computer Modelling
Directory of Open Access Journals (Sweden)
Kazakoff Alexander Borisoff
2016-03-01
Full Text Available The work, presented in this paper, appears to be a natural continuation of the work presented and reported before, on the design of power transmission line of a ship, but with different multi-mass model. Some data from the previous investigations are used as a reference data, mainly from the analytical investigations, for the developed in the previ- ous study, frequency and modal analysis of a five mass model of a power transmission line of a ship. In the paper, a profound dynamic analysis of a concrete five mass dynamic model of the power transmission line of a ship is performed using Finite Element Analysis (FEA, based on the previously recommended model, investigated in the previous research and reported before. Thus, the partially validated by frequency analysis five mass model of a power transmission line of a ship is subjected to dynamic analysis. The objective of the work presented in this paper is dynamic modelling of a five mass transmission line of a ship, partial validation of the model and von Mises stress analysis calculation with the help of Finite Element Analysis (FEA and comparison of the derived results with the analytically calculated values. The partially validated five mass power transmission line of a ship can be used for definition of many dy- namic parameters, particularly amplitude of displacement, velocity and acceleration, respectively in time and frequency domain. The frequency behaviour of the model parameters is investigated in frequency domain and it corresponds to the predicted one.
Line impedance estimation using model based identification technique
DEFF Research Database (Denmark)
Ciobotaru, Mihai; Agelidis, Vassilios; Teodorescu, Remus
2011-01-01
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......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...
Performance Enhancement of a Vertical Tail Model with Sweeping Jet Actuators
Seele, Roman; Graff, Emilio; Lin, John; Wygnanski, Israel
2013-01-01
Active Flow Control (AFC) experiments performed at the Caltech Lucas Adaptive Wall Wind Tunnel on a 12%-thick, generic vertical tail model indicated that sweeping jets emanating from the trailing edge (TE) of the vertical stabilizer significantly increased the side force coefficient for a wide range of rudder deflection angles and yaw angles at free-stream velocities approaching takeoff rotation speed. The results indicated that 2% blowing momentum coefficient (C(sub mu) increased the side force in excess of 50% at the maximum conventional rudder deflection angle in the absence of yaw. Even C(sub mu) = 0.5% increased the side force in excess of 20% under these conditions. This effort was sponsored by the NASA Environmentally Responsible Aviation (ERA) project and the successful demonstration of this flow-control application could have far reaching implications. It could lead to effective applications of AFC technologies on key aircraft control surfaces and lift enhancing devices (flaps) that would aid in reduction of fuel consumption through a decrease in size and weight of wings and control surfaces or a reduction of the noise footprint due to steeper climb and descent.
Kholwadwala, Deepesh K.; Johnston, Gabriel A.; Rohrer, Brandon R.; Galambos, Paul C.; Okandan, Murat
2007-07-24
The present invention comprises a novel, lightweight, massively parallel device comprising microelectromechanical (MEMS) fluidic actuators, to reconfigure the profile, of a surface. Each microfluidic actuator comprises an independent bladder that can act as both a sensor and an actuator. A MEMS sensor, and a MEMS valve within each microfluidic actuator, operate cooperatively to monitor the fluid within each bladder, and regulate the flow of the fluid entering and exiting each bladder. When adjacently spaced in a array, microfluidic actuators can create arbitrary surface profiles in response to a change in the operating environment of the surface. In an embodiment of the invention, the profile of an airfoil is controlled by independent extension and contraction of a plurality of actuators, that operate to displace a compliant cover.
Model driven product line engineering : core asset and process implications
Azanza Sesé, Maider
2012-01-01
Reuse is at the heart of major improvements in productivity and quality in Software Engineering. Both Model Driven Engineering (MDE) and Software Product Line Engineering (SPLE) are software development paradigms that promote reuse. Specifically, they promote systematic reuse and a departure from craftsmanship towards an industrialization of the software development process. MDE and SPLE have established their benefits separately. Their combination, here called Model Driven Product Line Engin...
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
Model-driven and software product line engineering
Royer, Jean-Claude
2013-01-01
Many approaches to creating Software Product Lines have emerged that are based on Model-Driven Engineering. This book introduces both Software Product Lines and Model-Driven Engineering, which have separate success stories in industry, and focuses on the practical combination of them. It describes the challenges and benefits of merging these two software development trends and provides the reader with a novel approach and practical mechanisms to improve software development productivity.The book is aimed at engineers and students who wish to understand and apply software product lines
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...... of the chicken processing line model....
Directory of Open Access Journals (Sweden)
Mathieu Grossard
2016-06-01
Full Text Available Driven by increasing societal, economic, and technological pressures, high-resolution actuators must achieve ever increasing accuracy requirements and functional integration into the system.[...
UWB channel modeling for indoor line-of-sight environment
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
SV/IEEE 802.15.3a model has been the standard model for Ultra-wide bandwidth (UWB) indoor non-line-of-sight (NLOS) wireless propagation, but for line-of-sight (LOS) case, it is not well defined. In this paper, a new statistical distribution model exclusively used for LOS environment is proposed based on investigation of the experimental data. By reducing the number of the visible random arriving clusters, the model itself and the parameters estimating of the corresponding model are simplified in comparison with SV/IEEE 802.15.3a model. The simulation result indicates that the proposed model is more accurate in modeling smallscale LOS environment than SV/IEEE 802.15.3a model when considering cumulative distribution functions(CDFs) for the three key channel impulse response (CIR) statistics.
Garcia Cartagena, Edgardo Javier; Santoni, Christian; Ciri, Umberto; Iungo, Giacomo Valerio; Leonardi, Stefano
2015-11-01
A large-scale wind farm operating under realistic atmospheric conditions is studied by coupling a meso-scale and micro-scale models. For this purpose, the Weather Research and Forecasting model (WRF) is coupled with an in-house LES solver for wind farms. The code is based on a finite difference scheme, with a Runge-Kutta, fractional step and the Actuator Disk Model. The WRF model has been configured using seven one-way nested domains where the child domain has a mesh size one third of its parent domain. A horizontal resolution of 70 m is used in the innermost domain. A section from the smallest and finest nested domain, 7.5 diameters upwind of the wind farm is used as inlet boundary condition for the LES code. The wind farm consists in six-turbines aligned with the mean wind direction and streamwise spacing of 10 rotor diameters, (D), and 2.75D in the spanwise direction. Three simulations were performed by varying the velocity fluctuations at the inlet: random perturbations, precursor simulation, and recycling perturbation method. Results are compared with a simulation on the same wind farm with an ideal uniform wind speed to assess the importance of the time varying incoming wind velocity. Numerical simulations were performed at TACC (Grant CTS070066). This work was supported by NSF, (Grant IIA-1243482 WINDINSPIRE).
Özer, Ahmet Özkan
2016-04-01
An infinite dimensional model for a three-layer active constrained layer (ACL) beam model, consisting of a piezoelectric elastic layer at the top and an elastic host layer at the bottom constraining a viscoelastic layer in the middle, is obtained for clamped-free boundary conditions by using a thorough variational approach. The Rao-Nakra thin compliant layer approximation is adopted to model the sandwich structure, and the electrostatic approach (magnetic effects are ignored) is assumed for the piezoelectric layer. Instead of the voltage actuation of the piezoelectric layer, the piezoelectric layer is proposed to be activated by a charge (or current) source. We show that, the closed-loop system with all mechanical feedback is shown to be uniformly exponentially stable. Our result is the outcome of the compact perturbation argument and a unique continuation result for the spectral problem which relies on the multipliers method. Finally, the modeling methodology of the paper is generalized to the multilayer ACL beams, and the uniform exponential stabilizability result is established analogously.
A Monte Carlo model of auroral hydrogen emission line profiles
Directory of Open Access Journals (Sweden)
J.-C. Gérard
2005-06-01
Full Text Available Hydrogen line profiles measured from space-borne or ground-based instruments provide useful information to study the physical processes occurring in the proton aurora and to estimate the proton flux characteristics. The line shape of the hydrogen lines is determined by the velocity distribution of H atoms along the line-of-sight of the instrument. Calculations of line profiles of auroral hydrogen emissions were obtained using a Monte Carlo kinetic model of proton precipitation into the auroral atmosphere. In this model both processes of energy degradation and scattering angle redistribution in momentum and charge transfer collisions of the high-energy proton/hydrogen flux with the ambient atmospheric gas are considered at the microphysical level. The model is based on measured cross sections and scattering angle distributions and on a stochastic interpretation of such collisions. Calculations show that collisional angular redistribution of the precipitating proton/hydrogen beam is the dominant process leading to the formation of extended wings and peak shifts in the hydrogen line profiles. All simulations produce a peak shift from the rest line wavelength decreasing with increasing proton energy. These model predictions are confirmed by analysis of ground-based H-β line observations from Poker Flat, showing an anti-correlation between the magnitude of the peak shift and the extent of the blue wing of the line. Our results also strongly suggest that the relative extension of the blue and red wings provides a much better indicator of the auroral proton characteristic energy than the position of the peak wavelength.
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...
Line shape modeling in warm and dense hydrogen plasmas
Ferri, S.; Calisti, A.; Mossé, C.; Talin, B.; Gigosos, M. A.; González, M. A.
2007-05-01
A study of hydrogen lines emitted in warm ( T˜1eV) and dense ( N≥1018cm -3) plasmas is presented. Under such plasma conditions, the electronic and the ionic contributions to the line width are comparable, and the general question related to a transition from impact to quasi-static broadening arises not only for the far wings but also for the core of spectral lines. The transition from impact to quasi-static broadening for electrons is analyzed by means of Frequency Fluctuation Model (FFM). In parallel, direct integration of the semi-classical evolution equation is performed using electron electric fields calculated by Molecular Dynamics (MD) simulations that permit one to correctly describe the emitter environment. New cross comparisons between benchmark MD simulations and FFM are carried out for electron broadening of the Balmer series lines, and, especially, for the Hα line, for which a few experiments in the warm and dense plasma regimes are available.
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.
PRODUCT LINE MODELS: AN ONTOLOGICAL APPROACH
Directory of Open Access Journals (Sweden)
GLORIA-LUCIA GIRALDO
2014-01-01
Full Text Available Los modelos de características (en inglés Feature Models FMs son una notación para representar diferencias y similitudes entre productos derivados de una línea de productos. Sin embargo, quienes modelan la línea de productos pueden introducir sin intención en los FMs defectos como las características muertas. Una característica es muerta si no puede estar presente en ningún producto derivado de la línea de productos. Algunos autores han identificado características muertas en los FMs, pero ninguno ha aprovechado las capacidades de razonamiento de las ontologías para identificar y explicar las causas de estos defectos en lenguaje natural. En este trabajo, se propone una ontología para identificar las características muertas en un FM y se proponen consultas sobre la ontología, para identificar y explicar en lenguaje natural ciertas causas de las características muertas detectadas. Nuestra evaluación empírica preliminar confirma los beneficios de nuestra propuesta.
Energy Technology Data Exchange (ETDEWEB)
Smith, C.L.; Hansen, J.L.
1993-09-01
This Technical Evaluation Report provides an evaluation of the Babcock and Wilcox Owners Group (B&WOG) Technical Specifications Committee Topical Report BAW-10182, entitled, ``Justification for Increasing Engineered Safety Features Actuation System (ESFAS) On-Line Test Intervals.`` This evaluation was performed by the Idaho National Engineering Laboratory in support of the Nuclear Regulatory Commission. The BAW-10182 report presents justification for the extension of on-line test intervals from the existing one-month interval to a three-month interval for the ESFAS system. In the BAW-10182 report, the B&WOG stated that ``{hor_ellipsis}the B&WOG proposes to increase the ESFAS test interval from one to three months and concludes that the effect on plant risk is insignificant.`` The proposed extension was based upon risk-based [i.e., probabilistic risk assessment (PRA)] methods such as reliability block diagrams, uncertainty analyses, and time-dependent system availability analyses. This use of PRA methods requires a detailed evaluation to determine whether the chosen methods and their application are valid in the context of the proposed test interval extension. The results of the evaluation agreed that the effect on plant risk is small if the ESFAS test interval is extended to three months for the ESFAS designs that were evaluated.
Bergveld, P.
1989-01-01
This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,
An electrochemical micro actuator
Hamberg, M.W.; Neagu, C.R.; Gardeniers, J.G.E.; IJntema, D.J.; Elwenspoek, M.C.
1995-01-01
In this paper an investigation of the feasibility of a new electrochemical micro actuator is presented. The actuator is fabricated using silicon micro-machining techniques. A gas pressure is generated by electrolysis of an aqueous electrolyte solution. The build up pressure is used to change the def
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...
Conjugated Polymers as Actuators: Modes of Actuation
DEFF Research Database (Denmark)
Skaarup, Steen
The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...
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.
Polyakov Lines in Yang-Mills Matrix Models
Austing, P; Wheater, J F; Austing, Peter; Vernizzi, Graziano; Wheater, John F.
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.
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.
Rigorous theoretical derivation of lumped models to transmission line systems
Institute of Scientific and Technical Information of China (English)
Zhao Jixiang
2012-01-01
By virtue of the negative electric parameter concept,i.e.negative lumped resistance,inductance,conductance and capacitance (N-RLGC),the lumped equivalent models of transmission line systems,including the circuit model,two-port π-network and T-network,are given.We start from the N-segment-ladder-like equivalent networks composed distributed parameters,and achieve the input impedance in the form of a continued fraction.Utilizing the continued fraction theory,the expressions of input impedance are obtained under three kinds of extreme cases,i.e.the load impedances are equal to zero,infinity and characteristic impedance,respectively.When the number of segment N is limited to infinity,they are transformed to lumped elements.Comparison between the distributed model and lumped model of transmission lines,the expression of tanh yd,which is the key term in the transmission line equations,are obtained by RLGC,furthermore,according to input admittance,admittance matrix and ABCD matrix of transmission lines,the lumped equivalent circuit models,π-networks and T-networks have been given.The models are verified in the frequency and time domain,respectively,showing that the models are accurate and efficient.
Actuator grouping optimization on flexible space reflectors
Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo
2011-03-01
With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required accuracy, precision surface control is needed on these lightweight reflectors. While studies have shown that domain control of space reflectors via Polyvinylidene Fluoride (PVDF) actuators is promising, the challenge is to realistically control a large number of distributed actuators with limited number of power supplies. In this research, a new En Mass Elimination method is synthesized to determine the optimal grouping of actuators when the actuator number exceeds the number of power supplies available. An analytical model is developed and the methodology is demonstrated numerically through system simulation on the derived model.
Efficient Hybrid Actuation Using Solid-State Actuators
Leo, Donald J.; Cudney, Harley H.; Horner, Garnett (Technical Monitor)
2001-01-01
Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.
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.
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...
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...
Modelling line emission of deuterated H3+ from prestellar cores
Sipilä, O.; Hugo, E.; Harju, J.; Asvany, O.; Juvela, M.; Schlemmer, S.
2010-01-01
Context. The depletion of heavy elements in cold cores of interstellar molecular clouds can lead to a situation where deuterated forms of H3+ are the most useful spectroscopic probes of the physical conditions. Aims: The aim is to predict the observability of the rotational lines of H2D+ and D2H+ from prestellar cores. Methods: Recently derived rate coefficients for the H3+ + H2 isotopic system were applied to the “complete depletion” reaction scheme to calculate abundance profiles in hydrostatic core models. The ground-state lines of H2D+(o) (372 GHz) and D2H+(p) (692 GHz) arising from these cores were simulated. The excitation of the rotational levels of these molecules was approximated by using the state-to-state coefficients for collisions with H2. We also predicted line profiles from cores with a power-law density distribution advocated in some previous studies. Results: The new rate coefficients introduce some changes to the complete depletion model, but do not alter the general tendencies. One of the modifications with respect to the previous results is the increase of the D3+ abundance at the cost of other isotopologues. Furthermore, the present model predicts a lower H2D+ (o/p) ratio, and a slightly higher D2H+ (p/o) ratio in very cold, dense cores, as compared with previous modelling results. These nuclear spin ratios affect the detectability of the submm lines of H2D+(o) and D2H+(p). The previously detected H2D+ and D2H+ lines towards the core I16293E, and the H2D+ line observed towards Oph D can be reproduced using the present excitation model and the physical models suggested in the original papers.
Cell Line Modeling to Study Biomarker Panel in Prostate Cancer
NickKholgh, Bita; Fang, Xiaolan; Winters, Shira M.; Raina, Anvi; Pandya, Komal S.; Gyabaah, Kenneth; Fino, Nora; Balaji, K.C.
2016-01-01
BACKGROUND African–American men with prostate cancer (PCa) present with higher-grade and -stage tumors compared to Caucasians. While the disparity may result from multiple factors, a biological basis is often strongly suspected. Currently, few well-characterized experimental model systems are available to study the biological basis of racial disparity in PCa. We report a validated in vitro cell line model system that could be used for the purpose. METHODS We assembled a PCa cell line model that included currently available African–American PCa cell lines and LNCaP (androgen-dependent) and C4-2 (castration-resistant) Caucasian PCa cells. The utility of the cell lines in studying the biological basis of variance in a malignant phenotype was explored using a multiplex biomarker panel consisting of proteins that have been proven to play a role in the progression of PCa. The panel expression was evaluated by Western blot and RT-PCR in cell lines and validated in human PCa tissues by RT-PCR. As proof-of-principle to demonstrate the utility of our model in functional studies, we performed MTS viability assays and molecular studies. RESULTS The dysregulation of the multiplex biomarker panel in primary African–American cell line (E006AA) was similar to metastatic Caucasian cell lines, which would suggest that the cell line model could be used to study an inherent aggressive phenotype in African–American men with PCa. We had previously demonstrated that Protein kinase D1 (PKD1) is a novel kinase that is down regulated in advanced prostate cancer. We established the functional relevance by over expressing PKD1, which resulted in decreased proliferation and epithelial mesenchymal transition (EMT) in PCa cells. Moreover, we established the feasibility of studying the expression of the multiplex biomarker panel in archived human PCa tissue from African–Americans and Caucasians as a prelude to future translational studies. CONCLUSION We have characterized a novel in
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.
Channel Measurements and Modelling for Indoor Power Line Communications
Directory of Open Access Journals (Sweden)
Zhang Peiling
2013-04-01
Full Text Available In order to obtain power line communications channel transmission characteristics, impulse responses measurements were performed on the basis of PN sequence’s excellent periodic autocorrelation properties. Meanwhile, a compensation method in frequency domain was proposed to improve the measurement precision. Then, the empirical multipath channel model of power line is presented from the measured results. The simulation and experimental measurement results not only have verified the efficiency of the proposed model, but also showed that the measurement method has fast, simple and convenient characteristic. Finally, the statistical characteristics of path amplitude and the delay spread are obtained through the analysis of measured results.
An expert system to perform on-line controller restructuring for abrupt model changes
Litt, Jonathan S.
1990-01-01
Work in progress on an expert system used to reconfigure and tune airframe/engine control systems on-line in real time in response to battle damage or structural failures is presented. The closed loop system is monitored constantly for changes in structure and performance, the detection of which prompts the expert system to choose and apply a particular control restructuring algorithm based on the type and severity of the damage. Each algorithm is designed to handle specific types of failures and each is applicable only in certain situations. The expert system uses information about the system model to identify the failure and to select the technique best suited to compensate for it. A depth-first search is used to find a solution. Once a new controller is designed and implemented it must be tuned to recover the original closed-loop handling qualities and responsiveness from the degraded system. Ideally, the pilot should not be able to tell the difference between the original and redesigned systems. The key is that the system must have inherent redundancy so that degraded or missing capabilities can be restored by creative use of alternate functionalities. With enough redundancy in the control system, minor battle damage affecting individual control surfaces or actuators, compressor efficiency, etc., can be compensated for such that the closed-loop performance in not noticeably altered. The work is applied to a Black Hawk/T700 system.
Models of Five Absorption Line Systems Along the Line of Sight Toward PG0117+213
Masiero, J R; Ding, J; Churchill, C W; Kacprzak, G G
2005-01-01
We present our investigation into the physical conditions of the gas in five intervening quasar absorption line systems along the line of sight toward the quasar PG 0117+213, with redshifts of z=0.57, z=0.72, z=1.04, z=1.32 and z=1.34. Photoionization modeling of HST, Keck I, and Palomar data, using the code Cloudy, is employed to derive densities and metallicities of the multiple phases of gas required to fit the absorption profile for each system. We discuss the implications of these models for galaxy evolution, including the interpretation of ``CIV deficiency'' and damped Lyman alpha absorbers (DLAs), and the relationships between galaxy morphology, galaxy luminosity, and absorption signature.
A Lines-of-Defense Model for Managing Health Threats
Heckhausen, Jutta; Wrosch, Carsten; Schulz, Richard
2013-01-01
As older individuals face challenges of progressive disease, increasing disability and approach the end of their lives, their capacity for controlling their environment and own health and functioning declines. The Lines-of-Defense Model is based on the Motivational Theory of Life-Span Development and proposes that individuals can adjust their control striving to the progressive physical decline in distinctly organized cycles of goal engagement and goal disengagement that reflect sequentially organized lines of defense. This organized process allows individuals to hold onto and defend still feasible levels of physical health and functioning in activities of daily living, while adjusting to increasing impairments. As physical constraints become more severe towards the end of life, avoiding psychological suffering becomes the focus of individuals' strivings for control. The lines of defense model can also be applied to the inverse process of growth in functioning during recovery and rehabilitation. PMID:23816691
The Family Problem: Hints from Heterotic Line Bundle Models
Constantin, Andrei; Mishra, Challenger
2015-01-01
Within the class of heterotic line bundle models, we argue that N=1 vacua which lead to a small number of low-energy chiral families are preferred. By imposing an upper limit on the volume of the internal manifold, as required in order to obtain finite values of the four-dimensional gauge couplings, and validity of the supergravity approximation we show that, for a given manifold, only a finite number of line bundle sums are consistent with supersymmetry. By explicitly scanning over this finite set of line bundle models on certain manifolds we show that, for a sufficiently small volume of the internal manifold, the family number distribution peaks at small values, consistent with three chiral families. The relation between the maximal number of families and the gauge coupling is discussed, which hints towards a possible explanation of the family problem.
Duplication Detection When Evolving Feature Models of Software Product Lines
Directory of Open Access Journals (Sweden)
Amal Khtira
2015-10-01
Full Text Available After the derivation of specific applications from a software product line, the applications keep evolving with respect to new customer’s requirements. In general, evolutions in most industrial projects are expressed using natural language, because it is the easiest and the most flexible way for customers to express their needs. However, the use of this means of communication has shown its limits in detecting defects, such as inconsistency and duplication, when evolving the existing models of the software product line. The aim of this paper is to transform the natural language specifications of new evolutions into a more formal representation using natural language processing. Then, an algorithm is proposed to automatically detect duplication between these specifications and the existing product line feature models. In order to instantiate the proposed solution, a tool is developed to automatize the two operations.
On the Interface Formation Model for Dynamic Triple Lines
Bothe, Dieter
2015-01-01
This paper revisits the theory of Y. Shikhmurzaev on forming interfaces as a continuum thermodynamical model for dynamic triple lines. We start with the derivation of the balances for mass, momentum, energy and entropy in a three-phase fluid system with full interfacial physics, including a brief review of the relevant transport theorems on interfaces and triple lines. Employing the entropy principle in the form given in [Bothe & Dreyer, Acta Mechanica, doi:10.1007/s00707-014-1275-1] but extended to this more general case, we arrive at the entropy production and perform a linear closure, except for a nonlinear closure for the sorption processes. Specialized to the isothermal case, we obtain a thermodynamically consistent mathematical model for dynamic triple lines and show that the total available energy is a strict Lyapunov function for this system.
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.
A model of twenty one lines DFB dye laser
Khan, N.; Abas, N.
2009-02-01
Multiple tunable laser lines were obtained by pumping solution of Rh6G in ethanol (1mM) by five pairs of the second harmonic of a passively Q. switched and mode locked Nd:YAG laser. The time delays among the excitation pulses were varied within coherence length of 1cm. Twenty one equally spaced lines were obtained by pumping dye solution with ten pairs of excitation beams derived from the same source. It was possible to tune the wavelengths by a microcontroller based mirror mounted stage. Number of lasing lines varied from minimum five to maximum twenty one. The wavelength of output lines varied from 540 to 590nm. The pulse lengths were measured, using Hadland Streak Camera, to vary from minimum 10 to maximum 30ps. The experimental results have lead to maturity of a 21-lines model of a distributed feedback dye laser. The dye cell was excited by the 2nd harmonic of a laboratory built passively Q. switched and mode-locked Nd:YAG laser to induce simultaneous temperature phase grating in the dye solution. This work on distributed feedback dye laser is in agreement with most of the published results on semiconductor DFB lasers. Simultaneous operation of 21-lines of slightly varying wavelengths opens a new era of research in biosensors, multiphoton ignition and measurements. This multi-wavelength operation of DFDL is based on mutual couplings of five overwritten dynamic gratings.
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.
Actuator characterization of a man-portable precision maneuver concept
Institute of Scientific and Technical Information of China (English)
Ilmars CELMINS; Frank E.FRESCONI; Bryant P.NELSON
2014-01-01
The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating) actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.
Actuator characterization of a man-portable precision maneuver concept
Directory of Open Access Journals (Sweden)
Ilmars Celmins
2014-06-01
Full Text Available The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.
Muscle Motion Solenoid Actuator
Obata, Shuji
It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.
Magnetically Actuated Seal Project
National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...
Mathematical model “The electric line - wind farm”
Merenco V.
2008-01-01
It is considered the problem of finding of the mathematical model of a circuit “electric line – wind farm” with the purpose of analysis of operating modes by a method of mathematical simulation. The mathematical model is based on a method of characteristics, takes into account heterogeneity of a circuit and allows realizing various modes and changes in structure of a circuit simple change of values of sizes set as the concentrated parameters.
Shoreline Sand Waves. A Nonlinear One-Line Model
Stephan, Volker
2011-01-01
The morpho-dynamic model presented in this paper finds its application in the large time and length scale prediction of wave-driven along-shore sediment transport. It employs an extended version of the well established one-line concept. The model uses a nonlinear wave-field evaluation projecting the curvature of coastline to the bathymetric topography. A new quasi-perpendicular equilibrium profile is applied. Coastline changes are accounted until a finite distance from the averaged shoreline....
Combustion powered linear actuator
Fischer, Gary J.
2007-09-04
The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.
Laser Initiated Actuator study
Energy Technology Data Exchange (ETDEWEB)
Watson, B.
1991-06-27
The program task was to design and study a laser initiated actuator. The design of the actuator is described, it being comprised of the fiber and body subassemblies. The energy source for all experiments was a Spectra Diode 2200-H2 laser diode. The diode is directly coupled to a 100 micron core, 0.3 numerical aperture fiber optic terminated with an SMA connector. The successful testing results are described and recommendations are made.
Dielectric Actuation of Polymers
Niu, Xiaofan
2013-01-01
Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy den...
Actuation of polypyrrole nanowires
Lee, Alexander S.; Peteu, Serban F.; Ly, James V.; Requicha, Aristides A. G.; Thompson, Mark E.; Zhou, Chongwu
2008-04-01
Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.
Actuation of polypyrrole nanowires
Energy Technology Data Exchange (ETDEWEB)
Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou Chongwu [Laboratory for Molecular Robotics, University of Southern California, Los Angeles, CA 90089 (United States)], E-mail: requicha@usc.edu
2008-04-23
Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 {mu}m, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.
Actuation of polypyrrole nanowires.
Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou, Chongwu
2008-04-23
Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.
Tubular dielectric elastomer actuator for active fluidic control
McCoul, David; Pei, Qibing
2015-10-01
We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.
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)
Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source
Directory of Open Access Journals (Sweden)
Senzaki Shinji
2016-01-01
Full Text Available A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the proposed analytical model can predict the behaviour of the tested actuator.
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.
Closed surface modeling with helical line measurement data
Institute of Scientific and Technical Information of China (English)
LI Ruqiong; LI Guanghu; WANG Yuhan
2007-01-01
Models for surface modeling of free-form surface and massive data points are becoming an important feature in commercial computer aided design/computer-aided manu- facturing software. However, there are many problems to be solved in this area, especially for closed free-form surface modeling. This article presents an effective method for cloud data closed surface modeling from asynchronous profile modeling measurement. It includes three steps: first, the cloud data are preprocessed for smoothing; second, a helical line is segmented to form triangle meshes; and third, Bezier surface patches are created over a triangle mesh and trimmed to shape on an entire surface. In the end, an illustrative example of shoe last surface modeling is given to show the availability of this method.
Effect of actuation sequence on flow rates of peristaltic micropumps with PZT actuators.
Jang, Ling-Sheng; Shu, Kuan; Yu, Yung-Chiang; Li, Yuan-Jie; Chen, Chiun-Hsun
2009-02-01
Many biomedical applications require the administration of drugs at a precise and preferably programmable rate. The flow rate generated by the peristaltic micropumps used in such applications depends on the actuation sequence. Accordingly, the current study performs an analytical and experimental investigation to determine the correlation between the dynamic response of the diaphragms in the micropump and the actuation sequence. A simple analytical model of a peristaltic micropump is established to analyze the shift in the resonant frequency of the diaphragms caused by the viscous damping effect. The analytical results show that this damping effect increases as the oscillation frequency of the diaphragm increases. A peristaltic micropump with three piezoelectric actuators is fabricated on a silicon substrate and is actuated using 2-, 3-, 4- and 6-phase actuation sequences via a driving system comprising a microprocessor and a phase controller. A series of experiments is conducted using de-ionized water as the working fluid to determine the diaphragm displacement and the flow rates induced by each of the different actuation sequences under phase frequencies ranging from 50 Hz to 1 MHz. The results show that the damping effect of actuation sequences influences diaphragm resonant frequency, which in turn affects the profiles of flow rates. PMID:18821016
Zheng, Shijie; Wang, Xinwei; Chen, Wanji
2004-08-01
In the present paper, a novel refined hybrid piezoelectric element formulation is developed for mechanical analysis and active vibration control of laminated structures bonded to piezoelectric sensors and actuators. By invoking the electrical field potential equation, a 'quasi-decoupling' method for treating the coupling electromechanical effects is presented and a modified generalized variational principle with a weaker interelement continuity condition is proposed. On the basis of this functional, a general formulation for a refined hybrid piezoelectric element method is established by incorporating an orthogonal interpolation approach and enhanced assumed strain (EAS) modes. A linearly distributed transverse EAS in the thickness direction is adopted to overcome the thickness locking of solid shell elements. Compared with the conventional incompatible brick element approach, the present formulation is very reliable, more accurate, computationally efficient and can be used to model the response of thin plates and shell structures.
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
A model-driven traceability framework for software product lines
Anquetil, Nicolas; Kulesza, Uirá; Mitschke, Ralf; Moreira, Ana; Royer, Jean-Claude; Rummler, Andreas; Sousa, André
2010-01-01
Software product line (SPL) engineering is a recent approach to software development where a set of software products are derived for a well defined target application domain, from a common set of core assets using analogous means of production (for instance, through Model Driven Engineering). Therefore, such family of products are built from reuse, instead of developed individually from scratch. SPL promise to lower the costs of development, increase the quality of software, give clients mor...
A Lines-of-Defense Model for Managing Health Threats
Heckhausen, Jutta; Wrosch, Carsten; Schulz, Richard
2013-01-01
As older individuals face challenges of progressive disease, increasing disability and approach the end of their lives, their capacity for controlling their environment and own health and functioning declines. The Lines-of-Defense Model is based on the Motivational Theory of Life-Span Development and proposes that individuals can adjust their control striving to the progressive physical decline in distinctly organized cycles of goal engagement and goal disengagement that reflect sequentially ...
Lyman alpha solar spectral irradiance line profile observations and models
Snow, Martin; Machol, Janet; Quemerais, Eric; Curdt, Werner; Kretschmar, Matthieu; Haberreiter, Margit
2016-04-01
Solar lyman alpha solar spectral irradiance measurements are available on a daily basis, but only the 1-nm integrated flux is typically published. The International Space Science Institute (ISSI) in Bern, Switzerland has sponsored a team to make higher spectral resolution data available to the community. Using a combination of SORCE/SOLSTICE and SOHO/SUMER observations plus empirical and semi-empirical modeling, we will produce a dataset of the line profile. Our poster will describe progress towards this goal.
Mathematical model of delay lines based on magnetostatic waves
Directory of Open Access Journals (Sweden)
E. V. Kudinov
2010-12-01
Full Text Available On the example of the delay line have demonstrated the possibility of applying the principle of decomposition to construct mathematical models of microwave devices using magnetostatic waves (MSW in a magnetized epitaxial ferrite films, which allows for a unified methodological basis and the lowest cost to the experimental optimization design of MSW devices for various applications
Mathematical model of delay lines based on magnetostatic waves
E. V. Kudinov
2010-01-01
On the example of the delay line have demonstrated the possibility of applying the principle of decomposition to construct mathematical models of microwave devices using magnetostatic waves (MSW) in a magnetized epitaxial ferrite films, which allows for a unified methodological basis and the lowest cost to the experimental optimization design of MSW devices for various applications
Collision Probability in an In-Line Machines Model
CHIBA, Eishi; Asano, Tetsuo; Miura, Takeshi; Katoh, Naoki; Mitsuka, Ikuo
2011-01-01
This paper presents a simple model of the manufacturing line which focuses on the performance of collision probability, and a method of application to the manufacture of Flat Panel Displays (FPDs) and semiconductors. We derive an approximate formula of the collision probability. When the processing time follows a normal distribution, we also did simulations to evaluate the exact probabilities and confirm that our approximation approach yields reasonable results compared to the simulated resul...
Investigations of electronic amplifiers supplying a piezobimorph actuator
Milecki, Andrzej; Regulski, Roman
2016-10-01
Piezoelectric bending actuators, also known as bimorphs, are characterized by very good dynamic properties and by displacements in a range of a few millimeters. Therefore these actuators are used in a wide range of applications. However their usage is limited because they require supplying amplifiers with output voltage of about 200 V, which are rather expensive. This paper presents investigation results of such amplifiers with high voltage output. The model of a piezobending actuator is proposed and implemented in Matlab-Simulink software in order to simulate the behavior of the actuator supplied by the amplifiers. The simulation results are presented and compared with investigation results of high voltage amplifier used for supplying a piezoactuator. The influence of current limitation of operational amplifier on the actuator current is tested. Finally, a low cost audio power amplifier is proposed to control the piezobender actuator (as a cheaper alternative to the high-voltage amplifier) and its investigations results are presented in the paper.
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Larsen, Gunner Chr.; Larsen, Torben J.;
2010-01-01
in an aeroelastic model. Calibration and validation of the different parts of the model is carried out by comparisons with actuator disk and actuator line (ACL) computations as well as with inflow measurements on a full-scale 2 MW turbine. It is shown that the load generating part of the increased turbulence...
NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY
Institute of Scientific and Technical Information of China (English)
KE Zunrong; ZHU Yuquan; LING Xuan
2007-01-01
A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.
Institute of Scientific and Technical Information of China (English)
祁新梅; 宗志坚; 郑寿森
2012-01-01
This paper applied the material parameters obtained and evaluated from uniaxial extension test regression and fitting in our previous work to further study dielectric elastomer（DE） planar actuation modeling based on strain energy functions. Actuation experiments with a few prestretch values are performed and are presented coMPared with the Ogden,Mooney-Rivlin and Yeoh actuation models.The result shows that the material constants are reasonable and the Ogden models with N=2 and N=3 and Yeoh model are good and applicable to the DE actuation,but Mooney-Rivlin model does not fit.Future work will be focus on the application of the Ogden and Yeoh models in the actuator device.%利用前期工作由单轴拉伸实验获取并验证的材料常数,进一步研究Mooney-Rivlin、Ogden和Yeoh三种应变能模型在绝缘弹胶物（DE）材料的平面机电响应建模。根据实际试验中的平面双向预拉伸、两面加电场的边界条件,确定机电驱动模型,根据在一系列预拉伸值下进行的系列平面机电驱动试验,研究材料常数的合理性和机电驱动模型的可行性。研究结果表明,4参数、6参数的Ogden模型及Yeoh模型均可反映DE材料的机电响应特性;模型参数合理可行;Mooney-Rivlin模型不适合DE材料的机电驱动。
Dhakal, Binod
The intermetallic NiTi-based alloys are known as Shape Memory material. They exhibit unique ability to remember a shape after large deformation. They are desirable in various engineering applications, such as actuators, biomedical devices, vibration damping, etc, as they can absorb and dissipate mechanical/thermal energies by undergoing a reversible hysteretic shape change under the applied mechanical/thermal cyclic loadings. This reflects the effect of micro-structural changes occurring during phase transformation between Austenite(A) and Martensite(M), as well as differently-oriented M-variants. As typically utilized in applications, a particular shape memory alloy (SMA) device or component operates under a large number of thermo-mechanical cycles, hence, the importance of accounting for the cyclic behavior characteristics in modeling and characterization of these systems. A detailed study of the multi-mechanism-based, comprehensive, thus complex modeling framework (by Saleeb et al) and the determination of its material parameters responsible for the physical significance of the shape memory effect are made. This formulation utilizes multiple, inelastic mechanisms to regulate the partitioning of energy dissipation and storage governing the evolutionary thermo-mechanical behavior. Equipped with the understanding of the physical significance of the model parameters and utilizing the SMA modeling strategy effectively, a comprehensive characterization of the evolutionary, cyclic response of the complex real SMA, known as 55NiTi (Ni49.9Ti50.1) is carried out. The detailed comparisons between the SMA model and experimental results provided the necessary validation of the modeling capabilities of the framework to calibrate the complex alloys like 55NiTi. In addition, the details of interplays between the internal mechanisms to describe the material behavior within all the important response characteristic regions provides a convenient means to compliment the theoretical
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.
Modelling line emission of deuterated H_3^+ from prestellar cores
Sipilä, O; Harju, J; Asvany, O; Juvela, M; Schlemmer, S
2009-01-01
Context: The depletion of heavy elements in cold cores of interstellar molecular clouds can lead to a situation where deuterated forms of H_3^+ are the most useful spectroscopic probes of the physical conditions. Aims: The aim is to predict the observability of the rotational lines of H_2D^+ and D_2H^+ from prestellar cores. Methods: Recently derived rate coefficients for the H_3^+ + H_2 isotopic system were applied to the "complete depletion" reaction scheme to calculate abundance profiles in hydrostatic core models. The ground-state lines of H_2D^+(o) (372 GHz) and D_2H^+(p) (692 GHz) arising from these cores were simulated. The excitation of the rotational levels of these molecules was approximated by using the state-to-state coefficients for collisions with H_2. We also predicted line profiles from cores with a power-law density distribution advocated in some previous studies. Results: The new rate coefficients introduce some changes to the complete depletion model, but do not alter the general tendencies...
Hydraulic involute cam actuator
Love, Lonnie J.; Lind, Randall F.
2011-11-01
Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.
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.
Applications of dielectric elastomer actuators
Pelrine, Ron; Sommer-Larsen, Peter; Kornbluh, Roy D.; Heydt, Richard; Kofod, Guggi; Pei, Qibing; Gravesen, Peter
2001-07-01
Dielectric elastomer actuators, based on the field-induced deformation of elastomeric polymers with compliant electrodes, can produce a large strain response, combined with a fast response time and high electromechanical efficiency. This unique performance, combined with other factors such as low cost, suggests many potential applications, a wide range of which are under investigation. Applications that effectively exploit the properties of dielectric elastomers include artificial muscle actuators for robots; low-cost, lightweight linear actuators; solid- state optical devices; diaphragm actuators for pumps and smart skins; acoustic actuators; and rotary motors. Issues that may ultimately determine the success or failure of the actuation technology for specific applications include the durability of the actuator, the performance of the actuator under load, operating voltage and power requirements, and electronic driving circuitry, to name a few.
Modeling the Noise for Indoor Power Line Channel
Directory of Open Access Journals (Sweden)
Syed Samser Ali
2013-07-01
Full Text Available Electromagnetic interference, man-made noise, and multipath effects are main causes of bit errors in power-line communication. To design an efficient powerline transmission system, the channel characterization has to be known and this paper deals with a statistical noise model (SNM for the indoor powerline channel in a frequency band from 1 MHz to 30 MHz . The SNM parameters are obtained from large-scale measurements of the noise density spectrum on a real powerline channel. All measurements are between line and neutral at different locations in the same grid. The SNM is used for simulation of the noise density spectrum and offline analysis on the powerline channel
FLUTTER SUPPRESSION USING DISTRIBUTED PIEZOELECTRIC ACTUATORS
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
The Flutter suppression using distributed piezoelectric actuators has been analyzed and tested. In constructing the finite element equation, effects of piezoelectric matrices are investigated. LQG method is used in designing the control law. In reducing the order of the control law, both balance realization and LK methods are used. For the rational approximation of the unsteady aerodynamic forces LS method is improved. In determining the piezoelectric constants d31 a new dynamic response method is developed. Laser vibrameter is used to pick up the model response and in ground resonance test the model is excited by piezoelectric actuators. Reasonable agreement of the wind tunnel flutter suppression test with calculated results is obtained.
Numerical simulation of mechatronic sensors and actuators
Kaltenbacher, Manfred
2007-01-01
Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.
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.
Overview on permanent magnetic actuator
Institute of Scientific and Technical Information of China (English)
无
2006-01-01
Permanent magnetic actuator (PMA), as a new electronic actuator of vacuum circuit breakers, certainly will be used to replace the traditional mechanical actuator. It has such advantages as simple structure, high reliability, free maintenance, and so on. This paper summarizes the development, structure, magnetic analysis, character analysis, and control strategy of PMA, and also predicts the future trend of PMA development
To test dual supermassive black hole model for broad line AGN with double-peaked narrow [OIII] lines
XueGuang, Zhang
2016-01-01
In this manuscript, we proposed an interesting method to test the dual supermassive black hole model for AGN with double-peaked narrow \\oiii lines (double-peaked narrow emitters), through their broad optical Balmer line properties. Under the dual supermassive black hole model for double-peaked narrow emitters, we could expect statistically smaller virial black hole masses estimated by observed broad Balmer line properties than true black hole masses (total masses of central two black holes). Then, we compare the virial black hole masses between a sample of 37 double-peaked narrow emitters with broad Balmer lines and samples of SDSS selected normal broad line AGN with single-peaked \\oiii lines. However, we can find clearly statistically larger calculated virial black hole masses for the 37 broad line AGN with double-peaked \\oiii lines than for samples of normal broad line AGN. Therefore, we give our conclusion that the dual supermassive black hole model is probably not statistically preferred to the double-pea...
Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.
2006-01-01
Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume surrou
DEFF Research Database (Denmark)
Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.
2013-01-01
Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand inte...
Piezoelectric actuator renaissance
Uchino, Kenji
2015-03-01
This paper resumes the content of the invited talk of the author, read at the occasion of the International Workshop on Relaxor Ferroelectrics, IWRF 14, held on October 12-16, 2014 in Stirin, Czech Republic. It reviews the recent advances in materials, designing concepts, and new applications of piezoelectric actuators, as well as the future perspectives of this area.
Thermally Actuated Hydraulic Pumps
Jones, Jack; Ross, Ronald; Chao, Yi
2008-01-01
Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research
The Nuclear Shell Model Toward the Drip Lines
Poves, A; Nowacki, F; Sieja, K
2011-01-01
We describe the "islands of inversion" that occur when approaching the neutron drip line around the magic numbers N=20, N=28 and N=40 in the framework of the Interacting Shell Model in very large valence spaces. We explain these configuration inversions (and the associated shape transitions) as the result of the competition between the spherical mean field (monopole) which favors magicity and the correlations (multipole) which favor deformed intruder states. We also show that the N=20 and N=28 islands are in reallity a single one, which for the Magnesium isotopes is limited by N=18 and N=32.
Lee, Gil-Yong; Choi, Jung-Oh; Kim, Myeungseon; Ahn, Sung-Hoon
2011-10-01
Ionic polymer-metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle.
Evolutionary flight and enabling smart actuator devices
Manzo, Justin; Garcia, Ephrahim
2007-04-01
Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.
Finite element analysis of multilayer DEAP stack-actuators
Kuhring, Stefan; Uhlenbusch, Dominik; Hoffstadt, Thorben; Maas, Jürgen
2015-04-01
Dielectric elastomers (DE) are thin polymer films belonging to the class of electroactive polymers (EAP). They are coated with compliant and conductive electrodes on each side, which make them performing a relative high amount of deformation with considerable force generation under the influence of an electric field. Because the realization of high electric fields with a limited voltage level requests single layer polymer films to be very thin, novel multilayer actuators are utilized to increase the absolute displacement and force. In case of a multilayer stack-actuator, many actuator films are mechanically stacked in series and electrically connected in parallel. Because there are different ways to design such a stack-actuator, this contribution considers an optimization of some design parameters using the finite element analysis (FEA), whereby the behavior and the actuation of a multilayer dielectric electroactive polymer (DEAP) stack-actuator can be improved. To describe the material behavior, first different material models are compared and necessary material parameters are identified by experiments. Furthermore, a FEA model of a DEAP film is presented, which is expanded to a multilayer DEAP stack-actuator model. Finally, the results of the FEA are discussed and conclusions for design rules of optimized stack-actuators are outlined.
Kurzeck, Bernhard; Heckmann, Andreas; Wesseler, Christoph; Rapp, Matthias
2014-05-01
Future high-speed trains are the main focus of the DLR research project Next Generation Train. One central point of the research activities is the development of mechatronic track guidance for the two-axle intermediate wagons with steerable, individually powered, independently rotating wheels. The traction motors hereby fulfil two functions; they concurrently are traction drives and steering actuators. In this paper, the influence of the track properties - line layout and track irregularities - on the performance requirements for the guidance actuator is investigated using multi-body models in SIMPACK®. In order to compromise on the design conflict between low wheel wear and low steering torque, the control parameters of the mechatronic track guidance are optimised using the DLR in-house software MOPS. Besides the track irregularities especially the increasing inclination at transition curves defines high actuator requirements due to gyroscopic effects at high speed. After introducing a limiter for the actuating variables into the control system, a good performance is achieved.
Model galactic coronae: Ionization structure and absorption-line spectra
International Nuclear Information System (INIS)
We describe a general model for a gaseous galactic corona, and demonstrate that it is in harmony with a variety of observational and theoretical constraints. We then compute the ionization equilibria of H, He, C, N, O, Si, and S atoms in the corona and determine the strengths of resonance absorption lines arising therein. To this end, we obtain approximate cross sections for ionization of the heavy-element ions by photons of energy E/sub γ/< or =100 eV.We use our results first to discuss the expected absorption spectrum of our Galaxy's corona. Subsequently, we discuss in detail the relevance of our computed equilibria to the suggestion that galactic coronae produce some redshift systems in quasar absorption spectra. Because our model coronae are not isothermal, the ionization structure existing along various lines of sight through them is not in accord with the concept of ''reasonable ionization equilibrium'': a concept assumed to be valid in most analyses of quasar spectra. However, our calculations indicate that typically one well-established redshift system in each quasar absorption spectrum could arise in the corona of an intervening galaxy. This is the number expected from statistical arguments if quasar redshifts are fully cosmological in origin
Semianalytical computation of path lines for finite-difference models
Pollock, D.W.
1988-01-01
A semianalytical particle tracking method was developed for use with velocities generated from block-centered finite-difference ground-water flow models. Based on the assumption that each directional velocity component varies linearly within a grid cell in its own coordinate directions, the method allows an analytical expression to be obtained describing the flow path within an individual grid cell. Given the intitial position of a particle anywhere in a cell, the coordinates of any other point along its path line within the cell, and the time of travel between them, can be computed directly. For steady-state systems, the exit point for a particle entering a cell at any arbitrary location can be computed in a single step. By following the particle as it moves from cell to cell, this method can be used to trace the path of a particle through any multidimensional flow field generated from a block-centered finite-difference flow model. -Author
Post-buckled precompressed (PBP) subsonic micro flight control actuators and surfaces
Barrett, R.; Vos, R.; De Breuker, R.
2007-01-01
This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements to provide much improved actuator performance. These PBP actuator elements are modeled using basic large deflection Euler-beam estimations accounting for laminated plate effects
Optimal actuator placement on an active reflector using a modified simulated annealing technique
Kuo, Chin-Po; Bruno, Robin
1991-01-01
The development of a lightweight actuation system for maintaining the surface accuracy of a composite honeycomb panel using piezoelectric actuators is discussed. A modified simulated annealing technique is used to optimize the problem with both combinatorial and continuous criteria and with inequality constraints. Near optimal solutions for the location of the actuators, using combinatorial optimization, and for the required actuator forces, employing continuous optimization, are sought by means of the modified simulated annealing technique. The actuator locations are determined by first seeking a near optimum solution using the modified simulated annealing technique. The final actuator configuration consists of an arrangement wherein the piezoelectric actuators are placed along six radial lines. Numerical results showing the achievable surface correction by means of this configuration are presented.
Automating the Extraction of Model-Based Software Product Lines from Model Variants
Martinez, Jabier; Ziadi, Tewfik; Klein, Jacques; Le Traon, Yves
2015-01-01
International audience We address the problem of automating 1) the analysis of existing similar model variants and 2) migrating them into a software product line. Our approach, named MoVa2PL, considers the identification of variability and commonality in model variants, as well as the extraction of a CVL-compliant Model-based Software Product Line (MSPL) from the features identified on these variants. MoVa2PL builds on a generic representation of models making it suitable to any MOF-based ...
Nanopositioner actuator energy cost and performance
Engelen, J.B.C.; Khatib, M.G.; Abelmann, L.; Elwenspoek, M.C.
2013-01-01
We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and per
Directory of Open Access Journals (Sweden)
Shuji Hashimoto
2010-01-01
Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.
Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla
Guo, H. T.; Liao, W. H.
2009-03-01
The objective of this paper is to develop smart actuators for knee braces as assistive devices for helping disabled people to recover their mobility. The actuator functions as motor, clutch, and brake. In the design, magnetorheological (MR) fluids are utilized to generate controllable torque. To decrease the size of the actuator, motor and MR fluids are integrated. MR fluids are filled inside the DC motor based actuator. Additional design factors of smart actuators including influence of permanent magnet on MR fluids and dynamic sealing are also considered. Finite element model of the smart actuator is built and analyzed. A prototype of the smart actuator with two different inner armatures is fabricated and their characteristics are investigated. Torques are compared between simulation and experiments. The results show that the developed smart actuator with multiple functions is promising for assistive knee braces.
Shuji Hashimoto; Ryo Yoshida; Yusuke Hara; Shingo Maeda
2010-01-01
Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of he...
Stepper Motor Actuated Microvalve
Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko
2006-01-01
We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized wi...
Bruin, de S.
2008-01-01
The assessment of positional uncertainty in line and area features is often based on uncertainty in the coordinates of their elementary vertices which are assumed to be connected by straight lines. Such an approach disregards uncertainty caused by sampling and approximation of a curvilinear feature
National Aeronautics and Space Administration — Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this...
Modeling and control for PZT micro-displacement Actuator%压电陶瓷微位移驱动器建模与控制
Institute of Scientific and Technical Information of China (English)
刘泊; 郭建英; 孙永全
2013-01-01
When a white light interferometer is applied to 3D surface microcosmic topographic measurement,the measuring accuracy is effected by the hysteresis and creeping phenomenon generated by the piezoelectric actuator seriously.Therefore,this paper proposes a method to improve the displacement accuracy of the reference mirror along the optical axis direction.The piezoelectric actuator is given,and its displacement detecting circuit,PID closed loop control algorithms,and creep compensation control are studied.First,displacement detecting circuit is established by a position sensitive device and an optical lever,by which the piezoelectric ceramic micro-displacement can be fed back to control the system,then the PID closed-loop control algorithm is established.Furthermore,the creeping characteristics of piezoelectric ceramic is discussed during the measurement.In order to eliminate the creeping phenomenon and improve measurement accuracy,the “voltage creep” compensation model is proposed.Finally,an integer control system based on PID closed-loop control and creep compensation control is established.The micro-displacement of the piezoelectric actuator is measured by a high-precision XL-80 laser interferometer under the two cases of PID closed-loop control and integer control.Experimental results indicate that the displacement error for the former is 0.007 μm,and that for the latter is 0.005 μm,respectively.This method reduces the influence of hysteresis and creeping on measurement results,and meets the requirements of three-dimensioned shape measurement for high accuracy.%考虑利用白光干涉仪进行表面三维形貌测量时压电陶瓷(PZT)的蠕变效应对微位移驱动器位移精度的影响,提出了一种沿参考镜光轴方向提高该驱动器位移精度的方法.系统研究了该驱动器的位移检测回路、PID闭环控制以及蠕变补偿控制;利用光电位置传感器和光学杠杆调节位移检测回路,将压电陶瓷驱动器微位
Piezoelectric stack actuator parameter extraction with hysteresis compensation
DEFF Research Database (Denmark)
Zsurzsan, Tiberiu-Gabriel; Mangeot, Charles; Andersen, Michael A. E.;
2014-01-01
The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...... exhibited by piezoelectric ceramics causes losses. Therefore, this paper presents a straightforward method to measure piezoelectric stack actuator equiv- alent parameters that includes nonlinearities. By folding the nonlinearities into a newly-defined cou- pling coefficient, the inherent hysteretic behavior...... of piezoelectric stack actuators can be greatly reduced through precompensation. Experimental results show a fitting accuracy of 98.8 % between the model and measurements and a peak absolute error reduction by a factor of 10 compared to the manufacturer- provided parameter. This method improves both the static...
Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper
Directory of Open Access Journals (Sweden)
Ganesha Udupa
2014-01-01
Full Text Available The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary. In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects. The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results. The actuator is fabricated using compression molding process that includes micromachining of the molds. Experiments conducted show the bending characteristics of the actuator at different pressures. The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity. The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.
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.
Modeling of radioactive waste transfer from solidification line
International Nuclear Information System (INIS)
The transfer of radioactive wastes from the solidification line was modeled using the so-called subject-oriented programming and the SIMULA 67 language. All systems are assumed to exist in fixed cycles of work weeks, days and shifts and the amount of transported radioactive wastes is assumed to be evenly distributed in every work shift. The model also considers the effects of personnel irradiation. In routine handling a certain level of irradiation is taken into account and it is assumed with a certain probability that an accident may occur during which there will be a certain exposure of personnel and that the work process will have to be interrupted for a certain period of time. Briefly discussed are the properties of the model and the results of the comparison of two considered technical variants of the transfer of radioactive wastes, namely the use of a roller conveyer and of high-lift trucks. The latter variant appears to be more suitable and shows better parameters in all except irradiation during non-accident handling. (Z.M.)
Macro Fiber Piezocomposite Actuator Poling Study
Werlink, Rudy J.; Bryant, Robert G.; Manos, Dennis
2002-01-01
The performance and advantages of Piezocomposite Actuators are to provide a low cost, in-situ actuator/sensor that is flexible, low profile and high strain per volt performance in the same plane of poled voltage. This paper extends reported data for the performance of these Macrofiber Composite (MFC) Actuators to include 4 progressively narrower Intedigitized electrode configurations with several line widths and spacing ratios. Data is reported for max free strain, average strain per applied volt, poling (alignment of the electric dipoles of the PZT ceramic) voltage vs. strain and capacitance, time to poling voltage 95% saturation. The output strain per volt progressively increases as electrode spacing decreases, with saturation occurring at lower poling voltages. The narrowest spacing ratio becomes prone to voltage breakdown or short circuits limiting the spacing width with current fabrication methods. The capacitance generally increases with increasing poling voltage level but has high sensitivity to factors such as temperature, moisture and time from poling which limit its usefulness as a simple indicator. The total time of applied poling voltage to saturate or fully line up the dipoles in the piezoceramic was generally on the order of 5-20 seconds. Less sensitivity to poling due to the applied rate of voltage increase over a 25 to 500 volt/second rate range was observed.
DEFF Research Database (Denmark)
ter Beek, Maurice H.; Legay, Axel; Lluch Lafuente, Alberto;
2015-01-01
particular behaviour or of installing features at a specific moment or in a specific order. The enriched language (called PFLAN) allows us to specify models of software product lines with probabilistic configurations and behaviour, e.g. by considering a PFLAN semantics based on discrete-time Markov chains......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....... The Maude implementation of PFLAN is combined with the distributed statistical model checker MultiVeStA to perform quantitative analyses of a simple product line case study. The presented analyses include the likelihood of certain behaviour of interest (e.g. product malfunctioning) and the expected average...
Application of the spectrally integrated Voigt function to line-by-line radiative transfer modelling
Quine, B. M.; Abrarov, S. M.
2013-09-01
We show that a new approach based on the spectrally integrated Voigt function (SIVF) enables the computation of line-by-line (LBL) radiative transfer at reduced spectral resolution without loss of accuracy. The algorithm provides rapid and accurate computation of area under the Voigt function in a way that preserves spectral radiance and, consequently, radiant intensity. The error analysis we provide shows the high-accuracy of the proposed SIVF approximations. A comparison of the performance of the method with that of the traditional LBL approach is presented. Motivations for the use and advantage of the SIVF as a replacement for conventional line function computations in radiative transfer are discussed.
A Business Maturity Model of Software Product Line Engineering
Ahmed, Faheem; Capretz, Luiz Fernando
2015-01-01
In the recent past, software product line engineering has become one of the most promising practices in software industry with the potential to substantially increase the software development productivity. Software product line engineering approach spans the dimensions of business, architecture, software engineering process and organization. The increasing popularity of software product line engineering in the software industry necessitates a process maturity evaluation methodology. According...
Structuring the modeling space and supporting evolution in software product line engineering
Dhungana, Deepak; Grunbacher, Paul; Rabiser, Rick; Neumayer, Thomas
2010-01-01
peer-reviewed The scale and complexity of product lines means that it is practically infeasible to develop a single model of the entire system, regardless of the languages or notations used. The dynamic nature of real-world systems means that product line models need to evolve continuously to meet new customer requirements and to reflect changes of product line artifacts. To address these challenges, product line engineers need to apply different strategies for structuring the modeling spa...
Reactivity Accidents in CAREM-25 Core with and Without Safety Systems Actuation
International Nuclear Information System (INIS)
A reactivity accident in CAREM core can be provoked by different initiating events, a cold water injection in pressure vessel, a secondary side steam line breakage and a failure in the absorbing rods drive system.The present work analyses inadverted control rod withdraws transients.Maximum worth control rod (2.5 $) at normal velocity (1 cm/s) is adopted for the simulations (Reactivity ramp of 0.018 $/s).Different scenarios considering actuation of first shutdown system (FSS), second shutdown system (SSS) and selflimiting conditions were modeled.Results of the accident with actuation of FSS show that safety margins are well above critical values (DNBR and CPR).In the cases with failure of the FSS and success of SSS or selflimited, safety margins are below critical values, however, the SSS provides a reduction of elapsed time under advised margins
Adaptive RBFNN Formation Control of Multi-mobile Robots with Actuator Dynamics
Directory of Open Access Journals (Sweden)
Li Yan-dong
2013-04-01
Full Text Available We study the problem of formation control and trajectory tracking for multiple nonholonomic mobile robots with actuator and formation dynamics. An adaptive neural-network (NN control strategy that integrated kinematic controller with input voltages controller of actuator was proposed. A control law was designed by backstepping technique based on separation-bearing formation control structure of leader-follower. The radial basis function neural network (RBFNN was adopted to achieve on-line estimation for the dynamics nonlinear uncertain part for follower and leader robots. The adaptive robust controller was adopted to compensate modeling errors of NN. This strategy not only overcomed all kinds of uncertainties of mobile robots, but also ensured the desired trajectory tracking of robot formation in the case of maintaining formation. The stability and convergence of the control system were proved by using the Lyapunov theory. The simulation results showed the effectiveness of this proposed method.
Do, T. N.; Tjahjowidodo, T.; Lau, M. W. S.; Phee, S. J.
2015-08-01
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons.
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.
Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages
International Nuclear Information System (INIS)
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
Czajkowski, Andrzej
2015-11-01
This paper deals with the application of state space neural network model to design a Fault Detection and Isolation diagnostic system. The work describes approach based on multimodel solution where the SIMO process is decomposed into simple models (SISO and MISO). With such models it is possible to generate different residual signals which later can be evaluated with simple thresholding method into diagnostic signals. Further, such diagnostic signals with the application of Binary Diagnostic Table (BDT) can be used to fault isolation. All data used in experiments is obtain from the simulator of the real-time laboratory stand of Modular Servo under Matlab/Simulink environment.
Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators
International Nuclear Information System (INIS)
This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s−1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ∼0.7% in water across a frequency range of 0.1–1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s−1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s−1 with a power consumption of 1.14 W. (paper)
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.
Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard
2011-09-13
A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.
Laser Actuated Presentation System
Chowdhary, Atul; Karmakar, Subhajit; Sarkar, Sandip
2009-01-01
We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given threshold value. Measured Reliability, Accuracy and Latency of our system are 90%, 10 pixels (in the worst case) and 38 ms respectively.
Laser Actuated Presentation System
Chowdhary, Atul; Agrawal, Vivek; Karmakar, Subhajit; Sarkar, Sandip
2009-01-01
We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given thre...
Pneumatically actuated micropipetting device
Szita, Nicolas; Buser, Rudolf A.
1998-03-01
We have realized a valveless micropipetting device with an integrated sensor which can aspirate and dispense liquid volumes without any valves, hence without any reflow or dead volume. With an external pneumatic actuation, we have demonstrated aspirating and dispensing from 190nl of 6 (mu) l of water. Measurements showed a standard deviation of down to 1 percent. An integrated capacitive sensor will allow monitoring of the pressure throughout the pipetting process and detect malfunctions, e.g. clotting of the pipetting tip. It is our intention to use this demonstrated precise aspiration mechanism in combination with a micromachined reaction chamber and a miniaturized optical analysis system.
DEFF Research Database (Denmark)
Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.
2014-01-01
People with a physical handicap are often not able to engage and embrace the world of music on the same terms as normal functioning people. Traditional musical instruments have been refined over the last centuries, developing highly specialized and powerful interfaces; but nearly all require two...... functioning limbs, such as a foot, knee or the head to activate a motorized fader moving a pick back and forth across the strings. This approach employs the flexibility of a programmable digital system which allows us to scale and map different ranges of data from various sensors to the motion of the actuator...
Creech, Angus; Maguire, A Eoghan
2014-01-01
We present here a computational fluid dynamics (CFD) simulation of Lillgrund offshore wind farm, which is located in the {\\O}resund 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 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 interactions between the wind, turbine rotors, and 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 ...
Wu, Yongle; Qu, Meijun; Liu, Yuanan
2016-08-01
To investigate the frequency shift phenomenon by inserting graphene, a generalized lossy transmission-line model and the related electrical parameter-extraction theory are proposed in this paper. Three kinds of graphene-based transmission lines with attenuation phenomenon including microstrip line, double-side parallel strip line, and uniplanar coplanar waveguide are analyzed under the common conditions where different chemical potentials are loaded on graphene. The values of attenuation constant and phase constant, and the real and imaginary parts of the characteristic impedance of transmission lines are extracted to analyze in details. When the attenuation constant and the reactance part of the characteristic impedance are approximately equal to zero, this kind of transmission line has low or zero insertion loss. On the contrary, the transmission line is under the radiation mode with obvious insertion loss. The phase constant changes linearly under the transmission mode and can be varied with changing of chemical potentials which attributes to the property of frequency tunability. Furthermore, a bandwidth reconfigurable uniplanar coplanar waveguide power divider is simulated to demonstrate that this theory can be applied to the design of three-port devices. In summary, this work provides a strong potential approach and design theory to help design other kinds of terahertz and mid-infrared reconfigurable devices.
Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source
Senzaki Shinji; Akagi Tetsuya; Dohta Shujiro; Fujiwara Yuto
2016-01-01
A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the propo...
Institute of Scientific and Technical Information of China (English)
LI Gang; NIE Chaoqun; LI Yiming; ZHU Junqiang; XU Yanji
2008-01-01
Influence of plasma actuators as a flow separation control device was investigated experimentally.Hump model was used to demonstrate the effect of plasma actuators on external flow separation,while for internal flow separation a set of compressor cascade was adopted.In order to investigate the modification of the flow structure by the plasma actuator,the flow field was examined non-intrusively by particle image velocimetry measurements in the hump model experiment and by a hot film probe in the compressor cascade experiment.The results showed that the plasma actuator could be effective in controlling the flow separation both over the hump and in the compressor cascade when the incoming velocity was low.As the incoming velocity increased,the plasma actuator was less effective. It is urgent to enhance the intensity of the plasma actuator for its better application.Methods to increase the intensity of plasma actuator were also studied.
A Complete Analysis for Pump Controlled Single Rod Actuators
Çalışkan,Hakan; Balkan, Tuna; Platin, Bülent E.
2016-01-01
In the current study a variable speed pump controlled hydrostatic circuit where an underlapped shuttle valve is utilized to compensate the unequal flow rate of a single rod actuator is analyzed. Parameters of the shuttle valve are included in the system analysis, rather than treating it as an ideal switching element as handled in literature. A linearized model of the system is obtained. An inverse kinematic model, which calculates the required pump drive speed for a desired actuator speed and...
Modeling of Stark–Zeeman Lines in Magnetized Hydrogen Plasmas
Indian Academy of Sciences (India)
J. Rosato; H. Bufferand; H. Capes; M. Koubiti; L. Godbert-Mouret; Y. Marandet; R. Stamm
2015-12-01
The action of electric and magnetic fields on atomic species results in a perturbation of the energy level structure, which alters the shape of spectral lines. In this work, we present the Zeeman–Stark line shape simulation method and perform new calculations of hydrogen Lyman and Balmer lines, in the framework of magnetic fusion research. The role of the Zeeman effect, fine structure and the plasma's non-homogeneity along the line-of-sight are investigated. Under specific conditions, our results are applicable to DA white dwarf atmospheres.
Development of ICPF Actuated Underwater Microrobots
Institute of Scientific and Technical Information of China (English)
Xiuo-Fen Ye; Bao-Feng Gao; Shu-Xiang Guo; Li-Quan Wang
2006-01-01
It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF) are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1. It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.
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.
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.
Multiplexed hydraulic valve actuation using ionic liquid filled soft channels and Braille displays
Gu, Wei; Chen, Hao; Tung, Yi-Chung; Meiners, Jens-Christian; Takayama, Shuichi
2007-01-01
Pneumatic actuation with multilayer soft lithography enables operation of up to thousands of valves in parallel using far fewer control lines. However, it is dependent on macroscopic switches and external pressure sources that require interconnects and limit portability. The authors present a more portable and multiplexed valve actuation strategy that uses a grid of mechanically actuated Braille pins to hydraulically, rather than pneumatically, deform elastic actuation channels that act as valves. Experimental and theoretical analyses show that the key to reliable operation of the hydraulic system is the use of nonvolatile ionic liquids as the hydraulic fluid.
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...
Using Transformation-Aspects in Model-Driven Software Product Lines
Arboleda, Hugo; Casallas, Rubby; Royer, Jean-Claude
2009-01-01
Model-Driven Software Product Lines (MD-SPL) are configured by using configuration models and Problem Space metamodels that capture product line scope. Products are derived by means of successive model transformations, starting from problem space models and based on the configuration models. Fine-variations of MD-SPLs correspond to characteristics that afect particular elements of models involved in the model transformations. In this paper, we present an approach to create MD-SPL including fi...
Analytical Frequency-Dependent Model for Transmission Lines on RF-CMOS Lossy Substrates
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
Transmission lines (T-Lines) are widely used in millimeter wave applications on silicon-based complementary metal-oxide semiconductor (CMOS) technology. Accurate modeling of T-lines to capture the related electrical effects has, therefore, become increasingly important. This paper describes a method to model the capacitance and conductance of T-Lines on CMOS multilayer, lossy substrates based on conformal mapping, and region subdivision. Tests show that the line parameters (per unit length) obtained by the method are frequency dependent and very accurate. The method is also suitable for parallel multiconductor interconnect modeling for high frequency circuits.
Directory of Open Access Journals (Sweden)
Hassen M. Ouakad
2013-01-01
Full Text Available Modeling and analysis for the static behavior and collapse instabilities of a MEMS cantilever switch subjected to both electrical and thermal loadings are presented. The thermal loading forces can be as a result of a huge amount of switching contact of the microswitch. The model considers the microbeam as a continuous medium and the electric force as a nonlinear function of displacement and accounts for its fringing-field effect. The electric force is assumed to be distributed over specific lengths underneath the microbeam. A boundary-value solver is used to study the collapse instability, which brings the microbeam from its unstuck configuration to touch the substrate and gets stuck in the so-called pinned configuration. We have found negligible influence of the temperature on the static stability of the switch. We then investigate the effect of the thermal heating due to the current flow on the cantilever switch while it is in the on position (adhered position. We also found slight effect on the static stability of the switch.
Felici, Federico
2012-10-01
Recent experiments on TCV have demonstrated integrated control of the sawtooth and Neoclassical Tearing Mode (NTM) instabilities in a combined preemption-suppression strategy. This strategy is enabled by new sawtooth control methods (sawtooth pacing) in which modulation of sawtooth-stabilizing electron cyclotron power during the sawtooth cycle stimulates the advent of the crash. Rather than controlling the average sawtooth period, the precise timing of each individual crash can now be prescribed. Using this knowledge, efficient preemptive stabilization of NTMs becomes possible by applying power on the rational surface only at the instant of the crash-generating seed island. TCV experiments demonstrate that this approach, reinforced by NTM stabilization as a backup strategy, is effectively failsafe. This opens the road to inductive H-mode scenarios with long sawteeth providing longer inter-crash periods of high density and temperature. Also Edge Localized Modes are susceptible to EC modulation and it is shown that individual ELM events can be controlled using similar techniques. For advanced tokamak scenarios, MHD control is to be combined with optimization and control of the plasma kinetic and magnetic profile evolution in time. Real-time simulation of a physical model (RAPTOR) of current transport, including bootstrap current, neoclassical conductivity and auxiliary current drive, yields complete knowledge of the relevant profiles at any given time. The pilot implementation on TCV shows that these calculations can indeed be done in real-time and the resulting profiles have been included in feedback control schemes. Integration of this model with time-varying equilibria and internal current profile diagnostics provides a new framework for real-time interpretation of diagnostic data for plasma prediction, scenario monitoring, disruption prevention and feedback control.
Printing low-voltage dielectric elastomer actuators
Poulin, Alexandre; Rosset, Samuel; Shea, Herbert R.
2015-12-01
We demonstrate the fabrication of fully printed thin dielectric elastomer actuators (DEAs), reducing the operation voltage below 300 V while keeping good actuation strain. DEAs are soft actuators capable of strains greater than 100% and response times below 1 ms, but they require driving voltage in the kV range, limiting the possible applications. One way to reduce the driving voltage of DEAs is to decrease the dielectric membrane thickness, which is typically in the 20-100 μm range, as reliable fabrication becomes challenging below this thickness. We report here the use of pad-printing to produce μm thick silicone membranes, on which we pad-print μm thick compliant electrodes to create DEAs. We achieve a lateral actuation strain of 7.5% at only 245 V on a 3 μm thick pad-printed membrane. This corresponds to a ratio of 125%/kV2, by far the highest reported value for DEAs. To quantify the increasing stiffening impact of the electrodes on DEA performance as the membrane thickness decreases, we compare two circular actuators, one with 3 μm- and one with 30 μm-thick membranes. Our experimental measurements show that the strain uniformity of the 3 μm-DEA is indeed affected by the mechanical impact of the electrodes. We developed a simple DEA model that includes realistic electrodes of finite stiffness, rather than assuming zero stiffness electrodes as is commonly done. The simulation results confirm that the stiffening impact of the electrodes is an important parameter that should not be neglected in the design of thin-DEAs. This work presents a practical approach towards low-voltage DEAs, a critical step for the development of real world applications.
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.
Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators
International Nuclear Information System (INIS)
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)
Contribution of crosstalk to the uncertainty of electrostatic actuator calibrations.
Shams, Qamar A; Soto, Hector L; Zuckerwar, Allan J
2009-09-01
Crosstalk in electrostatic actuator calibrations is defined as the ratio of the microphone response to the actuator excitation voltage at a given frequency with the actuator polarization voltage turned off to the response, at the excitation frequency, with the polarization voltage turned on. It consequently contributes to the uncertainty of electrostatic actuator calibrations. Two sources of crosstalk are analyzed: the first attributed to the stray capacitance between the actuator electrode and the microphone backplate, and the second to the ground resistance appearing as a common element in the actuator excitation and microphone input loops. Measurements conducted on 1/4, 1/2, and 1 in. air condenser microphones reveal that the crosstalk has no frequency dependence up to the membrane resonance frequency and that the level of crosstalk lies at about -60 dB for all three microphones-conclusions that are consistent with theory. The measurements support the stray capacitance model. The contribution of crosstalk to the measurement standard uncertainty of an electrostatic actuator calibration is therewith 0.01 dB. PMID:19739723
Dielectric elastomer actuators for octopus inspired suction cups
International Nuclear Information System (INIS)
Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms. (paper)
Development of Traveling Wave Actuators Using Waveguides of Different Geometrical Forms
Directory of Open Access Journals (Sweden)
Ramutis Bansevicius
2016-01-01
Full Text Available The paper covers the research and development of piezoelectric traveling wave actuators using different types of the waveguides. The introduced piezoelectric actuators can be characterized by specific areas of application, different resolution, and torque. All presented actuators are ultrasonic resonant devices and they were developed to increase amplitudes of the traveling wave oscillations of the contact surface. Three different waveguides are introduced, that is, symmetrical, asymmetrical, and cone type waveguide. A piezoelectric ring with the sectioned electrodes is used to excite traveling wave oscillations for all actuators. Operating principle, electrode pattern, and excitation regimes of piezoelectric actuators are described. A numerical modelling of the actuators was performed to validate the operating principle and to calculate trajectories of the contact points motion. Prototype actuators were made and experimental study was performed. The results of numerical and experimental analysis are discussed.
Institute of Scientific and Technical Information of China (English)
2008-01-01
Detailed two-dimensional unsteady numerical simulation is carried out to investigate a high-power synthetic jet actuator flow field and its design characteristic. Simultaneously, mixing control mechanism of coaxial jets with actuators is also studied. Firstly, excitation frequency (rotating speed), piston displacement and its exit slot width have effect on the controlling ability and controlling efficiency of actuator. With the invariable model and concerned parameters, the actuator becomes more desirable as the rotating speed increases. Average velocity and maximal velocity at the actuator exit section increase as the piston displacement enlarges or the exit slot width decreases. But the actuator does not always exhibit good performance with the narrower exit. Secondly, the synthetic jets also have the "push" effect on the coaxial jets, which results in the fluctuation of vorticity and temperature distribution of mixing fiowfield. Finally, the employment of synthetic jet actuator can achieve mixing enhancement significantly.
Responding to hypoxia: lessons from a model cell line.
Seta, K A; Spicer, Z; Yuan, Y; Lu, G; Millhorn, D E
2002-08-20
Mammalian cells require a constant supply of oxygen to maintain adequate energy production, which is essential for maintaining normal function and for ensuring cell survival. Sustained hypoxia can result in cell death. It is, therefore, not surprising that sophisticated mechanisms have evolved that allow cells to adapt to hypoxia. "Oxygen-sensing" is a special phenotype that functions to detect changes in oxygen tension and to transduce this signal into organ system functions that enhance the delivery of oxygen to tissue in various organisms. Oxygen-sensing cells can be segregated into two distinct cell types: those that functionally depolarize (excitable) and those that do not functionally depolarize (nonexcitable) in response to reduced oxygen. Theoretically, excitable cells have all the same signaling capabilities as the nonexcitable cells, but the nonexcitable cells cannot have all the signaling capabilities as excitable cells. A number of signaling pathways have been identified that regulate gene expression during hypoxia. These include the Ca2+-calmodulin pathway, the 3'-5' adenosine monophosphate (cAMP)-protein kinase A (PKA) pathway, the p42 and p44 mitogen-activated protein kinase [(MAPK); also known as the extracellular signal-related kinase (ERK) for ERK1 and ERK2] pathway, the stress-activated protein kinase (SAPK; also known as p38 kinase) pathway, and the phosphatidylinositol 3-kinase (PI3K)-Akt pathway. In this review, we describe hypoxia-induced signaling in the model O2-sensing rat pheochromocytoma (PC12) cell line, the current level of understanding of the major signaling events that are activated by reduced O2, and how these signaling events lead to altered gene expression in both excitable and nonexcitable oxygen-sensing cells. PMID:12189251
Output constrained IMC controllers in control systems of electromechanical actuators
Institute of Scientific and Technical Information of China (English)
Piotr M MARUSAK; Suwat KUNTANAPREEDA
2015-01-01
Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator.
Investigations on Actuator Dynamics through Theoretical and Finite Element Approach
Directory of Open Access Journals (Sweden)
Somashekhar S. Hiremath
2010-01-01
Full Text Available This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interaction (FSI is established between the piston and the fluid cavities at the piston end. The fluid cavities were modeled with special purpose hydrostatic fluid elements while the piston is modeled with brick elements. The finite element method is used to simulate the variation of cavity pressure, cavity volume, mass flow rate, and the actuator velocity. The finite element analysis is extended to study the system's linearized response to harmonic excitation using direct solution steady-state dynamics. It was observed from the analysis that the natural frequency of the actuator depends upon the position of the piston in the cylinder. This is a close match with theoretical and simulation results. The effect of bulk modulus is also presented in the paper.
Ahola, Anni
2011-01-01
AALTO UNIVERSITY SCHOOL OF ECONOMICS ABSTRACT Department of Information and Service Economy 10.08.2011 Master's thesis Anni Ahola Purpose of the study The purpose of this study is to figure out a new kind of a cruise line business model that can be used by cruise line organizations in their business planning processes. The objective is to find out general frameworks and theories from the literature that could be applied to the empirical part of the study. Mainly, the goal is t...
Modular Architecture of a Non-Contact Pinch Actuation Micropump
Ruzairi Abdul Rahim; Pei Ling Leow; Uda Hashim; Tijjani Adam; Rashidah Arsat; Pei Song Chee
2012-01-01
This paper demonstrates a modular architecture of a non-contact actuation micropump setup. Rapid hot embossing prototyping was employed in micropump fabrication by using printed circuit board (PCB) as a mold material in polymer casting. Actuator-membrane gap separation was studied, with experimental investigation of three separation distances: 2.0 mm, 2.5 mm and 3.5 mm. To enhance the micropump performance, interaction surface area between plunger and membrane was modeled via finite element a...
Actuation precision control of SMA actuators used for shape control of inflatable SAR antenna
Peng, Fujun; Jiang, Xin-Xiang; Hu, Yan-Ru; Ng, Alfred
2008-09-01
Shape memory alloy (SMA) actuators have found a wide range of applications due to their unique properties such as high force, long stroke, small size, light weight, silent operation, etc. However, their poor stability and controllability make them a challenge to achieve accurate actuation. This paper presents a simple control strategy based on the idea of adjusting the SMA wire temperature as fast as possible. This strategy is simple, stable, and requires no hysteresis model or thermal model. This strategy is tested with displacement output, and the effects of updating rate and input current on control accuracy are also discussed. Tests are also performed in a thermal vacuum chamber, and the results indicate that the required current for effectively activating SMA actuator is smaller than that in air environment. This control strategy is then used for adjusting boundary tensions of a small membrane synthetic aperture radar (SAR) antenna model. Results show that, under this control strategy, SMA wire actuators can exert desired tensions with very good accuracy.
Pneumatic actuator with hydraulic control
Everett, Hobart R., Jr.
1992-11-01
The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston. The maximum translation of the piston within the bore of the second double-acting hydraulic actuator provides a volumetric displacement V2, where V2=V1. A pair of fluid ports in each of the first and second double-acting hydraulic cylinders are operably connected by fluid conduits, one of which includes a valve circuit which may be used to control the velocity of the output rod or to lock the output rod in a static position by regulating the flow of hydraulic fluid between the double-acting cylinders.
Observations and modelling of Helium lines in solar flares
Simões, Paulo J A; Labrosse, Nicolas; Kerr, Graham S
2015-01-01
We explore the response of the He II 304 {\\AA} and He I 584 {\\AA} line intensities to electron beam heating in solar flares using radiative hydrodynamic simulations. Comparing different electron beams parameters, we found that the intensities of both He lines are very sensitive to the energy flux deposited in the chromosphere, or more specifically to the heating rate, with He II 304 {\\AA} being more sensitive to the heating than He I 584 {\\AA}. Therefore, the He line ratio increases for larger heating rates in the chromosphere. A similar trend is found in observations, using SDO/EVE He irradiance ratios and estimates of the electron beam energy rate obtained from hard X-ray data. From the simulations, we also found that spectral index of the electrons can affect the He ratio but a similar effect was not found in the observations.
High-frequency jet nozzle actuators for noise reduction
Davis, Christopher L.; Calkins, Frederick T.; Butler, George W.
2003-08-01
Rules governing airport noise levels are becoming more restrictive and will soon affect the operation of commercial air traffic. Sound produced by jet engine exhaust, particularly during takeoff, is a major contributor to the community noise problem. The noise spectrum is broadband in character and is produced by turbulent mixing of primary, secondary, and ambient streams of the jet engine exhaust. As a potential approach to controlling the noise levels, piezoelectric bimorph actuators have been tailored to enhance the mixing of a single jet with its quiescent environment. The actuators are located at the edge of the nozzle and protrude into the exhaust stream. Several actuator configurations were considered to target two excitation frequencies, 250 Hz and 900 Hz, closely coupled to the naturally unstable frequencies of the mixing process. The piezoelectric actuators were constructed of 10 mil thick d31 poled wafer PZT-5A material bonded to either 10 or 20 mil thick spring steel substrates. Linear analytical beam models and NASTRAN finite element models were used to predict and assess the dynamic performance of the actuators. Experimental mechanical and electrical performance measurements were used to validate the models. A 3 inch diameter nozzle was fitted with actuators and tested in the Boeing Quiet Air Facility with the jet velocity varied from 50 to 1000 ft/s. Performance was evaluated using near-field and far-field acoustic data, flow visualization, and actuator health data. The overall sound pressure level produced from the 3 inch diameter jet illustrates the effect of both static and active actuators.
Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators
Directory of Open Access Journals (Sweden)
Mostafa R. A. Nabawy
2016-01-01
Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive
Energy-Efficient Variable Stiffness Actuators
Visser, Ludo C.; Carloni, Raffaella; Stramigioli, Stefano
2011-01-01
Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated
Directory of Open Access Journals (Sweden)
Fujimoto Shinsaku
2016-01-01
Full Text Available It is important to develop the orthosis which improves the Quality of Life (QOL and maintains health conditions. As one of the treatment methods done to lumbago(low back pain, the waist fixation method with the spinal brace or the orthosis is prescribed. A waist active orthosis implemented with pneumatic flexible actuators have been developed. However, several problems of the previous actuator were that the strain and the generated force were small for the orthosis.Thus, this paper proposesthe improved actuator for the orthosis. Theimproved actuator is modeled and the reliability of static and dynamic model is validated through experiment. As a result, it was confirmed that the improved actuator had the strain of 2 times and the generated force of 1.3 times, in comparison with the previous actuator. And the dynamic model including volume of actuatorcould be represented by a second-order form with a dead time.
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.
Institute of Scientific and Technical Information of China (English)
徐莉; 刘飞
2011-01-01
Aiming at a class of discrete-time nonlinear systems subject to actuator saturation and output constraint, a novel fuzzy predictive control method is proposed in this paper.Firstly,the approximation of a practical nonlinear system is realized by utilizing the T-S fuzzy model.Then,the above system is further converted into convex combinations of a series of linear subsystems by Parallel Distributed Compensation(PDC) scheme.Secondly,a state feedback predictive controller is obtained by optimizing an infinite time "min-max" performance index at each sampling instantA sufficient condition for the Lyapunov asymptotical stability is obtained and it is further transformed into positive Semi-definite Programming(SDP) which can be easily solved by means of Linear Matrix Inequality (LMI).Finally, the availability and feasibility of the proposed method are both verified by specific numerical examples,respectively.%针对一类具有执行器饱和与输出约束的离散非线性时滞系统,提出新的模糊预测控制方法.首先,采用T-S模糊模型来逼近实际非线性系统,运用平行分步补偿(PDC)原理将该系统转化为一系列线性系统的凸组合.其次,通过每个采样时刻优化无穷时域的“min-max”性能指标来求解状态反馈预测控制器,得到系统满足Lyapunov渐近稳定的充分条件,并进一步将该条件转化为基于线性矩阵不等式(LMI)技术的半正定规划(SDP)问题.最后,通过数值仿真验证该方法的有效性.
Considerations For Contractile Electroactive Materials and Actuators
Energy Technology Data Exchange (ETDEWEB)
Lenore Rasmussen, Lewis D. Meixler and Charles A. Gentile
2012-02-29
Electroactive polymers (EAPs) that bend, swell, ripple (first generation materials), and now contract with low electric input (new development) have been produced. The mechanism of contraction is not well understood. Radionuclide-labeled experiments, molecular modeling, electrolyte experiments, pH experiments, and an ionic concentration experiment were used to determine the chain of events that occur during contraction and, reciprocally, expansion when the polarity is reversed, in these ionic EAPs. Plasma treatment of the electrodes, along with other strategies, allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface, analogous to nerves and tendons moving with muscles during movement. Challenges involved with prototyping actuation using contractile EAPs are also discussed.
Institute of Scientific and Technical Information of China (English)
邱宗瑞
2015-01-01
Complex nonlinear hysteresis exists in Atomic force microscopy (AFM),which can lead to the accuracy re-duction of scanned image easily. Hysteresis error model of piezo-ceramic actuator was established accurately in AFM based on micro-displacement measurement method. An appropriate error compensation method is also presented. Firstly, a series of features of the scanned sample image are obtained by AFM as a measurement tool. The micro-displacement of the piezo-ceramic actuator is calculated through the image data. Hysteresis error model of piezo-ceramic actuator is established in AFM system based on the micro-displacement data. Finally, compensation method of hysteresis error is studied by resolving the inverse solution of the PI (Prandtl-Ishlinskii) hysteresis error model. Experimental results show PI model can describe the hysteresis error phenomenon in AFM piezo-ceramic actuator accurately. The compensation control method based on the model can reduce the hysteresis error effectively and improve the positioning accuracy of piezo-ceramic actuator. It’s a kind of effective method to improve the positioning accuracy of piezo-ceramic actuator in AFM system.%本文针对原子力显微镜（Atomic Force Microscopy，简称AFM）迟滞特性易降低扫描图像精度，根据微位移测量的方法建立了可以精确描述AFM系统中压电陶瓷器执行器（Piezoelectric Ceramic Transducer，简称PZT）迟滞误差模型并提出了合适的误差补偿方法。首先，原子力显微镜作为测量工具，获得一系列特征样品的扫描图像，通过计算扫描图像数据计算出压电陶瓷的微位移。接着，依据微位移数据建立AFM系统中压电陶瓷执行器迟滞误差模型。最后，通过对压电陶瓷PI （Prandtl-Ishlinskii）迟滞误差模型解析求逆进行补偿控制方法研究。实验结果证明，PI迟滞误差模型可以精确描述AFM系统中压电陶瓷执行器的迟滞现象，基于该模型的补偿控
Dielectric barrier discharge plasma actuator for flow control
Opaits, Dmitry Florievich
Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low
NEW PRECISION PIEZOELECTRIC STEP ACTUATOR
Institute of Scientific and Technical Information of China (English)
LIU Jianfang; YANG Zhigang; FAN Zunqiang; CHENG Guangming
2006-01-01
A new precision piezoelectric actuator is proposed to improve its drive capabilities. The actuator is based on the piezoelectric technology. It adopts the principle of bionics and works with a new method of stator initiative anchoring/loosen and a distortion structure of double-side thin flexible hinge. It solves the problem of anchoring/loosen, frequency, journey, resolution and velocity. The experiment shows that the new linear piezoelectric actuator works with high frequency (100 Hz), high speed (502 μm/s), large travel (＞10 mm), high resolution (0.05 μm) and high load (100 N). This kind of new piezoelectric actuator will be applied for large travel and high resolution driving device, optics engineering, precision positioning and some micromanipulation field.
Novel Cryogenic Actuator Development Project
National Aeronautics and Space Administration — New thin film low friction coating technologies have recently been developed and matured to the point for use in this IRAD actuator work.The new novel...
Polypyrrole Actuators for Tremor Suppression
DEFF Research Database (Denmark)
Skaarup, Steen; Mogensen, Naja; Bay, Lasse;
2003-01-01
Neurological tremor affecting limbs can be divided into at least 6 different types with frequencies ranging from 2 to about 20 Hz. In order to alleviate the symptoms by suppressing the tremor, sensing and actuation systems able to perform at these frequencies are needed. Electroactive polymers...... exemplify 'soft actuator' technology that may be especially suitable for use in conjunction with human limbs. The electrochemical and mechanical properties of polypyrrole dodecyl benzene sulphonate actuator films have been studied with this application in mind. The results show that the time constants...... for the change of length and for the stiffness change are significantly different - the stiffness change being about 10 times faster. Both force measurements and Electrochemical Quartz Crystal Microbalance measurements indicate that the actuation process is complex and involves at least two different processes...
A Parylene Bellows Electrochemical Actuator
Li, Po-Ying; Sheybani, Roya; Gutierrez, Christian A.; Kuo, Jonathan T. W.; Meng, Ellis
2010-01-01
We present the first electrochemical actuator with Parylene bellows for large-deflection operation. The bellows diaphragm was fabricated using a polyethylene-glycol-based sacrificial molding technique followed by coating in Parylene C. Bellows were mechanically characterized and integrated with a pair of interdigitated electrodes to form an electrochemical actuator that is suitable for low-power pumping of fluids. Pump performance (gas generation rate and pump efficiency) was optimized throug...
Miniature Phase-Transistion Actuators
Klintberg, Lena
2002-01-01
Clearly, there is a need for simple, strong actuators capable of large strokes in miniaturized systems such as valves and optical shutters. The basis for this work is the microstructure technology with processing techniques adopted from the integrated circuit industry. In many cases alternative techniques have been developed to obtain features not achievable with conventional silicon technology. Techniques to fabricate thermally activated phase transition actuators capable of large strokes, a...
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.
Control of Adjustable Compliant Actuators
Directory of Open Access Journals (Sweden)
Berno J.E. Misgeld
2014-05-01
Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.
Modelling line emission of deuterated H_3^+ from prestellar cores
Sipilä, O.; Hugo, E.; Harju, J.; Asvany, O.; Juvela, M.; Schlemmer, S.
2009-01-01
Context: The depletion of heavy elements in cold cores of interstellar molecular clouds can lead to a situation where deuterated forms of H_3^+ are the most useful spectroscopic probes of the physical conditions. Aims: The aim is to predict the observability of the rotational lines of H_2D^+ and D_2H^+ from prestellar cores. Methods: Recently derived rate coefficients for the H_3^+ + H_2 isotopic system were applied to the "complete depletion" reaction scheme to calculate abundance profiles i...
A holistic machining line behavior modeling using Finite State Machines
Abdoli, Shiva
2014-01-01
Energy consumption of turning and milling operations are analyzed in this thesis profoundly. It is aimed to be able to employ analysis results in real production floors. So it is tried to investigate on most effective parameters on machine tool energy consumptions which are changeable in production floors. Due to existing limitations in predesigned manufacturing lines, cutting depth, feed rate and spindle speed, are chosen to analyze their effects on machine tools energy consumption. All othe...
An Improved Numerical Model of Shield Tunnel with Double Lining and Its Applications
Directory of Open Access Journals (Sweden)
Qi-xiang Yan
2015-01-01
Full Text Available Based on the existing numerical models of shield tunnel with double lining, an improved numerical model is developed and its rationality is verified by a similar model test. In the improved numerical model, lining, joint, and junction surface, respectively, are simulated by beam, spring, and a combination of compression bar and spring. Through the comparison of the numerical analysis results of the improved model and existing models, it turns out that the defects or problems in the existing numerical models are resolved; tension appearance on the contact surface and junction surface and the abrupt change of bending moment in linings are solved in the improved model because the compression bar element and the coupling technology of node displacement in the junction surface is applied. Therefore, the improved numerical model could be applied to analyze double lining with waterproof on the junction surface and separation of the junction surface under an unfavorable load. In this paper, the parameter formulas of element stiffness, applicable to the junction surface and contact surface of double lining, are given definitely, and the influence of the element amount of junction surface on the analysis results is discussed. Based on the improved numerical model, the mechanical behavior of the double lining of the Huangpu River Tunnel in China is studied, and some conclusions are obtained as follows. (1 The thickness increase of the double lining will clearly increase its bending moment, but it has little influence on its axial force. (2 The allocation proportion of the bending moment between the segment lining and secondary lining has no linear relationship with the ratio of the lining thickness.
Comparison of actuator disc and Joukowsky rotor flows, to explore the need for a tip correction
van Kuik, Gijs; Yu, Wei; Sarmast, Sasan; Ivanell, Stefan
2015-06-01
In van Kuik & Lignarolo (2015, Wind Energy accepted with modifications) potential flow solutions have been obtained for classical actuator discs (axisymmetric, uniform load) presenting a model for the non-uniformity of the axial velocity at the disc. Current rotor design models proceed from a disc with a uniform axial velocity, modified by a tip correction like the one of Prandtl-Glauert-Shen. A comparison shows that this correction leads to a similar distribution as obtained from the potential flow solutions. A next comparison is made with the velocity distribution at the blade position of a Joukowsky rotor with constant bound circulation, calculated by an Actuator Line and a Lifting Line model. The resulting distributions correspond reasonably well to the potential flow disc distribution, in magnitude as well as shape. This implies that this non-uniform distribution is relevant for a rotor with a finite number of blades, and could be the basis for rotor design instead of the uniform but tip-corrected distribution.
International Nuclear Information System (INIS)
Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)
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.
Omega Transmission Lines with Applications to Effective Medium Models of Metamaterials
Vehmas, Joni; Tretyakov, Sergei
2014-01-01
In this paper we introduce the concept of transmission lines with inherent bi-anisotropy and establish an analogy between these lines and volumetric bi-anisotropic materials. In particular, we find under what conditions a periodically loaded transmission line can be treated as an effective omega medium. Two example circuits are introduced and analyzed. The results have two-fold implications: opening a route to emulate electromagnetic properties of bi-anisotropic omega media using transmission-line meshes and understanding and improving effective medium models of composite materials with the use of effective circuit models of unit cells.
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
85 antimetabolites that can inhibit growth of, or even kill, any of the cell lines, while at the same time not being toxic for 83 different healthy human cell types. 60 of these antimetabolites were found to inhibit growth in all cell lines. Finally, we experimentally validated one of the predicted...... for inhibition of cell growth may provide leads for the development of efficient cancer treatment strategies.......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...
Corporate-Feed Multilayer Bow-Tie Antenna Array Design Using a Simple Transmission Line Model
Didouh, S.; Abri, M.; F. T. Bendimerad
2012-01-01
A transmission line model is used to design corporate-fed multilayered bow-tie antennas arrays; the simulated antennas arrays are designed to resonate at the frequencies 2.4 GHz, 5 GHz, and 8 GHz corresponding to RFID, WIFI, and radars applications. The contribution of this paper consists of modeling multilayer bow-tie antenna array fed through an aperture using transmission line model. The transmission line model is simple and precise and allows taking into account the whole geometrical, ele...
Soft mobile robots driven by foldable dielectric elastomer actuators
Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong
2016-08-01
A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.
Highly Tunable Electrothermally and Electrostatically Actuated Resonators
Hajjaj, Amal Z.
2016-03-30
This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341
A Review of Feature Model Position in the Software Product Line and Its Extraction Methods
Directory of Open Access Journals (Sweden)
Saba Pedram
2015-10-01
Full Text Available The software has become a modern asset and competitive product. The product line that has long been used in manufacturing and construction industries nowadays has attracted a lot of attention in software industry. Most importance of product line engineering approach is in cost and time issues involved in marketing. Feature model is one of the most important methods of documenting variability in product line that shows product features and their dependencies. Because of the magnitude and complexity of the product line, build and maintain feature models are complex and time-consuming work. In this article feature model importance and position in product line is discussed and feature model extraction methods are reviewed and compared.
The Linear and Nonlinear Electro-MechanicalFin Actuator
Directory of Open Access Journals (Sweden)
Zeina A. Abdul Redha
2011-01-01
Full Text Available Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spy-fly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (-3000 to 3000 and the damping ratio is varied from (0.4 to 0.8. The comparison between linear and nonlinear fin actuator response results shows that for linear model, the maximum overshoot is about 10%, rising time is 0.23 sec. and steady state occur at 0.51 sec., while For nonlinear model the maximum overshoot is about 5%, rising time is 0.26 sec. and steady state occurs at 2 sec.; i.e., the nonlinear fin actuator system gives faster and more accurate response than does the linear fin actuator system.
Trajectory Tracking Control for a GMM Actuator Based on a Heuristic ILC Method
Institute of Scientific and Technical Information of China (English)
SONG Zhao-qing; ZHOU Shao-lei; SHI Xian-jun
2006-01-01
A heuristic iterative learning control (ILC) method is presented and applied to the trajectory tracking control of a giant magnetostrictive material (GMM) actuator. A GMM actuator is used as experimental equipment for micro-displacement trajectory tracking control. The advantage of the presented approach lies in quitting the model of the GMM actuator. The experimental results attest to the high efficiency of the presented method for the micro-displacement trajectory tracking control.
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.
Institute of Scientific and Technical Information of China (English)
刘慧芳; 贾振元; 王福吉
2011-01-01
依据超磁致伸缩材料Joule效应和Villari效应之间的耦合关系,提出一种超磁致伸缩传感执行器,该执行器利用Villari效应和Faraday效应产生的感应电动势驱动超磁致伸缩材料发生Joule效应而产生应变,给出了该传感执行器的结构和工作原理.为了解决材料的磁滞对超磁致伸缩传感执行器输出特性的影响,测量了在不同预紧力和最大工作电流作用下的磁滞回线,采用BP神经网络建立了磁化滞回模型.计算结果表明该模型能很好地描述在任意预紧力和最大工作电流等工作条件下的磁滞特性.%Based on the coupling relationship between Joule effect and Villari effect of the giant magnetostrictive materials, it proposed a giant magnetostrictive sensing actuator which used induced electromotive force generated by Villari effect and Faraday effect to drive giant magnetostrictive materials occurring Joule effect and generating strain.Its structure and working principle were presented herein.Meanwhile, in order to solve the hysteresis characteristics of the material in giant magnetostrictive sensing actuator, hysteresis loop under different pre-tightening force and maximum working current were measured.Moreover, it put forward establishing the magnetization hysteresis model of the giant magnetostrictive sensing actuator by BP neural networks.The calculation results show that the model can describe hysteresis characteristics under arbitrary pre-tightening force and maximum working current well.It provides evidence for hysteresis compensation of giant magnetostrictive sensing actuator.
An Eigenstructure Assignment Approach to FDI for the Industrial Actuator Benchmark Test
DEFF Research Database (Denmark)
Jørgensen, R.B.; Patton, R.J.; Chen, J.
1995-01-01
This paper examines the robustness in modelling uncertainties of an observer-based fault detection and isolation scheme applied to the industrial actuator benchmark problem.......This paper examines the robustness in modelling uncertainties of an observer-based fault detection and isolation scheme applied to the industrial actuator benchmark problem....
Corona noise model of high-voltage AC transmission lines and engineering applications
Institute of Scientific and Technical Information of China (English)
Wu Jiuhui; Di Zelong
2013-01-01
In order to predict the levels of corona noise from high-voltage alternating current (AC) transmission lines,the mechanism of corona noise and the corresponding theoretical prediction model are investigated.On the basis of Drude model,the motion of positive and negative ions produced by high-voltage corona is analyzed,and the mechanism of corona noise is discovered.The theoretical prediction model is put forward by using Kirchhoff formula,which is verified by the well agreement between our result and others',considering the case of three-phase single lines.Moreover,the calculation results show that for both single and bundled lines,the sound pressure level of the typical frequency,i.e.twice the power frequency,attenuates slowly and leads to an obviously interferential phenomenon near the transmission lines,but the level of the bundled lines is smaller than that of the single ones under the same transmission voltage.Based on the mechanism of corona noise and the prediction model,it is obvious that bundled lines and/or increased line radius can be adopted to reduce corona noise in the practical engineering applications effectively.This model can also provide a theoretical guidance for the high-volt-age AC transmission line design.
The modeling of UPFC based on circuit elements in an exact transmission line model
Directory of Open Access Journals (Sweden)
Ali akbar Motie birjandi & Kauomars Sabzawari
2010-06-01
Full Text Available UPFC is considered and known as one of the best FACTS devices. It is acombination of series and parallel quick compensation, and can thereforeprovide active and reactive control to achieve maximum power transfer, systemstability and improve power quality and reliability. Therefore, presenting asuitable model for UPFC which enables studying the network and load flow inenergy transmission lines, has gotten the experts’ attention. This paper presentsa new model of UPFC in steady state based on circuit elements in an exacttransmission line model. Considering the fact that the elements like UJT andtunnel diode in negative resistance region cause power increase, the modeldetermines the value of the active and reactive power injected by the seriesconverter into the network, and then the series converter of UPFC is simulatedby means of a negative resistor and an induction or capacitor reactance.Resistance and reactance are expressed as functions of voltage of buses, loadangle, voltage injection and fire angle of series converter. The relations of thismodel have been achieved in a two-bus system and have been simulated in 14-and 30- bus standard.
Predicting Anticancer Drug Responses Using a Dual-Layer Integrated Cell Line-Drug Network Model.
Directory of Open Access Journals (Sweden)
Naiqian Zhang
Full Text Available The ability to predict the response of a cancer patient to a therapeutic agent is a major goal in modern oncology that should ultimately lead to personalized treatment. Existing approaches to predicting drug sensitivity rely primarily on profiling of cancer cell line panels that have been treated with different drugs and selecting genomic or functional genomic features to regress or classify the drug response. Here, we propose a dual-layer integrated cell line-drug network model, which uses both cell line similarity network (CSN data and drug similarity network (DSN data to predict the drug response of a given cell line using a weighted model. Using the Cancer Cell Line Encyclopedia (CCLE and Cancer Genome Project (CGP studies as benchmark datasets, our single-layer model with CSN or DSN and only a single parameter achieved a prediction performance comparable to the previously generated elastic net model. When using the dual-layer model integrating both CSN and DSN, our predicted response reached a 0.6 Pearson correlation coefficient with observed responses for most drugs, which is significantly better than the previous results using the elastic net model. We have also applied the dual-layer cell line-drug integrated network model to fill in the missing drug response values in the CGP dataset. Even though the dual-layer integrated cell line-drug network model does not specifically model mutation information, it correctly predicted that BRAF mutant cell lines would be more sensitive than BRAF wild-type cell lines to three MEK1/2 inhibitors tested.
One-dimensional actuation of a ferrofluid droplet by planar microcoils
Energy Technology Data Exchange (ETDEWEB)
Beyzavi, Ali; Nguyen, Nam-Trung [School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798 (Singapore)], E-mail: mntnguyen@ntu.edu.sg
2009-01-07
This paper discusses the simulation of a device for actuation of a ferrofluid droplet using planar microcoils. The device with two pairs of planar microcoils was designed and fabricated on a double-sided printed circuit board (PCB). Each pair is placed on each side of the PCB. The coils on the bottom actuate the droplet along the line connecting their centres. The coils on the top create a virtual channel to confine the motion of the droplet along a straight line. The paper first formulates the model of the magnetic field of the coils. With the modelled magnetic field, the corresponding forces acting on the droplet were calculated. The equation of the motion of a ferrofluid droplet immersed in silicone oil is solved numerically. The influence of different parameters such as driving current, droplet diameter and viscosity of the carrier fluid is investigated. Theoretical and experimental results agree well quantitatively and qualitatively. Both theoretical and experimental results show that a higher magnetic field, a lower oil viscosity and a bigger droplet size will increase the peak velocity of the droplet.
A New Type of Magnetic Actuator Capable of Wall-Climbing Movement Using Inertia Force
Directory of Open Access Journals (Sweden)
H. Yaguchi
2014-01-01
Full Text Available This paper proposes a new type of a magnetic actuator that operates on a resonance energy of a mass-spring model by using an electromagnetic force. The magnetic actuator is moved by the difference in an inertia force during one period of vibration. Experimental result demonstrates that a horizontal speed of the magnetic actuator was 7.4 mm/s with load mass of 50 g. We considered a method of a cable-free movement of the actuator by using two iron rails and four permanent magnets. The magnetic actuator is able to move stably a ceiling plane and a wall plane. This actuator is able to move on the plane of the magnetic materials only a function generator and a power amplifier.
APPLICATION OF FEA TO THE COLLOCATION OF ACTUATOR/SENSOR IN THE INTELLIGENT STRUCTURES
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
The piezothermoelectric actuator/sensor collocation for advanced intelligent structure is studied. The quasi-static equations of piezothermoelasticity are used to analyze the coupling effects between the displacement, temperature and electric fields of piezothermoelasticity continua and the governing equations for piezothermoelectric continua are derived to discuss the effects of coupling factors on the control/sensing performance in intelligent structure. Based on those analyses,a finite element analysis model of distributed piezothermoelectric continua is developed later. The thermal stress and deformation of a beam are calculated by FEA method so as to determine the optimal actuator/sensor placement. Based on the results of the optimal analysis procedure of actuator/sensor placement, some conclusions of actuator/sensor placement are obtained. Thus, the optimal actuator/sensor placement for piezothermoelectric intelligent structure can be found from the actuator/sensor placements available so that intelligent system will have the best controllability and observability.
A General Epipolar-Line Model between Optical and SAR Images and Used in Image Matching
Directory of Open Access Journals (Sweden)
Shuai Xing
2014-02-01
Full Text Available The search space and strategy are important for optical and SAR image matching. In this paper a general epipolar-line model has been proposed between linear array push-broom optical and SAR images. Then a dynamic approximate epipolar-line constraint model (DAELCM has been constructed and used to construct a new image matching algorithm with Harris operator and CRA. Experimental results have shown that the general epipolar-line model is valid and successfully used in optical and SAR image matching, and effectively limits the search space and decreased computation.
Accurate Modeling of Multilayer Transmission Lines for High-Speed Digital Interconnects
Directory of Open Access Journals (Sweden)
Sarhan M. Musa
2014-03-01
Full Text Available In this paper, we consider the finite element modeling of multilayer transmission lines for high-speed digital interconnects. We mainly focused on the modeling of the transmission structures with both cases of symmetric and asymmetric geometries. We specifically designed asymmetric coupled microstrips and four-line symmetric coupled microstrips with a two-layer substrate. We computed the capacitance matrix for asymmetric coupled microstrips and the capacitance, and inductance matrices for four-line symmetric coupled microstrips on a twolayer substrate. We also provide the potential distribution spectrums of the models.
Modeling of Multilayer Transmission Lines for High-Speed Digital Interconnects
Directory of Open Access Journals (Sweden)
Sarhan M. Musa,
2015-08-01
Full Text Available In this paper, we consider the finite element modeling of multilayer transmission lines for high-speed digital interconnects. We mainly focused on the modeling of the transmission structures with both cases of symmetric and asymmetric geometries. We specifically designed asymmetric coupled microstrips and four-line symmetric coupled microstrips with a two-layer substrate. We computed the capacitance matrix for asymmetric coupled microstrips and the capacitance, inductance, and impedance matrices for four-line symmetric coupled microstrips on a two-layer substrate. We also provide the potential distribution spectrums of the models and their meshing analysis.
Active control of structural vibration by piezoelectric stack actuators
Institute of Scientific and Technical Information of China (English)
NIU Jun-chuan; ZHAO Guo-qun; HU Xia-xia
2005-01-01
This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.
Vibration control of a flexible structure with electromagnetic actuators
DEFF Research Database (Denmark)
Gruzman, Maurício; Santos, Ilmar
2016-01-01
This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full...
A linear peristaltic MRF/foam actuator
Larsen, J. J.; Jenkins, C. H.; Korde, U. A.
2007-04-01
, peristaltic pumps in industry are common for a variety of material handling applications, particularly involving the movement of sterile fluids (for example, blood). The peristaltic pump is usually circular in configuration, relying on external rollers to move fluid within a tube. Some linear configuration pumps have been proposed and developed, however they are complicated than their circular counterparts. In the remaining part of the present work, we discuss the development of a linear peristaltic actuator based upon the deformation of MRF/foam. The actuator consists of an open-cell polymer foam substrate infused with MRF. To one side of the foam substrate resides a translating magnet, such that a magnetic field can be propagated down its length. The linear peristaltic action is generated as the transversely propagating field shapes the MRF/foam substrate in a corresponding way. Experimental results are discussed, an outline of on-going theoretical modeling is presented, and conclusions are provided.
Animal Models of Congenital Cardiomyopathies Associated With Mutations in Z-Line Proteins.
Bang, Marie-Louise
2017-01-01
The cardiac Z-line at the boundary between sarcomeres is a multiprotein complex connecting the contractile apparatus with the cytoskeleton and the extracellular matrix. The Z-line is important for efficient force generation and transmission as well as the maintenance of structural stability and integrity. Furthermore, it is a nodal point for intracellular signaling, in particular mechanosensing and mechanotransduction. Mutations in various genes encoding Z-line proteins have been associated with different cardiomyopathies, including dilated cardiomyopathy, hypertrophic cardiomyopathy, arrhythmogenic right ventricular cardiomyopathy, restrictive cardiomyopathy, and left ventricular noncompaction, and mutations even within the same gene can cause widely different pathologies. Animal models have contributed to a great advancement in the understanding of the physiological function of Z-line proteins and the pathways leading from mutations in Z-line proteins to cardiomyopathy, although genotype-phenotype prediction remains a great challenge. This review presents an overview of the currently available animal models for Z-line and Z-line associated proteins involved in human cardiomyopathies with special emphasis on knock-in and transgenic mouse models recapitulating the clinical phenotypes of human cardiomyopathy patients carrying mutations in Z-line proteins. Pros and cons of mouse models will be discussed and a future outlook will be given. J. Cell. Physiol. 232: 38-52, 2017. © 2016 Wiley Periodicals, Inc. PMID:27171814
Analyze On-line Star Economy Basing on Models of Entrepreneurship
Institute of Scientific and Technical Information of China (English)
胡志豪
2016-01-01
The outstanding performance of the On-line Star Economy is bound up with social media and promotion by fans, stimulating a new round of consumption upgrading and capital tendency. There is no denying that the On-line Star Economy may be the fortuitous outcome of the times. But the fact remains it can be analyzed rationally using Models of Entrepreneurship.
The comparison of two speed-dependent Voigt line profile models
Protasevich, A. E.
2013-07-01
Numerical calculations of the ratio of line width and maximum value of two speed-dependent Voigt line profiles to the respective values of their speed-independent analogs are performed in the high-pressure limit. The intercomparison demonstrates considerable disagreement between different speed-dependent models.
THP-1 cell line: an in vitro cell model for immune-modulation approach : Review
Chanput, W.; Mes, J.J.; Wichers, H.J.
2014-01-01
THP-1 is a human leukemia monocytic cell line, which has been extensively used to study monocyte/macrophage functions, mechanisms, signaling pathways, and nutrient and drug transport. This cell line has become a common model to estimate modulation of monocyte and macrophage activities. This review a
Robust reliable H∞ control for discrete-time Markov jump linear systems with actuator failures
Institute of Scientific and Technical Information of China (English)
Chen Jiaorong; Liu Fei
2008-01-01
The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied.A more practical model of actuator failures than outage is considered.Based on the state feedback method,the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of Hex disturbance attenuation not only when all actuators are operational,but also in case of some actuator failures.The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities (LMIs).A numerical example is also given to illustrate the design procedures and their effectiveness.
Design and control of hybrid actuation lower limb exoskeleton
Directory of Open Access Journals (Sweden)
Hipolito Aguilar-Sierra
2015-06-01
Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.
Bumpless switching control for switched systems with partial actuator failures
Qi, Yiwen; Bao, Wen; Zhang, Qingxin; Chang, Juntao
2016-11-01
This study is concerned with the bumpless transfer problem for switched systems with partial actuator failures, in order to obtain smooth system performance output transition. Taking into account that the system requires a controller switching from current sub-controller to a fault-tolerant sub-controller after actuator fault. And bumpless transfer for control input cannot be traditionally designed when the actuator fault occurs, while performance smoothing can be considered and it is actually the ultimate goal of bumpless transfer. Specifically, the actuator fault model is firstly established and partial actuator fault is considered. Then, the system performance output signal is deemed as the main design variable of bumpless transfer, and closed-loop control systems both previous and after controller switching are constructed. Moreover, by using model matching thought and the adaptive sliding mode control technique, a bumpless transfer compensator design strategy is given to drive the performance output variable (after controller switching) to track the one of reference model. At last, simulation results of numeric and application examples demonstrate the effectiveness of the proposed bumpless transfer strategy.
Ionic and viscoelastic mechanisms of a bucky-gel actuator
Kruusamäe, Karl; Sugino, Takushi; Asaka, Kinji
2015-07-01
Ionic electromechanically active polymers (IEAPs) are considered attractive candidates for soft, miniature, and lightweight actuators. The bucky-gel actuator is a carbonaceous subtype of IEAP that due to its structure (i.e. two highly porous electrodes sandwiching a thin ion-permeable electrolyte layer) and composition (i.e. being composed of soft porous polymer, carbon nanotubes, and ionic liquid) is very similar to an electric double-layer capacitor. In response to the voltage applied between the electrodes of a bucky-gel actuator, the laminar structure bends. The time domain behavior exhibits, however, a phenomenon called the back-relaxation, i.e., after some time the direction of bending is reversed even though voltage remains constant. In spite of the working mechanism of IEAP actuators being generally attributed to the transport of ions within the soft multilayer system, the specific details remain unclear. A so-called two-carrier model proposes that the bending and subsequent back-relaxation are caused by the relocation of two ionic species having different mobilities as they enter and exit the electrode layers. By adopting the two-carrier model for bucky-gel actuators, we see very good agreement between the mathematical representation and the experimental data of the electromechanical behavior. Furthermore, since the bucky-gel actuator is viscoelastic, we propose to use the time domain response of a blocking force as the key parameter related to the inner ionic mechanism. We also introduce a method to estimate the viscoelastic creep compliance function from the time domain responses for curvature and blocking force. This analysis includes four types of bucky-gel actuators of varying composition and structure.
DEFF Research Database (Denmark)
Keck, Rolf-Erik; Veldkamp, Dick; Wedel-Heinen, Jens Jakob;
This thesis describes the further development and validation of the dynamic meandering wake model for simulating the flow field and power production of wind farms operating in the atmospheric boundary layer (ABL). The overall objective of the conducted research is to improve the modelling...... by an actuator line model. As a consequence, part of the research also targets the performance of the actuator line model when generating wind turbine wakes in the atmospheric boundary layer. Highlights of the conducted research: 1. A description is given for using the dynamic wake meandering model....... 2. The EllipSys3D actuator line model, including the synthetic methods used to model atmospheric boundary layer shear and turbulence, is verified for modelling the evolution of wind turbine wake turbulence by comparison to field data and wind tunnel experiments. 3. A two-dimensional eddy viscosity...
Corporate-Feed Multilayer Bow-Tie Antenna Array Design Using a Simple Transmission Line Model
Directory of Open Access Journals (Sweden)
S. Didouh
2012-01-01
Full Text Available A transmission line model is used to design corporate-fed multilayered bow-tie antennas arrays; the simulated antennas arrays are designed to resonate at the frequencies 2.4 GHz, 5 GHz, and 8 GHz corresponding to RFID, WIFI, and radars applications. The contribution of this paper consists of modeling multilayer bow-tie antenna array fed through an aperture using transmission line model. The transmission line model is simple and precise and allows taking into account the whole geometrical, electrical, and technological characteristics of the antennas arrays. The proposed transmission line model showed its interest in the design of different multilayered bow-tie antennas and predicted the correct resonance frequency for different applications in telecommunications. To validate the proposed transmission line model, the simulation results obtained are compared with those obtained by the method of moments. The results of simulations are presented and discussed. Using this transmission line approach, the resonant frequency, input impedance, and return loss can be determined simultaneously. The paper reports several simulation results that confirm the validity of the developed model. The obtained results are then presented and discussed.
BUILDING ROBUST APPEARANCE MODELS USING ON-LINE FEATURE SELECTION
Energy Technology Data Exchange (ETDEWEB)
PORTER, REID B. [Los Alamos National Laboratory; LOVELAND, ROHAN [Los Alamos National Laboratory; ROSTEN, ED [Los Alamos National Laboratory
2007-01-29
In many tracking applications, adapting the target appearance model over time can improve performance. This approach is most popular in high frame rate video applications where latent variables, related to the objects appearance (e.g., orientation and pose), vary slowly from one frame to the next. In these cases the appearance model and the tracking system are tightly integrated, and latent variables are often included as part of the tracking system's dynamic model. In this paper we describe our efforts to track cars in low frame rate data (1 frame/second) acquired from a highly unstable airborne platform. Due to the low frame rate, and poor image quality, the appearance of a particular vehicle varies greatly from one frame to the next. This leads us to a different problem: how can we build the best appearance model from all instances of a vehicle we have seen so far. The best appearance model should maximize the future performance of the tracking system, and maximize the chances of reacquiring the vehicle once it leaves the field of view. We propose an online feature selection approach to this problem and investigate the performance and computational trade-offs with a real-world dataset.
Modeling Delays of Microwave Transistors and Transmission Lines by the 2nd Order Bessel Function
Directory of Open Access Journals (Sweden)
K. Ulovec
2007-04-01
Full Text Available At present, most of simulation programs can characterize gate delays of microwave transistors. However, the delay is mostly approximated by means of first-order differential equations. In the paper, a more accurate way is suggested which is based on an appropriate second-order differential equation. Concerning the transmission line delay, majority of the simulation programs use both Branin (for lossless lines and LCRG (for lossy lines models. However, the first causes extreme simulation times, and the second causes well-known spurious oscillations in the simulation results. In the paper, an unusual way for modeling the transmission line delay is defined, which is also based on the second-order Bessel function. The proposed model does not create the spurious oscillations and the simulation times are comparable with those obtained with the classical models. Properties of the implementation of the second-order Bessel function are demonstrated by analyses of both digital and analog microwave circuits.
Pneumatic artificial muscle actuators for compliant robotic manipulators
Robinson, Ryan Michael
Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and
Quasilinear Line Broadened Model for Energetic Particle Transport
Ghantous, Katy; Gorelenkov, Nikolai; Berk, Herbert
2011-10-01
We present a self-consistent quasi-linear model that describes wave-particle interaction in toroidal geometry and computes fast ion transport during TAE mode evolution. The model bridges the gap between single mode resonances, where it predicts the analytically expected saturation levels, and the case of multiple modes overlapping, where particles diffuse across phase space. Results are presented in the large aspect ratio limit where analytic expressions are used for Fourier harmonics of the power exchange between waves and particles, . Implemention of a more realistic mode structure calculated by NOVAK code are also presented. This work is funded by DOE contract DE-AC02-09CH11466.
Flow separation control on swept wing with nanosecond pulse driven DBD plasma actuators
Directory of Open Access Journals (Sweden)
Zhao Guangyin
2015-04-01
Full Text Available A 15° swept wing with dielectric barrier discharge plasma actuator is designed. Experimental study of flow separation control with nanosecond pulsed plasma actuation is performed at flow velocity up to 40 m/s. The effects of the actuation frequency and voltage on the aerodynamic performance of the swept wing are evaluated by the balanced force and pressure measurements in the wind tunnel. At last, the performances on separation flow control of the three types of actuators with plane and saw-toothed exposed electrodes are compared. The optimal actuation frequency for the flow separation control on the swept wing is detected, namely the reduced frequency is 0.775, which is different from 2-D airfoil separation control. There exists a threshold voltage for the low swept wing flow control. Before the threshold voltage, as the actuation voltage increases, the control effects become better. The maximum lift is increased by 23.1% with the drag decreased by 22.4% at 14°, compared with the base line. However, the best effects are obtained on actuator with plane exposed electrode in the low-speed experiment and the abilities of saw-toothed actuators are expected to be verified under high-speed conditions.
Directory of Open Access Journals (Sweden)
J. N. Kolesnik
2005-01-01
Full Text Available Mathematical model of power consumption for technologically completed and non-completed oil pipe-line sections with poor operational stability has been developed on the basis of daily indices concerning oil transportation regimes. The model permits to take into account tendencies in power consumption under various time prediction cycles and ranges of oil freight turnover, changes in the bulk and characteristics of the transported oil, configuration and design parameters of oil pipe-line.
Line and lattice networks under deterministic interference models
Goseling, Jasper; Gastpar, Michael; Weber, Jos H.
2011-01-01
Capacity bounds are compared for four different deterministic models of wireless networks, representing four different ways of handling broadcast and superposition in the physical layer. In particular, the transport capacity under a multiple unicast traffic pattern is studied for a 1-D network of re
Modular Actuators for Space Applications Project
National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...
Energy Technology Data Exchange (ETDEWEB)
Wilke, Joern Bastian
2009-07-01
In this work, measurements of the spatial-temporal evolution of velocity vector fields, induced by a dielectric barrier discharge plasma actuator, are presented for the first time in order to enhance the understanding of these actuators. A procedure for calculating the body forces-induced by these actuators-from the measured velocity vector fields is also described. A number of parametric studies with plasma actuators, were performed in order to identify the relevant parameter dependencies concerning the effectiveness and the efficiency for an optimization of these actuators. A new phenomenological model for the simulation of the aerodynamic effect of plasma actuators was developed, which can be used to produce more accurate numerical results than existing models. The suitability of plasma actuators in aerodynamic applications was investigated for two different cases. In the first case, a circulation control of a rotorcraft airfoil by plasma actuators, the actuators were arranged such that the gurney flap active principle was achieved and observed for the first time. In the second case, a plasma actuator was mounted on the leading edge of a delta wing to successfully demonstrate flow control up to Re=10{sup 6}. The three velocity components in the plane normal to the flow velocity were measured, enabling the analysis of the change of the leading edge vortices due to plasma actuation. (orig.)
Millán, José del R.; Renkens, F.; Mourino, J.; Gerstner, W.
2004-01-01
Over the last years evidence has accumulated that shows the possibility to analyze human brain activity on-line and translate brain states into actions such as selecting a letter from a virtual keyboard or moving a robotics device. These initial results have been obtained with either invasive approaches (requiring surgical implantation of electrodes) or synchronous protocols (where brain signals are time-locked to external cues). In this paper we describe a portable noninvasive brain-computer...
On the moving contact line singularity: Asymptotics of a diffuse-interface model
Sibley, David N; Savva, Nikos; Kalliadasis, Serafim
2013-01-01
The behaviour of a solid-liquid-gas system near the three-phase contact line is considered using a diffuse-interface model with no-slip at the solid and where the fluid phase is specified by a continuous density field. Relaxation of the classical approach of a sharp liquid-gas interface and careful examination of the asymptotic behaviour as the contact line is approached is shown to resolve the stress and pressure singularities associated with the moving contact line problem. Various features of the model are scrutinised, alongside extensions to incorporate slip, finite-time relaxation of the chemical potential, or a precursor film at the wall.
The fermion content of the Standard Model from a simple world-line theory
Energy Technology Data Exchange (ETDEWEB)
Mansfield, Paul, E-mail: P.R.W.Mansfield@durham.ac.uk
2015-04-09
We describe a simple model that automatically generates the sum over gauge group representations and chiralities of a single generation of fermions in the Standard Model, augmented by a sterile neutrino. The model is a modification of the world-line approach to chiral fermions.
Filter designs based on coupled transmission line model for double split ring resonators
DEFF Research Database (Denmark)
Yan, Lei; Tang, Meng; Krozer, Viktor;
2012-01-01
This work presents a systematic way to design filters based on coupled transmission line model of the microstrip rectangular double split ring resonators (DSRRs). This model allows to estimate all resonance modes of DSRR and extract the quality factors of the structure for filter synthesis purpose...... is experimentally verified by comparing measured and simulated data using the developed models....
Transmission line model for coupled rectangular double split‐ring resonators
DEFF Research Database (Denmark)
Yan, Lei; Tang, Meng; Krozer, Viktor;
2011-01-01
In this work, a model based on a coupled transmission line formulation is developed for microstrip rectangular double split‐ring resonators (DSRRs). This model allows using the physical dimensions of the DSRRs as an input avoiding commonly used extraction of equivalent parameters. The model...
The fermion content of the Standard Model from a simple world-line theory
Directory of Open Access Journals (Sweden)
Paul Mansfield
2015-04-01
Full Text Available We describe a simple model that automatically generates the sum over gauge group representations and chiralities of a single generation of fermions in the Standard Model, augmented by a sterile neutrino. The model is a modification of the world-line approach to chiral fermions.
Directory of Open Access Journals (Sweden)
A. Linga Murthy
2009-09-01
Full Text Available The microballoon actuators are used for the active flow control in turbulent boundary layer for aerodynamic control of flight vehicles. The packaging, interfacing, and integration of the microballoon actuators within the flight vehicle play a key role for functioning of the microballoon actuators during the flight conditions. This paper addresses the design and analysis of packaging and integration aspects and associated issues. The use of microballoon actuators on the control surfaces and nose cone of flight vehicles has the positive influence of delaying the flow separation from the aerodynamic surface. This results in enhancing aerodynamic effectiveness and lift as well as reduction of drag. A typical control surface is configured with eight microballoon actuators symmetric wrt the hinge line of the control surface and embedded within the control surface. Provision of the Pneumatic feed line system for inflation and deflation of the microballoons within the control surface has been made. The nose cone has been designed to have 32 such actuators at the circular periphery. The design is found to be completely feasible for the incorporation of microballoon actuators, both in the nose cone and in the control surface.Defence Science Journal, 2009, 59(5, pp.485-493, DOI:http://dx.doi.org/10.14429/dsj.59.1549
More Electric Landing Gear Actuation Study
Li, Wei
2009-01-01
This report addresses the problem of landing gear actuation system design on more-electric aircraft (MEA). Firstly, information about more-electric aircraft and more-electric actuators was gathered and sorted. Current more-electric landing actuation system applications and researches were also summarized. Then several possible more-electric landing gear actuation concepts were identified. To evaluate these concepts, the case study method has been used. A concept aircraft “MR...
Actuator topology design using the controllability Gramian
DEFF Research Database (Denmark)
Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar
2015-01-01
system. Analytical sensitivities for the finite element model are derived for the objective function and constraints. Results are shown for two dimensional vibration control of a short beam with varying number of electrodes (control inputs) and vibration modes.......This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...
Dynamic Behaviour of Nanoscale Electrostatic Actuators
Institute of Scientific and Technical Information of China (English)
林文惠; 赵亚溥
2003-01-01
The dynamic behaviour for nanoscale electrostatic actuators is studied.A two parameter mass-spring model is shown to exhibit a bifurcation from the case excluding an equilibrium point to the case including two equilibrium points as the geometrical dimensions of the device are altered.Stability analysis shows that one is a stable Hopf bifurcation point and the other is an unstable saddle point.In addition,we plot the diagram phases,which have periodic orbits around the Hopf point and a homoclinic orbit passing though the unstable saddle point.
On-line simulations of models for backward masking.
Francis, Gregory
2003-11-01
Five simulations of quantitative models of visual backward masking are available on the Internet at http://www.psych.purdue.edu/-gfrancis/Publications/BackwardMasking/. The simulations can be run in a Web browser that supports the Java programming language. This article describes the motivation for making the simulations available and gives a brief introduction as to how the simulations are used. The source code is available on the Web page, and this article describes how the code is organized. PMID:14748495
Design of shape memory alloy actuators for direct power by an automotive battery
International Nuclear Information System (INIS)
Highlights: ► We model Ni–Ti SMA actuators directly powered by a standard automotive battery. ► Feasible permutations for direct power are identified and confirmed experimentally. ► 0.5 mm diameter SMA of 225 mm length or larger is feasible for direct power. ► The feasibility of 0.25 mm SMA is greater, although the actuation force is lower. ► Prototype actuators are developed for long-stroke and short-stroke applications. -- Abstract: Nickel–Titanium (Ni–Ti) Shape Memory Alloys (SMAs) are increasingly utilized as mechanical actuators due to high power-to-mass ratio, high fatigue life and low cost. The implementation of SMA actuators in an automotive environment is of particular interest due to the potential for lower end-user functional efforts, together with reduced component mass and cost within a limited packaging space. In applications of this kind, the actuators are powered by a standard automotive (six cell lead-acid) battery. Although resistors and electronic devices can be used to avoid overload of either the SMA or battery system, the feasibility of supplying power to the actuators directly from the battery becomes a key objective for reducing system cost and complexity. In this study, the electrical resistivity of a linear Ni–Ti SMA actuator was theoretically calculated and experimentally verified. Based on this developed knowledge, the resistance of various actuator permutations was calculated, and the feasibility of operating the actuators with a standard automotive battery was assessed. To confirm the feasibility of powering SMA actuators directly from the automotive battery, two SMA actuator concepts were developed and experimentally validated.
Bio-inspired aquatic robotics by untethered piezohydroelastic actuation.
Cen, L; Erturk, A
2013-03-01
This paper investigates fish-like aquatic robotics using flexible bimorphs made of macro-fiber composite (MFC) piezoelectric laminates for carangiform locomotion. In addition to noiseless and efficient actuation over a range of frequencies, geometric scalability, and simple design, bimorph propulsors made of MFCs offer a balance between the actuation force and velocity response for performance enhancement in bio-inspired swimming. The experimental component of the presented work focuses on the characterization of an elastically constrained MFC bimorph propulsor for thrust generation in quiescent water as well as the development of a robotic fish prototype combining a microcontroller and a printed-circuit-board amplifier to generate high actuation voltage for untethered locomotion. From the theoretical standpoint, a distributed-parameter electroelastic model including the hydrodynamic effects and actuator dynamics is coupled with the elongated-body theory for predicting the mean thrust in quiescent water. In-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated-body theory to predict the thrust output. The measured mean thrust levels in quiescent water (on the order of ∼10 mN) compare favorably with thrust levels of biological fish. An untethered robotic fish prototype that employs a single bimorph fin (caudal fin) for straight swimming and turning motions is developed and tested in free locomotion. A swimming speed of 0.3 body-length/second (7.5 cm s⁻¹ swimming speed for 24.3 cm body length) is achieved at 5 Hz for a non-optimized main body-propulsor bimorph combination under a moderate actuation voltage level. PMID:23348365
The viscoelastic effect in bending bucky-gel actuators
Kruusamäe, Karl; Mukai, Ken; Sugino, Takushi; Asaka, Kinji
2014-03-01
Electromechanically active polymers (EAP) are considered a good actuator candidate for a variety of reasons, e.g. they are soft, easy to miniaturize and operate without audible noise. The main structural component in EAPs is, as the name states, a type of deformable polymer. As polymers are known to exhibit a distinct mechanical response, the nature of polymer materials should never be neglected when characterizing and modeling the performance of EAP actuators. Bucky-gel actuators are a subtype of EAPs where ion-containing polymer membrane acts as an electronically insulating separator between two electrodes of carbon nanotubes and ionic liquid. In many occasions, the electrodes also contain polymer for the purpose of binding it together. Therefore, mechanically speaking, bucky-gel actuators are composite structures with layers of different mechanical nature. The viscoelastic response and the shape change property are perhaps the most characteristic effects in polymers. These effects are known to have high dependence on factors such as the type of polymer, the concentration of additives and the structural ratio of different layers. At the same time, most reports about optimization of EAP actuators describe the alteration of electromechanical performance dependent on the same factors. In this paper, the performance of bucky-gel actuators is measured as a function between the output force and bending deflection. It is observed that effective stiffness of these actuators depends on the input voltage. This finding is also supported by dynamic mechanical analysis which demonstrates that the viscoelastic response of bucky-gel laminate depends on both frequency and temperature. Moreover, the dynamic mechanical analysis reveals that in the range of standard operation temperatures, tested samples were in their glass transition region, which made it possible to alter their shape by using mechanical fixing. The mechanical fixity above 90% was obtained when high