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.
Yu, Huangchao
2016-01-01
Piezoelectric actuators have been widely used to form a self-monitoring smart system to do Structural health monitoring (SHM). One of the most fundamental issues in using actuators is to determine the actuation effects being transferred from the actuators to the host structure. This report summaries the state of the art of modeling techniques for piezoelectric actuators and provides a numerical analysis of the static and dynamic electromechanical behavior of piezoelectric actuators surface-bonded to an elastic medium under in-plane mechanical and electric loads using finite element method. Also case study is conducted to study the effect of material properties, bonding layer and loading frequency using static and harmonic analysis of ANSYS. Finally, stresses and displacements are determined, and singularity behavior at the tips of the actuator is proved. The results indicate that material properties, bonding layers and frequency have a significant influence on the stresses transferred to the host structure.
Energy Technology Data Exchange (ETDEWEB)
Breton, S.P.; Watters, C.S.; Masson, C. [Ecole de Technologie Superieure, Montreal, PQ (Canada)
2010-07-01
This presentation discussed the model rotor experiments under controlled conditions (MEXICO) project. The experiments are being conducted in the largest wind tunnel in Europe in order to determine optimal yaw and pitch angles for wind turbines as well as to test the performance of blade aerodynamic profiles and rotor instrumentation. Data obtained during the experiments are used to determine velocity component points in order to develop a greater understanding of wind turbine aerodynamics and improve calculation methods. Blade element momentum (BEM) computational fluid dynamics (CFD) and vortex wake codes are used in the program, which includes an actuator surface method embedded in a customized CFD finite element method. To date, the project has validated various models with experimental data, and mapped the induced velocities upwind and downwind from rotors. Further research is being conducted to compare experimental results with other results in the literature related to blade loading, root bending moments, and detailed flow characteristics. Charts of experimental results were included. tabs., figs.
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...... the chord of the airfoils. The distribution of body force is determined from a set of predefined functions that depend on angle of attack and airfoil shape. The predefined functions are curve fitted using pressure distributions obtained either from viscous-inviscid interactive codes or from full Navier...
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...
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.
Failure modes in surface micromachined microelectromechanical actuators
Energy Technology Data Exchange (ETDEWEB)
Miller, S.L.; Rodgers, M.S.; LaVigne, G.; Sniegowski, J.J.; Clews, P.; Tanner, D.M.; Peterson, K.A.
1998-03-01
In order for the rapidly emerging field of MicroElectroMechanical Systems (MEMS) to meet its extraordinary expectations regarding commercial impact, issues pertaining to how they fail must be understood. The authors identify failure modes common to a broad range of MEMS actuators, including adhesion (stiction) and friction induced failures caused by improper operational methods, mechanical instabilities, and electrical instabilities. Demonstrated methods to mitigate these failure modes include implementing optimized designs, model based operational methods, and chemical surface treatments.
Shape-memory-actuated compliant control surface
Maclean, Brian J.; Carpenter, Bernie F.; Draper, Jerry L.; Misra, Mohan S.
1993-09-01
Advanced submarine stern configurations require a variety of control surfaces to actively manage aftbody boundary layer flow, vorticity, propulsor inflow and intrapropulsor flow, as well as vehicle attitude. Two necessary attributes of advanced control surface designs include (1) integrated actuation to provide placement flexibility at remote locations with minimal structural interfacing and control interconnects, and (2) improved lift efficiency and flow using variable or adaptive camber control. To demonstrate these attributes, a shape memory alloy (SMA) actuated compliant control fin (CCF) with a planform area of 620 sq. cm was developed for evaluation as rudder and sternplane appendages on a radio control submarine model at velocities up to 5.1 m/s (Reynolds No. approximately equals 1,000,000) and up to 0.2 Hz full cycle actuation. A completely fixed root design was developed to reduce turbulence at the hull/fine interface, with compliant deformation of the foil to improve flow characteristics over the baseline full-flying and trailing-edge-flap designs.
Surface chemistry driven actuation in nanoporous gold
Energy Technology Data Exchange (ETDEWEB)
Biener, J; Wittstock, A; Zepeda-Ruiz, L; Biener, M M; Zielasek, V; Kramer, D; Viswanath, R N; Weissmuller, J; Baumer, M; Hamza, A V
2008-04-14
Although actuation in biological systems is exclusively powered by chemical energy, this concept has not been realized in man-made actuator technologies, as these rely on generating heat or electricity first. Here, we demonstrate that surface-chemistry driven actuation can be realized in high surface area materials such as nanoporous gold. For example, we achieve reversible strain amplitudes in the order of a few tenths of a percent by alternating exposure of nanoporous Au to ozone and carbon monoxide. The effect can be explained by adsorbate-induced changes of the surface stress, and can be used to convert chemical energy directly into a mechanical response thus opening the door to surface-chemistry driven actuator and sensor technologies.
Alzahrani, Bandar A.; Alghamdi, Abdulmalik A. A.
2003-06-01
This note reviews the commonest and simplest theoretical models used in modelling one-dimensional smart structures. These models can be used for any type of induced strain; however, the piezoelectric actuator is used here as a typical active element. A numerical example is given to show the differences among these models especially as regards the strain induced in the beam.
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
Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB
Reaves, Mercedes C.; Horta, Lucas G.
2003-01-01
This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.
Modeling of a Dielectric Elastomer Bender Actuator
Directory of Open Access Journals (Sweden)
Paul White
2014-07-01
Full Text Available The current smallest self-contained modular robot uses a shape memory alloy, which is inherently inefficient, slow and difficult to control. We present the design, fabrication and demonstration of a module based on dielectric elastomer actuation. The module uses a pair of bowtie dielectric elastomer actuators in an agonist-antagonist configuration and is seven times smaller than previously demonstrated. In addition, we present an intuitive model for the bowtie configuration that predicts the performance with experimental verification. Based on this model and the experimental analysis, we address the theoretical limitations and advantages of this antagonistic bender design relative to other dielectric elastomer actuators.
Droplet actuation induced by coalescence: experimental evidences and phenomenological modeling
Sellier, Mathieu; Gaubert, Cécile; Verdier, Claude
2012-01-01
This paper considers the interaction between two droplets placed on a substrate in immediate vicinity. We show here that when the two droplets are of different fluids and especially when one of the droplet is highly volatile, a wealth of fascinating phenomena can be observed. In particular, the interaction may result in the actuation of the droplet system, i.e. its displacement over a finite length. In order to control this displacement, we consider droplets confined on a hydrophilic stripe created by plasma-treating a PDMS substrate. This controlled actuation opens up unexplored opportunities in the field of microfluidics. In order to explain the observed actuation phenomenon, we propose a simple phenomenological model based on Newton's second law and a simple balance between the driving force arising from surface energy gradients and the viscous resistive force. This simple model is able to reproduce qualitatively and quantitatively the observed droplet dynamics.
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.
Mathematical modeling of a V-stack piezoelectric aileron actuation
Directory of Open Access Journals (Sweden)
Ioan URSU
2016-12-01
Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.
Evaluation of Breaking Performance in Vibration-Assisted Electrostatic Surface Induction Actuator
DEFF Research Database (Denmark)
Nemoto, Takeru; Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio
2015-01-01
This paper evaluates breaking performance of an electrostatic surface induction actuator. The actuator is equipped with piezoelectric vibrator such that the friction between the slider and the stator electrodes can be dramatically reduced by squeeze-film effect. In such an actuator, the friction...... conditions. The result clearly shows the effect of friction change in breaking performance of the actuator....
Modeling and control of a dielectric elastomer actuator
Gupta, Ujjaval; Gu, Guo-Ying; Zhu, Jian
2016-04-01
The emerging field of soft robotics offers the prospect of applying soft actuators as artificial muscles in the robots, replacing traditional actuators based on hard materials, such as electric motors, piezoceramic actuators, etc. Dielectric elastomers are one class of soft actuators, which can deform in response to voltage and can resemble biological muscles in the aspects of large deformation, high energy density and fast response. Recent research into dielectric elastomers has mainly focused on issues regarding mechanics, physics, material designs and mechanical designs, whereas less importance is given to the control of these soft actuators. Strong nonlinearities due to large deformation and electromechanical coupling make control of the dielectric elastomer actuators challenging. This paper investigates feed-forward control of a dielectric elastomer actuator by using a nonlinear dynamic model. The material and physical parameters in the model are identified by quasi-static and dynamic experiments. A feed-forward controller is developed based on this nonlinear dynamic model. Experimental evidence shows that this controller can control the soft actuator to track the desired trajectories effectively. The present study confirms that dielectric elastomer actuators are capable of being precisely controlled with the nonlinear dynamic model despite the presence of material nonlinearity and electromechanical coupling. It is expected that the reported results can promote the applications of dielectric elastomer actuators to soft robots or biomimetic robots.
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...
Actuator Line Modeling of Wind Turbine Wakes
DEFF Research Database (Denmark)
Troldborg, Niels
2009-01-01
This thesis contains a comprehensive 3D Navier-Stokes computational study of the characteristics of wakes of wind turbines operating in various flow conditions including interacting wakes between a row of turbines. The computations were carried out using the actuator line technique combined...... and it is shown that the turbines are subject to rather severe yaw moments, even in situations where the mean wind is oriented along the row. This observation is indicative of large scale dynamics of the wakes....... with the 3D Navier Stokes solver EllipSys3D and a LES turbulence model. Simple models, based on applying body forces in the computational domain, are developed for imposing sheared and turbulent infow and their validity is discussed. A few computations on stand alone turbines are compared to measurements...
Modeling, analysis and control of a variable geometry actuator
Evers, W.J.; Knaap, A. van der; Besselink, I.J.M.; Nijmeijer, H.
2008-01-01
A new design of variable geometry force actuator is presented in this paper. Based upon this design, a model is derived which is used for steady-state analysis, as well as controller design in the presence of friction. The controlled actuator model is finally used to evaluate the power consumption u
Nonlinear actuation dynamics of driven Casimir oscillators with rough surfaces
Broer, Wijnand; Svetovoy, Vitaly B; Knoester, Jasper; Palasantzas, George
2015-01-01
At separations below 100 nm, Casimir-Lifshitz forces strongly influence the actuation dynamics of micro-electromechanical systems (MEMS) in dry vacuum conditions. For a micron size plate oscillating near a surface, which mimics a frequently used setup in experiments with MEMS, we show that the roughness of the surfaces significantly influences the qualitative dynamics of the oscillator. Via a combination of analytical and numerical methods, it is shown that surface roughness leads to a clear increase of initial conditions associated with chaotic motion, that eventually lead to stiction between the surfaces. Since stiction leads to malfunction of MEMS oscillators, our results are of central interest for the design of microdevices. Moreover, they are of significance for fundamentally motivated experiments performed with MEMS.
Low power sessile droplet actuation via modulated surface acoustic waves
Baudoin, Michael; Matar, Olivier Bou; Herth, Etienne
2012-01-01
Low power actuation of sessile droplets is of primary interest for portable or hybrid lab-on-a-chip and harmless manipulation of biofluids. In this paper, we show that the acoustic power required to move or deform droplets via surface acoustic waves can be substantially reduced through the forcing of the drops inertio-capillary modes of vibrations. Indeed, harmonic, superharmonic and subharmonic (parametric) excitation of these modes are observed when the high frequency acoustic signal (19.5 MHz) is modulated around Rayleigh-Lamb inertio-capillary frequencies. This resonant behavior results in larger oscillations and quicker motion of the drops than in the non-modulated case.
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.
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
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.
Modeling the Electrostatic Deflection of a MEMS Multilayers Based Actuator
Directory of Open Access Journals (Sweden)
Hassen M. Ouakad
2013-01-01
Full Text Available An actuator comprised of a rigid substrate and two parallel clamped-clamped microbeams is modeled under the influence of electrostatic loading. The problem is considered under the context of nonlinear Euler's mechanics, where the actuating system is described by coupled integrodifferential equations with relevant boundary conditions. Galerkin-based discretization is utilized to obtain a reduced-order model, which is solved numerically. Actuators with different gap sizes between electrode and beams are investigated. The obtained results are compared to simulations gotten by the finite-element commercial software ANSYS.
Modeling and design of a high-performance hybrid actuator
Aloufi, Badr; Behdinan, Kamran; Zu, Jean
2016-12-01
This paper presents the model and design of a novel hybrid piezoelectric actuator which provides high active and passive performances for smart structural systems. The actuator is composed of a pair of curved pre-stressed piezoelectric actuators, so-called commercially THUNDER actuators, installed opposite each other using two clamping mechanisms constructed of in-plane fixable hinges, grippers and solid links. A fully mathematical model is developed to describe the active and passive dynamics of the actuator and investigate the effects of its geometrical parameters on the dynamic stiffness, free displacement and blocked force properties. Among the literature that deals with piezoelectric actuators in which THUNDER elements are used as a source of electromechanical power, the proposed study is unique in that it presents a mathematical model that has the ability to predict the actuator characteristics and achieve other phenomena, such as resonances, mode shapes, phase shifts, dips, etc. For model validation, the measurements of the free dynamic response per unit voltage and passive acceleration transmissibility of a particular actuator design are used to check the accuracy of the results predicted by the model. The results reveal that there is a good agreement between the model and experiment. Another experiment is performed to teste the linearity of the actuator system by examining the variation of the output dynamic responses with varying forces and voltages at different frequencies. From the results, it can be concluded that the actuator acts approximately as a linear system at frequencies up to 1000 Hz. A parametric study is achieved here by applying the developed model to analyze the influence of the geometrical parameters of the fixable hinges on the active and passive actuator properties. The model predictions in the frequency range of 0-1000 Hz show that the hinge thickness, radius, and opening angle parameters have great effects on the frequency dynamic
Modeling of Hysteresis in Piezoelectric Actuator Based on Segment Similarity
Directory of Open Access Journals (Sweden)
Rui Xiong
2015-11-01
Full Text Available To successfully exploit the full potential of piezoelectric actuators in micro/nano positioning systems, it is essential to model their hysteresis behavior accurately. A novel hysteresis model for piezoelectric actuator is proposed in this paper. Firstly, segment-similarity, which describes the similarity relationship between hysteresis curve segments with different turning points, is proposed. Time-scale similarity, which describes the similarity relationship between hysteresis curves with different rates, is used to solve the problem of dynamic effect. The proposed model is formulated using these similarities. Finally, the experiments are performed with respect to a micro/nano-meter movement platform system. The effectiveness of the proposed model is verified as compared with the Preisach model. The experimental results show that the proposed model is able to precisely predict the hysteresis trajectories of piezoelectric actuators and performs better than the Preisach model.
Kiani, Keivan
2017-02-01
A novel surface energy-based model is developed to examine more precisely vibrations of current-carrying double-nanowire-systems immersed in a longitudinal magnetic field. Using Biot-Savart and Lorentz laws, a more refined version of interwire interactional magnetic forces is presented. By employing Rayleigh beam theory, the equations of motion are derived. In fact, these are coupled integro-differential equations which are more accurate with respect to those of the previously developed models. For simply supported and clamped nanosystems, governing equations are analyzed via assumed mode method. The effects of interwire distance, slenderness ratio, electric current, magnetic field strength, and surface effect on the fundamental frequency are addressed carefully. The obtained results display the importance of exploiting the refined model for vibration analysis of nanosystems with low interwire distance, high electric current, and high magnetic field strength.
Directory of Open Access Journals (Sweden)
Mao-long Lv
2016-01-01
Full Text Available In the process of ultralow altitude airdrop, many factors such as actuator input dead-zone, backlash, uncertain external atmospheric disturbance, and model unknown nonlinearity affect the precision of trajectory tracking. In response, a robust adaptive neural network dynamic surface controller is developed. As a result, the aircraft longitudinal dynamics with actuator input nonlinearity is derived; the unknown nonlinear model functions are approximated by means of the RBF neural network. Also, an adaption strategy is used to achieve robustness against model uncertainties. Finally, it has been proved that all the signals in the closed-loop system are bounded and the tracking error converges to a small residual set asymptotically. Simulation results demonstrate the perfect tracking performance and strong robustness of the proposed method, which is not only applicable to the actuator with input dead-zone but also suitable for the backlash nonlinearity. At the same time, it can effectively overcome the effects of dead-zone and the atmospheric disturbance on the system and ensure the fast track of the desired flight path angle instruction, which overthrows the assumption that system functions must be known.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-11-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-01-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Preisach model of hysteresis for the Piezoelectric Actuator Drive
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.
Modelling and control of double-cone dielectric elastomer actuator
Branz, F.; Francesconi, A.
2016-09-01
Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.
Three Dimensional Modeling of an MRI Actuated Steerable Catheter System.
Liu, Taoming; Cavuşoğlu, M Cenk
2014-01-01
This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype.
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.
Drag Reduction Control for Flow over a Hump with Surface-Mounted Thermoacoustic Actuator
2015-01-01
fabricating graphene/ carbon nanotube -based surface compliant loud speakers, the effectiveness of thermoacoustic actuators that locally introduce high...as a flow control actuator. A membrane of carbon nanotubes /graphene laid on a backing material such as paper under AC power has been shown to produce...propagated through the fluid field as high-intensity acoustic waves.7,8 One of the attractive characteristics of this carbon -based sound-emitting device
Effects of noise variance model on optimal feedback design and actuator placement
Ruan, Mifang; Choudhury, Ajit K.
1994-01-01
In optimal placement of actuators for stochastic systems, it is commonly assumed that the actuator noise variances are not related to the feedback matrix and the actuator locations. In this paper, we will discuss the limitation of that assumption and develop a more practical noise variance model. Various properties associated with optimal actuator placement under the assumption of this noise variance model are discovered through the analytical study of a second order system.
Yoon, K. J.; Park, K. H.; Lee, S. K.; Goo, N. S.; Park, H. C.
2004-06-01
This paper describes an analytical design model for a layered piezo-composite unimorph actuator and its numerical and experimental verification using a LIPCA (lightweight piezo-composite curved actuator) that is lighter than other conventional piezo-composite type actuators. The LIPCA is composed of top fiber composite layers with high modulus and low CTE (coefficient of thermal expansion), a middle PZT ceramic wafer, and base layers with low modulus and high CTE. The advantages of the LIPCA design are to replace the heavy metal layer of THUNDER by lightweight fiber-reinforced plastic layers without compromising the generation of high force and large displacement and to have design flexibility by selecting the fiber direction and the number of prepreg layers. In addition to the lightweight advantage and design flexibility, the proposed device can be manufactured without adhesive layers when we use a resin prepreg system. A piezo-actuation model for a laminate with piezo-electric material layers and fiber composite layers is proposed to predict the curvature and residual stress of the LIPCA. To predict the actuation displacement of the LIPCA with curvature, a finite element analysis method using the proposed piezo-actuation model is introduced. The predicted deformations are in good agreement with the experimental ones.
Sait, Usha; Muthuswamy, Sreekumar
2016-05-01
Dielectric electro active polymer (DEAP) is a suitable actuator material that finds wide applications in the field of robotics and medical areas. This material is highly controllable, flexible, and capable of developing large strain. The influence of geometrical behavior becomes critical when the material is used as miniaturized actuation devices in robotic applications. The present work focuses on the effect of surface topography on the performance of flat (single sheet) and stacked-rolled DEAP actuators. The non-active areas in the form of elliptical spots that affect the performance of the actuator are identified using scanning electron microscope (SEM) and energy dissipated X-ray (EDX) experiments. Performance of DEAP actuation is critically evaluated, compared, and presented with analytical and experimental results.
Dynamic Heat Generation Modeling and Thermal Management of Electromechanical Actuators
2012-07-01
calculated by counting the teeth on each gear and measuring the linear displacement of the actuator rod for one full revolution of the rotor. b...Maxwell 2D. Values of rotor angle, torque angle, and current amplitude are varied as multiple simulation runs are performed. Many of the motor modeling...behavior during highly transient moments. The torque angle should be varied from 0 to π radians to capture the full character of the inductances
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.
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...
Laboratory and field testing results of the LMT/GTM primary surface actuators
Smith, David R.; Souccar, Kamal; Montalvo, Gabriela; Arteaga Magaña, César; Hernández Rebollar, José Luis; Olmos Tapia, Arak; Gallieni, Daniele; Lazzarini, Paolo; Fumi, Pierluigi; Anaclerio, Enzo
2016-07-01
With the final installation of the two outermost rings of the primary surface of the Large Millimeter Telescope/ Gran Telescopio Milimétrico (LMT/GTM), the project is also upgrading the primary surface actuators. There are commercial actuators that can approach the required operational accuracy and stroke, but the combination of the size and load requirements ultimately required a customized design. The new actuators fit within the volume constraints imposed by the tighter interior angles in the outer rings and are designed to support the operational and survival loading conditions even for the largest surface segments. Laboratory testing confirmed that the actuators should meet the precision, repeatability, load, and lifetime requirements. However, the LMT/GTM is at a particularly difficult site for electromechanical systems. The high altitude has the usual effect of reducing cooling effectiveness for the drives and motors, and the ambient temperature hovers near freezing. Since there is a significant amount of precipitation during some times of the year, there are frequent freeze/thaw cycles. The constant formation and either sublimation or melting of ice, along with the associated high humidity, has been a challenge for the environmental protection of many devices at the LMT/GTM. Because there are a total of 720 primary surface actuators in the system, it is particularly important that the actuators, their local drive control boxes, and their cable connections be able to meet its specifications even under the site conditions. To confirm the suitability of the actuators, the LMT/GTM procured an initial set of sixteen actuators for testing at the site. After laboratory testing, the actuators were installed into the outer two rings of the telescope and cycled during the early winter months of the 2015-16 scientific observing season. Because of the continuing installation activities in these two rings, they are not illuminated by the receivers, so field testing
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.
Laser and Surface Processes of NiTi Shape Memory Elements for Micro-actuation
Nespoli, Adelaide; Biffi, Carlo Alberto; Previtali, Barbara; Villa, Elena; Tuissi, Ausonio
2014-04-01
In the current microtechnology for actuation field, shape memory alloys (SMA) are considered one of the best candidates for the production of mini/micro devices thanks to their high power-to-weight ratio as function of the actuator weight and hence for their capability of generating high mechanical performance in very limited spaces. In the microscale the most suitable conformation of a SMA actuator is given by a planar wavy formed arrangement, i.e., the snake-like shape, which allows high strokes, considerable forces, and devices with very low sizes. This uncommon and complex geometry becomes more difficult to be realized when the actuator dimensions are scaled down to micrometric values. In this work, micro-snake-like actuators are laser machined using a nanosecond pulsed fiber laser, starting from a 120- μm-thick NiTi sheet. Chemical and electrochemical surface polishes are also investigated for the removal of the thermal damages of the laser process. Calorimetric and thermo-mechanical tests are accomplished to assess the NiTi microdevice performance after each step of the working process. It is shown that laser machining has to be followed by some post-processes in order to obtain a micro-actuator with good thermo-mechanical properties.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
Directory of Open Access Journals (Sweden)
Miaolei Zhou
2013-01-01
Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Zhou, Miaolei; Wang, Shoubin; Gao, Wei
2013-01-01
As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Simulation model for analyzing SPUDI with actuated signals
Energy Technology Data Exchange (ETDEWEB)
Shafahi, Y.; Haghani, A.; Carter, E.C. [Univ. of Maryland, College Park, MD (United States). Dept. of Civil Engineering; Gupta, K.N.V. [SIMCO Engineering, New York, NY (United States)
1998-09-01
A time based microsimulation model is developed for analyzing the traffic operation at single point urban diamond interchanges. Features of the model include actuated signal operation, protected and permitted left turn phasing, right turn phasing with and without right turn on red, traffic in shared lanes, traffic in left turn and right turn storage lanes, car following, lane changing, gap acceptance behavior, primary and secondary queue formation and dissipation. The model accepts geometric, traffic, and signal data in an interactive mode. Input files may also be created separately without going through the interactive session. The model outputs include measures of effectiveness such as stopped delay, total delay, average speed, and maximum and average queue length. These measures of effectiveness are given for each turning movement for each approach, and for the intersection as a whole. The model outputs also show the total green time and the total yellow and all red times assigned by the actuated system to each phase during the simulation time. The model results are compared with the actual data collected in the field.
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.
Shojaeian, Mostafa; Yildizhan, Melike-Mercan; Coşkun, Ömer; Ozkalay, Ebrar; Tekşen, Yiğit; Gulgun, Mehmet Ali; Funda Yagci Acar, Havva; Koşar, Ali
2016-09-01
Nanofluids are becoming a significant candidate for new generation coolants to be used in industrial applications. In order to reduce clustering and sedimentation of nanoparticles and improve the heat transfer performance simultaneously, magnetic fluids prepared with magnetic Fe3O4 nanoparticles dispersed in water, which were placed in a pool and were exposed to varying magnetic fields to actuate nanoparticles in the system. The effect of magnetic actuation on boiling heat transfer characteristics and on the surface morphology of the pool was examined. An average enhancement of 29% in boiling heat transfer was achieved via magnetic actuation with rather low magnetic field (magnetic flux densities up to 11 mT) densities. Furthermore, it was observed that magnetic actuation significantly prevented the deposition and sedimentation of the nanoparticles in the pool. Otherwise, significant destabilization of nanoparticles causing aggregation and heavy sedimentation was present as a result of the performed surface analysis. Even though magnetic actuation reduced the sedimentation on the macroscale, the deposition of a thick and porous film occurred onto the pool floor, increasing the surface roughness.
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.
Aleshin, B. S.; Kuryachii, A. P.; Rebrov, I. E.; Khomich, V. Yu.; Chernyshev, S. L.; Yamshchikov, V. A.
2017-01-01
We present the results of a study of a new multidischarge actuator system designed for active gas flow control on the basis of a three-electrode circuit with a shielding electrode, in which the role of an accelerating electrode is played by the solid equipotential sheath surface of the wing. The main parameters of the multidischarge actuator system and classical scheme of electrodes are compared—namely, the induced air flow velocity, average integral volume force, average consumed power, and energy efficiency coefficient calculated per unit length of the external electrode.
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
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.
Vortex ring state by full-field actuator disc model
Energy Technology Data Exchange (ETDEWEB)
Soerensen, J.N.; Shen, W.Z.; Munduate, X. [DTU, Dept. of Energy Engineering, Lyngby (Denmark)
1997-08-01
One-dimensional momentum theory provides a simple analytical tool for analysing the gross flow behavior of lifting propellers and rotors. Combined with a blade-element strip-theory approach, it has for many years been the most popular model for load and performance predictions of wind turbines. The model works well at moderate and high wind velocities, but is not reliable at small wind velocities, where the expansion of the wake is large and the flow field behind the rotor dominated by turbulent mixing. This is normally referred to as the turbulent wake state or the vortex ring state. In the vortex ring state, momentum theory predicts a decrease of thrust whereas the opposite is found from experiments. The reason for the disagreement is that recirculation takes place behind the rotor with the consequence that the stream tubes past the rotor becomes effectively chocked. This represents a condition at which streamlines no longer carry fluid elements from far upstream to far downstream, hence one-dimensional momentum theory is invalid and empirical corrections have to be introduced. More sophisticated analytical or semi-analytical rotor models have been used to describe stationary flow fields for heavily loaded propellers. In recent years generalized actuator disc models have been developed, but up to now no detailed computations of the turbulent wake state or the vortex ring state have been performed. In the present work the phenomenon is simulated by direct simulation of the Navier-Stokes equations, where the influence of the rotor on the flow field is modelled simply by replacing the blades by an actuator disc with a constant normal load. (EG) 13 refs.
Jiang, Jing; Li, Xiaonan; Ding, Jincheng; Yue, Honghao; Deng, Zongquan
2016-12-01
Photovoltaic materials can turn light energy into electric energy directly, and thus have the advantages of high electrical output voltages and the ability to realize remote or non-contact control. When high-energy ultraviolet light illuminates polarized PbLaZrTi (PLZT) materials, high photovoltages will be generated along the spontaneous polarization direction due to the photovoltaic effect. In this paper, a novel hybrid photovoltaic/piezoelectric actuation mechanism is proposed. PLZT ceramics are used as a photovoltaic generator to drive a piezoelectric actuator. A mathematical model is established to define the time history of the actuation voltage between two electrodes of the piezoelectric actuator, which is experimentally validated by the test results of a piezoelectric actuator with different geometrical parameters under irradiation at different light intensities. Some important characteristics of this novel actuation mechanism are analyzed and it can be concluded that (1) it is experimentally validated that there is no hysteresis between voltage and deformation which exists in a PLZT actuator; (2) the saturated voltage and response speed can be improved by using a multi-patch PLZT generator to drive the piezoelectric actuator; and (3) the initial voltage of the piezoelectric actuator can be acquired by controlling the logical switch between the PLZT and the piezoelectric actuator while the initial voltages increase with the rise of light intensity.
Energy Technology Data Exchange (ETDEWEB)
Joseph I. Cline
2010-04-22
A novel hypothesized detection scheme for the detection of chemical agents was proposed: SAPS ``Surface-Adsorbed Polarization Sensors''. In this technique a thin layer of molecular rotors is adsorbed to a surface. The rotors can be energized by light absorption, but are otherwise locked in position or alternatively rotate slowly. Using polarized light, the adsorbed rotors are turned as an ensemble. Chemical agent (analyte) binding that alters the rotary efficiency would be detected by sensitive polarized absorption techniques. The mechanism of the SAPS detection can be mechanical, chemical, or photochemical: only a change in rotary efficiency is required. To achieve the goal of SAPS detection, new spectroscopic technique, polarized Normal Incidence Cavity Ringdown Spectroscopy (polarized NICRDS), was developed. The technique employs very sensitive and general Cavity Ringdown absorption spectroscopy along with the ability to perform polarized absorption measurements. Polarized absorption offers the ability to measure the angular position of molecular chromophores. In the new experiments a thin layer of SAPS sensors (roughly corresponding to a monolayer coverage on a surface) immobilized in PMMA. The PMMA layer is less than 100~nm thick and is spin-coated onto a flat fused-silica substrate. The new technique was applied to study the photoisomerization-driven rotary motion of a family of SAPS actuators based on a family of substituted dibenzofulvene rotors based upon 9-(2,2,2- triphenylethylidene)fluorene. By varying the substitution to include moieties such as nitro, amino, and cyano the absorption spectrum and the quantum efficiency of photoisomerization can be varied. This SAPS effect was readily detected by polarized NICRDS. The amino substituted SAPS actuator binds H+ to form an ammonium species which was shown to have a much larger quantum efficiency for photoisomerization. A thin layer of immobilized amino actuators were then shown by polarized NICRDS
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
DEFF Research Database (Denmark)
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which...
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.
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.
Hysteresis modelling and experimental verification of a Fe–Ga alloy magnetostrictive actuator
Wei, Zhu; Lei Xiang, Bian; Gangli, Chen; Shuxin, Liu; Qinbo, Zhou; Xiaoting, Rui
2017-03-01
In order to accurately describe the asymmetric rate-bias-dependent hysteresis of a Fe–Ga alloy magnetostrictive actuator, a comprehensive model, which is composed of a phenomenon model, describing hysteresis by the modified Bouc–Wen hysteresis operator, and a theoretical model, representing the dynamics characteristics, is put forward. The experimental system is setup to verify the performance of the comprehensive model. Results show that the modified Bouc–Wen model can effectively describe the dynamics and hysteresis characteristics of the Fe–Ga alloy magnetostrictive actuator. The results highlight significantly improved accuracy in the modelling of the magnetostrictive actuator.
Measurement of the impulse produced by a pulsed surface discharge actuator in air
Elias, P. Q.; Castera, P.
2013-09-01
The pulsed surface discharge in atmospheric pressure air generates a shock wave, thereby transferring an impulse to the surrounding gas. The aim of this work is to measure this impulse, using implementation of a plasma actuator based on linear surface discharges of length up to 10 cm, and of linear energy in a range 0.1-0.5 J cm-1. The shock wave generated by the discharge is visualized using a pulsed schlieren system and the impulse is measured with a dedicated balance. These measurements are correlated with 1D numerical simulations of pulsed energy depositions in a perfect gas. Experiments show that the discharge generates a cylindrical shock wave that travels at sonic speed after a few tens of microseconds, and produces an impulse that varies from 1 to 4 mN s m-1 and scales linearly with the linear energy density. This linearity agrees with the numerical simulations when 9.5% of the energy dissipated in the discharge is assumed to heat the gas. Overall, to produce a time-averaged force similar to the one achieved by dielectric barrier discharge (DBD) actuators, 2 to 3 times more power is required. However, surface discharge actuators do not saturate, and thus can induce time-averaged forces one or two orders of magnitude above DBD when pulsed at several hundreds of hertz.
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...
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 of a three degrees of freedom piezo-actuated mechanism
Zhu, Wei; Rui, Xiao Ting
2017-01-01
This paper presents the modeling and experimentation of a three degrees of freedom (3-DOF) piezo-actuated mechanism. The displacements of the piezoelectric stack actuators are amplified with lever mechanisms to achieve large displacement output. In order to accurately model the mechanism, a comprehensive model, which uses the transfer matrix method to describe the dynamics characteristics and the modified Bouc-Wen hysteresis operator to represent the hysteresis, is presented. Ultimately, the proposed comprehensive model of the mechanism is experimentally investigated for its performance. Experimental results show that the proposed comprehensive model can accurately portray the hysteresis and dynamics characteristics of the 3-DOF piezo-actuated mechanism.
Modeling and comparison of superconducting linear actuators for highly dynamic motion
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.
Shin, Jichul; Shajid Rahman, Mohammad
2014-08-01
An experimental investigation of low-speed flow actuation at near-atmospheric pressure is presented. The flow actuation is achieved via low-current ( \\lesssim 1.0 mA) continuous or pulsed DC surface glow discharge plasma. The plasma actuator, consisting of two sharp-edged nickel electrodes, produces a tangential flow in a direction from anode to cathode, and is visualized using high-speed schlieren photography. The induced flow velocity estimated via the schlieren images reaches up to 5 m/s in test cases. The actuation capability increases with pressure and electrode gap distances, and the induced flow velocity increases logarithmically with the discharge power. Pulsed DC exhibits slightly improved actuation capability with better directionality. An analytic estimation of induced flow velocity obtained based on ion momentum in the cathode sheath and gas dynamics in one-dimensional flow yields values similar to those measured.
Model-Free Adaptive Sensing and Control for a Piezoelectrically Actuated System
Jin-Wei Liang; Hung-Yi Chen
2010-01-01
Since the piezoelectrically actuated system has nonlinear and time-varying behavior, it is difficult to establish an accurate dynamic model for a model-based sensing and control design. Here, a model-free adaptive sliding controller is proposed to improve the small travel and hysteresis defects of piezoelectrically actuated systems. This sensing and control strategy employs the functional approximation technique (FAT) to establish the unknown function for eliminating the model-based requireme...
Chakrabarti, Suryarghya; Dapino, Marcelo J.
2010-04-01
A model is developed which describes the dynamic response of a Terfenol-D actuator with a hydraulic displacement amplification mechanism for use in active engine mounts. The model includes three main components: magnetic diffusion, Terfenol-D constitutive model, and mechanical actuator model. Eddy current losses are modeled as a one-dimensional magnetic field diffusion problem in cylindrical coordinates. The Jiles-Atherton model is used to describe the magnetization state of the Terfenol-D driver as a function of applied magnetic fields. A quadratic, single-valued model for the magnetostriction dependence on magnetization is utilized which provides an input to the mechanical model describing the system vibrations. Friction at the elastomeric seals is modeled using the LuGre friction model for lubricated contacts. The actuator's dynamic response is quantified in terms of the output displacement in the unloaded condition and force output in the loaded condition. The model is shown to accurately quantify the dynamic behavior of the actuator over the frequency range considered, from near dc to 500 Hz. An order analysis shows that the model also describes the higher harmonic content present in the measured responses. A study on the variation of energy delivered by the actuator with the load stiffness reveals that the actuator delivers the highest energy output near the stiffness match region.
Modeling posture-dependent leg actuation in sagittal plane locomotion
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.
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.
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...
Evaluation of the Actuator Line Model with coarse resolutions
Draper, M.; Usera, G.
2015-06-01
The aim of the present paper is to evaluate the Actuator Line Model (ALM) in spatial resolutions coarser than what is generally recommended, also using larger time steps. To accomplish this, the ALM has been implemented in the open source code caffa3d.MBRi and validated against experimental measurements of two wind tunnel campaigns (stand alone wind turbine and two wind turbines in line, case A and B respectively), taking into account two spatial resolutions: R/8 and R/15 (R is the rotor radius). A sensitivity analysis in case A was performed in order to get some insight into the influence of the smearing factor (3D Gaussian distribution) and time step size in power and thrust, as well as in the wake, without applying a tip loss correction factor (TLCF), for one tip speed ratio (TSR). It is concluded that as the smearing factor is larger or time step size is smaller the power is increased, but the velocity deficit is not as much affected. From this analysis, a smearing factor was obtained in order to calculate precisely the power coefficient for that TSR without applying TLCF. Results with this approach were compared with another simulation choosing a larger smearing factor and applying Prandtl's TLCF, for three values of TSR. It is found that applying the TLCF improves the power estimation and weakens the influence of the smearing factor. Finally, these 2 alternatives were tested in case B, confirming that conclusion.
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.
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.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Computed torque control of an under-actuated service robot platform modeled by natural coordinates
Zelei, Ambrus; Kovács, László L.; Stépán, Gábor
2011-05-01
The paper investigates the motion planning of a suspended service robot platform equipped with ducted fan actuators. The platform consists of an RRT robot and a cable suspended swinging actuator that form a subsequent parallel kinematic chain and it is equipped with ducted fan actuators. In spite of the complementary ducted fan actuators, the system is under-actuated. The method of computed torques is applied to control the motion of the robot. The under-actuated systems have less control inputs than degrees of freedom. We assume that the investigated under-actuated system has desired outputs of the same number as inputs. In spite of the fact that the inverse dynamical calculation leads to the solution of a system of differential-algebraic equations (DAE), the desired control inputs can be determined uniquely by the method of computed torques. We use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. In this modeling approach the mathematical model of the dynamical system itself is also a DAE. The paper discusses the inverse dynamics problem of the complex hybrid robotic system. The results include the desired actuator forces as well as the nominal coordinates corresponding to the desired motion of the carried payload. The method of computed torque control with a PD controller is applied to under-actuated systems described by natural coordinates, while the inverse dynamics is solved via the backward Euler discretization of the DAE system for which a general formalism is proposed. The results are compared with the closed form results obtained by simplified models of the system. Numerical simulation and experiments demonstrate the applicability of the presented concepts.
Institute of Scientific and Technical Information of China (English)
LI Ying-Hong; WU Yun; JIA Min; ZHOU Zhang-Wen; GUO Zhi-Gang; PU Yi-Kang
2008-01-01
The optical emission spectroscopy of a surface dielectric barrier discharge plasma aerodynamic actuator is investigated with different electrode configurations, applied voltages and driving frequencies. The rotational temperature of N2 (C3IIu) molecule is calculated according to its rotational emission band near 380.5 nm. The average electron energy of the discharge is evaluated by emission intensity ratio of first negative system to second positive system of N2. The rotational temperature is sensitive to the inner space of an electrode pair. The average electron energy shows insensitivity to the applied voltage, the driving frequency and the electrode configuration.
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.
Modeling of a flexible beam actuated by shape memory alloy wires
Shu, Steven G.; Lagoudas, Dimitris C.; Hughes, Declan; Wen, John T.
1997-06-01
A thermomechanical model is developed to predict the structural response of a flexible beam with shape memory alloy (SMA) wire actuators. A geometrically nonlinear static analysis is first carried out to investigate the deformed shape of a flexible cantilever beam caused by an externally-attached SMA wire actuated electrically. The actuation force applied by the SMA actuator to the beam is evaluated by solving a coupled problem that combines a thermodynamic constitutive model of SMAs with the heat conduction equation in the SMA and the structural model of the beam. To calculate the temperature history of the SMA actuator for given electrical current input, the heat transfer equation is solved with the electrical resistive heating being modeled as a distributed heat source along the SMA wire. The steps in the formulation are connected together through an iterative scheme that takes into account the static equilibrium of the beam and the constitutive relation of SMAs, thus translating an electrical current history input into beam strain output. The proposed model is used to simulate the experimental results, thus demonstrating the feasibility of using SMA actuators for shape control of active flexible structural systems.
Energy Technology Data Exchange (ETDEWEB)
Aljanaideh, Omar, E-mail: omaryanni@gmail.com [Department of Mechanical Engineering, The University of Jordan, Amman 11942 (Jordan); Habineza, Didace; Rakotondrabe, Micky [AS2M department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comté, Univ. de Franche-Comté/CNRS/ENSMM, 25000 Besançon (France); Al Janaideh, Mohammad [Department of Mechanical and Industrial Engineering, The Mechatronics and Microsystems Design Laboratory, University of Toronto (Canada); Department of Mechatronics Engineering, The University of Jordan, Amman 11942 (Jordan)
2016-04-01
An experimental study has been carried out to characterize rate-dependent hysteresis of a piezoelectric tube actuator at different excitation frequencies. The experimental measurements were followed by modeling and compensation of the hysteresis nonlinearities of the piezoelectric tube actuator using both the inverse rate-dependent Prandtl–Ishlinskii model (RDPI) and inverse rate-independent Prandtl–Ishlinskii model (RIPI) coupled with a controller. The comparison of hysteresis modeling and compensation of the actuator with both models is presented.
Piezoelectric Composite Actuators: Modelling of the Static and Dynamic Behaviour
Wiwattananon, P.
2013-01-01
Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for m
Hoyos Velasco, Carlos Ildefonso
2011-01-01
This Thesis is concerned with the modelling, analysis and control of novel mechatronic valve actuators for automotive systems, specifically, the control of the mechanical valves to intake and exhaust gases in Internal Combustion Engines (ICE). Scientific studies have shown that significant benefits in terms of engine efficiency and emissions can be obtained through the adoption of variable valve actuation. Current engine technology are based on the use of a mechanical driven camshaft, which i...
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.
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.
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.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Energy Technology Data Exchange (ETDEWEB)
Mohamed, Eid [Automotive and Tractors Engineering, Faculty of Engineering, Helwan University, Cairo (Egypt)
2012-07-01
Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC) engines. Applications of solenoid valve actuators in (IC) engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA) uses solenoid to actuate valve movement independently for the application of (IC) engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA) structure by incorporating the hybrid magneto-motive force (MMF) implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV) are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR) optimal control is designed with the evaluation reasonable the performance and energy of (EMV) valve are obtained with the design.
Finite element modeling of electromechanical behavior of a dielectric electroactive polymer actuator
Deodhar, Aseem; York, Alexander; Hodgins, Micah; Seelecke, Stefan
2011-04-01
Dielectric Electroactive Polymers (DEAP) will undergo large deformations when subject to an electric field making them an attractive material for use in novel actuator systems. There are many challenges with successful application and design of DEAP actuators resulting from their inherent electromechanical coupling and non-linear material behavior. FE modeling of the material behavior is a useful tool to better understand such systems and aid in the optimal design of prototypes. These modeling efforts must account for the electromechanical coupling in order to accurately predict their response to multiple loading conditions expected during real operating conditions. This paper presents a Finite Element model of a dielectric elastomer undergoing out-of-plane, axisymmetric deformation. The response of the elastomer was investigated while it was subjected to mechanical and electric fields and combined electro-mechanical actuation. The compliant electrodes have a large effect on the mechanical behavior of the EAP which needs to be taken into consideration while modeling the EAP as a system. The model is adapted to include the effect of electrode stiffness on the mechanical response of the actuator. The model was developed using the commercial Finite Element Modeling software, COMSOL. The results from the mechanical simulations are presented in the form of forcedisplacement curves and are validated with comparisons to experimental results. Electromechanical simulations are carried out and the stroke of the actuator for different electrode stiffness values is compared with experimental values when the EAP is biased with a constant force.
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.
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.
Directory of Open Access Journals (Sweden)
Jian Fu
2017-02-01
Full Text Available In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
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.
Qi, Xiaohua; Yang, Liang; Yan, Huijie; Jin, Ying; Hua, Yue; Ren, Chunsheng
2016-10-01
The surface dielectric barrier discharge (SDBD) plasma actuator has shown great promise as an aerodynamic flow control device. In this paper, the encapsulated electrode width of a SDBD actuator is changed to study the airflow acceleration behavior. The effects of encapsulated electrode width on the actuator performance are experimentally investigated by measuring the dielectric layer surface potential, time-averaged ionic wind velocity and thrust force. Experimental results show that the airflow velocity and thrust force increase with the encapsulated electrode width. The results can be attributed to the distinct plasma distribution at different encapsulated electrode widths. supported by National Natural Science Foundation of China (No. 11175037), National Natural Science Foundation for Young Scientists of China (No. 11305017) and Special Fund for Theoretical Physics (No. 11247239)
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.
Inverse grey-box model-based control of a dielectric elastomer actuator
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...
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.
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.
2011-12-15
architecture be chosen. The mechanical arrangements for submarine control surface controls can take several different forms (e.g., as described in [1]). For the...Power Density (Watts/kg) E n e g y D e n si ty ( Jo u le s/ kg ) Ragone chart - Energy vs. Power delivery pro!le Batteries Flywheels Ultra Capacitors...accomplished using the Ragone chart in Figure 13. The energy storage mechanism must contain a large energy density in comparison to the relative power
Brunet, Philippe; Baudoin, Michael; Matar, Olivier Bou; Zoueshtiagh, Farzam
2010-11-01
Surface acoustic waves (SAW) are known to be a versatile technique for the actuation of sessile drops. Droplet displacement, internal mixing or drop splitting, are amongst the elementary operations that SAW can achieve, which are useful on lab-on-chip microfluidics benches. On the purpose to understand the underlying physical mechanisms involved during these operations, we study experimentally the droplet dynamics varying different physical parameters. Here in particular, the influence of liquid viscosity and acoustic frequency is investigated: it is indeed predicted that both quantities should play a role in the acoustic-hydrodynamic coupling involved in the dynamics. The key point is to compare the relative magnitude of the attenuation length, i.e. the scale within which the acoustic wave decays in the fluid, and the size of the drop. This relative magnitude governs the relative importance of acoustic streaming and acoustic radiation pressure, which are both involved in the droplet dynamics.
Development of a dc Motor Model and an Actuator Efficiency Model
Energy Technology Data Exchange (ETDEWEB)
Watkins, John Clifford; Mc Kellar, Michael George; DeWall, Kevin George
2001-07-01
For the past several years, researchers at the Idaho National Engineering and Environmental Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission, have been investigating the ability of motor-operated valves (MOVs) used in Nuclear Power Plants to close or open when subjected to design basis flow and pressure loads. Part of this research addresses the response of a dcpowered motor-operated gate valve to assess whether it will achieve flow isolation and to evaluate whether it will slow down excessively under design-basis conditions and thus fail to achieve the required stroke time. As part of this research, we have developed a model of a dc motor operating under load and a model of actuator efficiency under load based on a first principle evaluation of the equipment. These models include the effect that reduced voltage at the Motor Control Center and elevated containment temperatures have on the performance of a dc powered MOV. The model also accounts for motor torque and speed changes that result from the heatup of the motor during the stroke. These models are part of the Motor- Operated Valve In Site Test Assessment (MISTA) software which is capable of independently evaluating the ability of dc-powered motoroperated gate valves to achieve flow isolation and to meet required stroke times under design-basis conditions. This paper presents an overview of the dc motor model and the actuator efficiency under load model. The paper then compares the analytical results from the models with the results of actual dc motor and actuator testing, including comparisons of the effect reduced voltage, elevated containment temperature, and motor heating during the stroke have on an MOV.
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.
Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.
Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei
2017-01-13
WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.
Shivapooja, Phanindhar; Wang, Qiming; Szott, Lizzy M; Orihuela, Beatriz; Rittschof, Daniel; Zhao, Xuanhe; López, Gabriel P
2015-01-01
Many strategies have been developed to improve the fouling release (FR) performance of silicone coatings. However, biofilms inevitably build on these surfaces over time. Previous studies have shown that intentional deformation of silicone elastomers can be employed to detach biofouling species. In this study, inspired by the methods used in soft-robotic systems, controlled deformation of silicone elastomers via pneumatic actuation was employed to detach adherent biofilms. Using programmed surface deformation, it was possible to release > 90% of biofilm from surfaces in both laboratory and field environments. A higher substratum strain was required to remove biofilms accumulated in the field environment as compared with laboratory-grown biofilms. Further, the study indicated that substratum modulus influences the strain needed to de-bond biofilms. Surface deformation-based approaches have potential for use in the management of biofouling in a number of technological areas, including in niche applications where pneumatic actuation of surface deformation is feasible.
Continuum damage model for ferroelectric materials and its application to multilayer actuators
Gellmann, Roman; Ricoeur, Andreas
2016-05-01
In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.
Port-Hamiltonian Modeling of a Nonlinear Timoshenko Beam with Piezo Actuation
Voss, Thomas; Scherpen, Jacquelien M. A.
2014-01-01
In this paper we develop a mathematical model for the dynamics of a nonlinear Timoshenko beam with piezoelectric actuation. This model can then be used to design controllers with the goal of achieving a desired shape of the beam. The control scheme can be used for several applications, e. g., vibrat
So, Hongyun
2013-10-31
© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.
Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.
Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing
2016-08-22
Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications.
Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators
Prattico, Flavio; Yamamoto, Shin-ichiroh
2014-01-01
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.
Methods for modeling and control of systems with hysteresis of shape memory alloy actuators
Wang, Yu Feng
Hysteresis widely exists in smart materials such as shape memory alloys (SMAs), piezoelectrics, magnetorheological (MR) fluids, electrorheological (ER) fluids and so on. It severely affects the applicability of such materials in actuators and sensors. In this thesis, problems of modeling and control of systems with hysteresic SMAs actuators are studied. The approaches are also applicable to control of a wide class of smart actuators. Hysteresis exhibited by SMAs actuators is rate-independent when the input frequency is low, and can be modeled by a classical Preisach model or a KP model. The classical Preisach hysteresis model is a foundation of other hysteresis models. In this thesis, traditional methods are explained in advance to identify and implement the classical Preisach model. Due to the extremely large amount of computation involved in the methods, a new form of the Preisach model, linearly parameterized Preisach model, is introduced, and then an effective method to implement the model is presented. The KP model is a more effective operator to describe the Preisach class of hysteresis than the Preisach model. The relationship between the two models is revealed to verify the effectiveness of the KP model. Also, a linearly parameterized KP model is proposed. For both of the Preisach hysteresis model and the KP hysteresis model, algorithms of inverse hysteresis operators are developed, and simulations for modeling and inverse compensation are conducted. Since the Preisach model and the KP model can only describe hysteresis which has saturation states and reverse curves with zero initial slopes, a novel hysteresis model is defined to overcome these shortcomings. The newly defined hysteresis model is a low dimensional hysteresis model and can describe hysteresis which has revertible linear parts and reverse curves with non-zero initial slopes. The problems for controlling systems with input hysteresis have been pursued along three different paths: inverse
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.
A multiscale approach for modeling actuation response of polymeric artificial muscles.
Sharafi, Soodabeh; Li, Guoqiang
2015-05-21
Artificial muscles are emerging materials in the field of smart materials with applications in aerospace, robotic, and biomedical industries. Despite extensive experimental investigations in this field, there is a need for numerical modeling techniques that facilitate cutting edge research and development. This work aims at studying an artificial muscle made of twisted Nylon 6.6 fibers that are highly cold-drawn. A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes. Two types of molecular chains are considered at the micro-scale level that control training and actuation processes viz. (a) helically oriented chains which are structural switches that store a twisted shape in their low temperature phase and restore their random configuration during the thermal actuation process, and (b) entropic chains which are highly drawn chains that could actuate as soon as the muscle heats up, and saturates when coil contact temperature is reached. The thermal actuation response of the muscle over working temperatures has been elaborated in the Modeling section. The performance of the model is validated by available experiments in the literature. The model may provide a design platform for future artificial muscle developments.
Eversion of bistable shells under magnetic actuation: a model of nonlinear shapes
Seffen, Keith A.; Vidoli, Stefano
2016-06-01
We model in closed form a proven bistable shell made from a magnetic rubber composite material. In particular, we incorporate a non-axisymmetrical displacement field, and we capture the nonlinear coupling between the actuated shape and the magnetic flux distribution around the shell. We are able to verify the bistable nature of the shell and we explore its eversion during magnetic actuation. We show that axisymmetrical eversion is natural for a perfect shell but that non-axisymmetrical eversion rapidly emerges under very small initial imperfections, as observed in experiments and in a computational analysis. We confirm the non-uniform shapes of shell and we study the stability of eversion by considering how the landscape of total potential and magnetic energies of the system changes during actuation.
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.
Near-surface gravity actuated pipe (GAP{sup TM}) system for Brazilian deepwater fluid transfer
Energy Technology Data Exchange (ETDEWEB)
Fromage, Lionel; Brown, Paul A. [SBM Offshore (Monaco)
2009-12-19
The recent discovery of new deep water and ultra-deep water oil and gas fields offshore Brazil, including pre-salt reservoirs, has become a focal point for field development Operators and Contractors. The aggressive nature of fluids (sour, high density) in combination with deeper waters implies potential flow assurance issues. These issues challenge riser and pipeline technology to find cost effective solutions for hydrocarbon fluid transfer in field development scenarios involving phased tied-back. The near-surface GAP{sup TM}, system (Gravity Actuated Pipe{sup TM}), which has been in operation for more than two years on the Kikeh field offshore Malaysia in 1325 m of water between a Dry Tree Unit (SPAR) and a turret-moored FPSO, is considered to meet these challenges since such a product is quasi independent of water depth and takes advantage of being near surface to optimize flow assurance. Furthermore the GAP{sup TM} has undergone technical upgrades when compared to the Kikeh project in order to make it suitable for the more hostile met ocean conditions offshore Brazil. This paper presents the design features, the construction and assembly plans in Brazil and the offshore installation of a GAP fluid transfer system for operation in Brazilian deep waters. (author)
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.
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.
Modeling the Kelvin polarization force actuation of Micro- and Nanomechanical systems
DEFF Research Database (Denmark)
Schmid, Silvan; Hierold, C.; Boisen, Anja
2010-01-01
Polarization forces have become of high interest in micro- and nanomechanical systems. In this paper, an analytical model for a transduction scheme based on the Kelvin polarization force is presented. A dielectric beam is actuated by placing it over the gap of two coplanar electrodes. Finite elem...
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....
Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks
Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei
2017-01-01
WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator’s mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost. PMID:28098748
The design, hysteresis modeling and control of a novel SMA-fishing-line actuator
Xiang, Chaoqun; Yang, Hui; Sun, Zhiyong; Xue, Bangcan; Hao, Lina; Asadur Rahoman, M. D.; Davis, Steve
2017-03-01
Fishing line can be combined with shape memory alloy (SMA) to form novel artificial muscle actuators which have low cost, are lightweight and soft. They can be applied in bionic, wearable and rehabilitation robots, and can reduce system weight and cost, increase power-to-weight ratio and offer safer physical human-robot interaction. However, these actuators possess several disadvantages, for example fishing line based actuators possess low strength and are complex to drive, and SMA possesses a low percentage contraction and has high hysteresis. This paper presents a novel artificial actuator (known as an SMA-fishing-line) made of fishing line and SMA twisted then coiled together, which can be driven directly by an electrical voltage. Its output force can reach 2.65 N at 7.4 V drive voltage, and the percentage contraction at 4 V driven voltage with a 3 N load is 7.53%. An antagonistic bionic joint driven by the novel SMA-fishing-line actuators is presented, and based on an extended unparallel Prandtl-Ishlinskii (EUPI) model, its hysteresis behavior is established, and the error ratio of the EUPI model is determined to be 6.3%. A Joule heat model of the SMA-fishing-line is also presented, and the maximum error of the established model is 0.510 mm. Based on this accurate hysteresis model, a composite PID controller consisting of PID and an integral inverse (I-I) compensator is proposed and its performance is compared with a traditional PID controller through simulations and experimentation. These results show that the composite PID controller possesses higher control precision than basic PID, and is feasible for implementation in an SMA-fishing-line driven antagonistic bionic joint.
Gu, Guo-Ying; Yang, Mei-Ju; Zhu, Li-Min
2012-06-01
This paper presents a novel real-time inverse hysteresis compensation method for piezoelectric actuators exhibiting asymmetric hysteresis effect. The proposed method directly utilizes a modified Prandtl-Ishlinskii hysteresis model to characterize the inverse hysteresis effect of piezoelectric actuators. The hysteresis model is then cascaded in the feedforward path for hysteresis cancellation. It avoids the complex and difficult mathematical procedure for constructing an inversion of the hysteresis model. For the purpose of validation, an experimental platform is established. To identify the model parameters, an adaptive particle swarm optimization algorithm is adopted. Based on the identified model parameters, a real-time feedforward controller is implemented for fast hysteresis compensation. Finally, tests are conducted with various kinds of trajectories. The experimental results show that the tracking errors caused by the hysteresis effect are reduced by about 90%, which clearly demonstrates the effectiveness of the proposed inverse compensation method with the modified Prandtl-Ishlinskii model.
Lin, Jhih-Hong; Chiang, Mao-Hsiung
2016-08-25
Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.
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.
A multi-physical model of actuation response in dielectric gels
Li, Bo; Chang, LongFei; Asaka, Kinji; Chen, Hualing; Li, Dichen
2016-12-01
Actuation deformation of a dielectric gel is attributed to: the solvent diffusion, the electrical polarization and material hyperelasticity. A multi-physical model, coupling electrical and mechanical quantities, is established, based on the thermodynamics. A set of constitutive relations is derived as an equation of state for characterization. The model is applied to specific cases as effective validations. Physical and chemical parameters affect the performance of the gel, showing nonlinear deformation and instability. This model offers guidance for engineering application.
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.
Directory of Open Access Journals (Sweden)
Thomas Sinn
2015-07-01
Full Text Available The use of morphing components on aerospace structures can greatly increase the versatility of an aircraft. This paper presents the design, manufacturing and testing of a new kind of adaptive airfoil with actuation through Shape Memory Alloys (SMA. The developed adaptive flap system makes use of a novel actuator that employs SMA wires in an antagonistic arrangement with a Post-Buckled Precompressed (PBP mechanism. SMA actuators are usually used in an antagonistic arrangement or are arranged to move structural components with linearly varying resistance levels similar to springs. Unfortunately, most of this strain energy is spent doing work on the passive structure rather than performing the task at hand, like moving a flight control surface or resisting air loads. A solution is the use of Post-Buckled Precompressed (PBP actuators that are arranged so that the active elements do not waste energy fighting passive structural stiffnesses. One major problem with PBP actuators is that the low tensile strength of the piezoelectric elements can often result in tensile failure of the actuator on the convex face. A solution to this problem is the use of SMA as actuator material due to their tolerance of tensile stresses. The power consumption to hold deflections is reduced by approximately 20% with the Post-Buckled Precompressed mechanism. Conventional SMAs are essentially non-starters for many classes of aircraft due to the requirement of holding the flight control surfaces in a given position for extremely long times to trim the vehicle. For the reason that PBP actuators balance out air and structural loads, the steady-state load on the SMAs is essentially negligible, when properly designed. Simulations and experiments showed that the SMAPBP actuator shows tip rotations on the order of 45°, which is nearly triple the levels achieved by piezoelectric PBP actuators. The developed SMAPBP actuator was integrated in a NACA0012 airfoil with a flexible skin
Luo, J.; Olthuis, W.; Bergveld, P.; Bos, M.; Linden, van der W.E.
1993-01-01
The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed ISFET-base
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid
2016-07-25
This article presents and compares different approaches to develop reduced order models for the nonlinear von Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. Results among the various reduced-order modes are compared and are also validated by comparing to results of the finite-element model. Further, the reduced order models are employed to capture the forced dynamic response of the microplate under small and large vibration amplitudes. Comparison of the different approaches are made for this case. Keywords: electrically actuated microplates, static analysis, dynamics of microplates, diaphragm vibration, large amplitude vibrations, nonlinear dynamics
Electrowetting actuated microfluidic transport in surface grooves with triangular cross section.
Barman, Jitesh; Swain, Digendranath; Law, Bruce M; Seemann, Ralf; Herminghaus, Stephan; Khare, Krishnacharya
2015-01-27
Liquids show different static wetting morphologies in open triangular grooves depending upon the wedge angle (ψ) of the groove and the liquid contact angle (θ) with the substrate. Switching between different morphologies can be achieved either by varying the contact angle of the liquid or by changing the wedge angle of the groove. In the present work we manipulate the apparent contact angle of a liquid by electrowetting to switch between liquid morphologies, from droplet to filament, to achieve microfluidic transport of the liquid into open triangular grooves. The static length of liquid filaments in grooves is analyzed as a function of applied voltage for different applied ac frequencies. The dynamic advancement of the filament lengths in grooves is analyzed as a function of time for different applied voltages for two different liquids: first with contact angle greater than the wedge angle and second with contact angle smaller than the wedge angle. Later an exact electrical model is derived to explain the liquid transport in triangular grooves actuated by electrowetting which includes the precise geometry of the liquid morphology.
Modeling and Control for Giant Magnetostrictive Actuators with Rate-Dependent Hysteresis
Directory of Open Access Journals (Sweden)
Ping Liu
2013-01-01
Full Text Available The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a relevance vector machine (RVM model is proposed for describing the hysteresis nonlinearity under varying input current. It is possible to construct a unique dynamic model in a given rate range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set input signal. Subsequently, a proportional integral derivative (PID control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator (GMA for real-time precise trajectory tracking. Simulations and experiments both verify the effectiveness and the practicality of the proposed modeling and control methods.
Demerdash, N. A.; Nehl, T. W.
1979-01-01
A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.
Zhao, Hui; Xie, Xiaopeng; Ren, Guorui; Du, Yunfei; Liu, Meiying; Wei, Jingxuan
2016-10-01
In recent years, a novel optical zooming technique has been paid much attention. With the help of optical leveraging effect, it is possible to alter the system focal length dramatically without moving elements involved in by only changing the curvature radius of VCM (variable curvature mirror) slightly. With no doubt, VCM is the key to realize non-moving element optical zooming and it has to provide large enough saggitus variation while still maintaining the high surface figure accuracy to ensure high quality imaging. In our previously published paper, an annular force based VCM has been designed, fabricated and tested. Experiments demonstrate that with the aperture of 100mm and thickness of 2mm, the VCM could generate a large saggitus variation exceeding 30λ (λ=632.8nm). However, the optical quality degrades very fast and this makes such a VCM unsuitable for optical imaging in visible band. Therefore in this manuscript, a multipoint actuation array, which is composed of totally 49 piezoelectric actuators, is embedded into the annular structure to aim to correct the surface figure distortion caused by large saggitus variation. The new structure model has been designed and numerical simulation indicates that the surface figure distortion could be well corrected as long as the degraded surface figure accuracy is better than 1.8λ (λ=632.8nm) (RMS). Based on this, a new prototype VCM is being fabricated and intermediate results are reported here.
Directory of Open Access Journals (Sweden)
Felipe Treviso
2016-03-01
Full Text Available This paper presents a study on an induction planar actuator concept. The device uses the same principles as a linear induction motor in which the interaction between a travelling magnetic field and a conducting surface produces eddy currents that leads to the generation of a thrust force and can result in movement over a metallic surface. This can benefit the inspection of metallic surfaces based on the driving platform provided by the induction planar actuator. Equations of the magnetic and electric fields are presented and, by means of these equations, the forces involved were calculated. The behaviour of thrust and normal forces was analysed through the equations and by numerical models, and compared with the results obtained by measurements on a device prototype built in the laboratory as part of the study. With relation to the surface under inspection that forms the secondary, three cases were analysed: (1 a double-layered secondary formed by aluminium and ferromagnetic slabs; (2 a single aluminium layer and (3 a single ferromagnetic layer. Theoretical and measured values of thrust and normal forces showed good correlation.
Treviso, Felipe; Silveira, Marilia A; Flores Filho, Aly F; Dorrell, David G
2016-03-19
This paper presents a study on an induction planar actuator concept. The device uses the same principles as a linear induction motor in which the interaction between a travelling magnetic field and a conducting surface produces eddy currents that leads to the generation of a thrust force and can result in movement over a metallic surface. This can benefit the inspection of metallic surfaces based on the driving platform provided by the induction planar actuator. Equations of the magnetic and electric fields are presented and, by means of these equations, the forces involved were calculated. The behaviour of thrust and normal forces was analysed through the equations and by numerical models, and compared with the results obtained by measurements on a device prototype built in the laboratory as part of the study. With relation to the surface under inspection that forms the secondary, three cases were analysed: (1) a double-layered secondary formed by aluminium and ferromagnetic slabs; (2) a single aluminium layer and (3) a single ferromagnetic layer. Theoretical and measured values of thrust and normal forces showed good correlation.
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.
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.
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.
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 ...
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.
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.
Draper, M.; Guggeri, A.; Usera, G.
2016-09-01
Wind energy has become cost competitive in recent years for several reasons. Among them, wind turbines have become more efficient, increasing its size, both rotor diameter and tower height. This growth in size makes the prediction of the wind flow through wind turbines more challenging. To avoid the computational cost related to resolve the blade boundary layer as well as the atmospheric boundary layer, actuator models have been proposed in the past few years. Among them, the Actuator Line Model (ALM) has shown to reproduce with reasonable accuracy the wind flow in the wake of a wind turbine with moderately computational cost. However, its use to simulate the flow through wind farms requires a spatial resolution and a time step that makes it unaffordable in some cases. The present paper aims to assess the ALM with coarser resolution and larger time step than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition and comparing the results with the Actuator Disk Model with Rotation (ADM-R) and experimental data. To accomplish this, a well known wind tunnel campaign is considered as validation case.
An actuator line model simulation with optimal body force projection length scales
Martinez-Tossas, Luis; Churchfield, Matthew J.; Meneveau, Charles
2016-11-01
In recent work (Martínez-Tossas et al. "Optimal smoothing length scale for actuator line models of wind turbine blades", preprint), an optimal body force projection length-scale for an actuator line model has been obtained. This optimization is based on 2-D aerodynamics and is done by comparing an analytical solution of inviscid linearized flow over a Gaussian body force to the potential flow solution of flow over a Joukowski airfoil. The optimization provides a non-dimensional optimal scale ɛ / c for different Joukowski airfoils, where ɛ is the width of the Gaussian kernel and c is the chord. A Gaussian kernel with different widths in the chord and thickness directions can further reduce the error. The 2-D theory developed is extended by simulating a full scale rotor using the optimal body force projection length scales. Using these values, the tip losses are captured by the LES and thus, no additional explicit tip-loss correction is needed for the actuator line model. The simulation with the optimal values provides excellent agreement with Blade Element Momentum Theory. This research is supported by the National Science Foundation (Grant OISE-1243482, the WINDINSPIRE project).
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets.
Bradley, Stuart
2015-11-20
Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an "actuator" interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator "firings") to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a "cost function" is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.
Active vibration control of a composite wing model using PZT sensors/actuators and virtex: 4 FPGAs
Prakash, Shashikala; Venkatasubramanyam, D. V.; Krishnan, Bharath; Pavate, Aravind; Kabra, Hemant
2009-07-01
The reduction of vibration in Aircraft/Aerospace structures as well as helicopter fuselage is becoming increasingly important. A traditional approach to vibration control uses passive techniques which are relatively large, costly and ineffective at low frequencies. Active Vibration Control (AVC), apart from having benefits in size, weight, volume and cost, efficiently attenuates low frequency vibration. Hitherto this was being achieved using high speed Digital Signal Processors (DSPs). But the throughput requirements of general purpose DSPs have increased very much and the Field Programmable Gate Arrays (FPGAs) have emerged as an alternative. The silicon resources of an FPGA lead to staggering performance gains i.e. they are 100 times faster than DSPs. In the present paper Active Vibration Control of a Composite Research Wing Model is investigated using Piezo electric patches as sensors and PZT bimorph actuators collocated on the bottom surface as secondary actuators. Attempt has been made to realize the State - of - the - Art Active Vibration Controller using the Xilinx System Generator on VIRTEX - 4 FPGA. The control has been achieved by implementing the Filtered-X Least Mean Square (FXLMS) based adaptive filter on the FPGA. Single channel real time control has been successfully implemented & tested on the composite research wing model.
Leigh, Timothy D.; Zimmerman, David C.
1991-01-01
Experiments have shown that piezoceramic materials display a nonlinear relationship between the applied electric field and the actuation strain. This relationship also displays a substantial hysteresis upon reversal of the applied field. In this paper, piezoceramic actuator models are incorporated into the structural equations of motion to arrive at a set of nonlinear actively controlled structural equations of motion. A new implicit algorithm for determining the time history of the actively controlled structure is presented. The algorithm employs the trapezoidal rule for stepping the equations forward in time. The algorithm is compared to an explicit algorithm and is shown to provide greater numerical accuracy. In addition, the numerical stability and convergence characteristics are presented via example. The new algorithm displays convergence and stability properties that are comparable to the standard trapezoidal rule used for dynamic systems without hysteresis.
An analytical model for electrode-ceramic interaction in multilayer piezoelectric actuators
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.
Finite element modeling and fabrication of an SMA-SMP shape memory composite actuator
Souri, Mohammad
Shape memory alloys and polymers have been extensively researched recently because of their unique ability to recover large deformations. Shape memory polymers (SMPs) are able to recover large deformations compared to shape memory alloys (SMAs), although SMAs have higher strength and are able to generate more stress during recovery. This project focuses on procedure for fabrication and Finite Element Modeling (FEM) of a shape memory composite actuator. First, SMP was characterized to reveal its mechanical properties. Specifically, glass transition temperature, the effects of temperature and strain rate on compressive response and recovery properties of shape memory polymer were studied. Then, shape memory properties of a NiTi wire, including transformation temperatures and stress generation, were investigated. SMC actuator was fabricated by using epoxy based SMP and NiTi SMA wire. Experimental tests confirmed the reversible behavior of fabricated shape memory composites. (Abstract shortened by ProQuest.).
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.
Using squeeze-film effect to reduce surface friction in electrostatic actuators
DEFF Research Database (Denmark)
Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio; Zhang, Zhe;
2015-01-01
This paper presents a method of reducing load friction in two degrees-of-freedom (2-DOF) transparent electrostatic induction actuator by using vibration-induced squeeze film effect. An experimental set-up was built to prove the concept. An overall 70% reduction in required driving voltage...
Honma, H.; Mitsudome, M.; Ishida, M.; Sawada, K.; Takahashi, K.
2017-03-01
We report a tunable plasmonic color filter consisting of a metamaterial periodic grating and microelectromechanical systems (MEMS) actuator. An aluminum subwavelength grating is integrated with electrostatic comb-drive actuators to expand the metal subwavelength period, which allows continuous control of the excitation wavelength of surface plasmons (SPs). We develop a batch fabrication process by employing a liftoff technique using an electron beam resist altered by the electron dose depending on different aspect ratios (length/width) for various components such as the subwavelength grating, nanohinge flexural suspensions, and comb fingers. We successfully demonstrate a continuous shift in the excitation wavelength over the 514–635 nm range by nanopitch expansion. The design margin of the grating period for SP excitation is evaluated by comparing the experimental pitch variation and theoretically calculated values. The resonance frequency of the tunable filter is optically measured to be approximately 10 kHz. The optically and mechanically obtained values agree well with the theory of electrostatic actuation and finite-difference time-domain simulation.
Mechanics of Actuated Disc Cutting
Dehkhoda, Sevda; Detournay, Emmanuel
2017-02-01
This paper investigates the mechanics of an actuated disc cutter with the objective of determining the average forces acting on the disc as a function of the parameters characterizing its motion. The specific problem considered is that of a disc cutter revolving off-centrically at constant angular velocity around a secondary axis rigidly attached to a cartridge, which is moving at constant velocity and undercutting rock at a constant depth. This model represents an idealization of a technology that has been implemented in a number of hard rock mechanical excavators with the goal of reducing the average thrust force to be provided by the excavation equipment. By assuming perfect conformance of the rock with the actuated disc as well as a prescribed motion of the disc (perfectly rigid machine), the evolution of the contact surface between the disc and the rock during one actuation of the disc can be computed. Coupled with simple cutter/rock interaction models that embody either a ductile or a brittle mode of fragmentation, these kinematical considerations lead to an estimate of the average force on the cartridge and of the partitioning of the energy imparted by the disc to the rock between the actuation mechanism of the disc and the translation of the cartridge on which the actuated disc is attached.
Patre, Parag; Joshi, Suresh M.
2011-01-01
Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102
Energy Technology Data Exchange (ETDEWEB)
Khan, S H [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Cai, M [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Grattan, K T V [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Kajan, K [Measurement and Instrumentation Centre, School of Engineering and Mathematical Sciences, City University, Northampton Square, London EC1V 0HB (United Kingdom); Honeywood, M [Sortex Limited, Pudding Mill Lane, London E15 2PJ (United Kingdom); Mills, S [Sortex Limited, Pudding Mill Lane, London E15 2PJ (United Kingdom)
2005-01-01
Electromagnetic (EM) solenoid actuators are widely used in many applications such as the automobile, aerospace, printing and food industries where repetitive, often high-speed linear or rotating motions are required. In some of these applications they are used as highspeed 'switching' valves for switching pneumatic channels. This paper describes the finite element (FE) modelling and design of high-speed solenoid actuators. Operating at frequencies between 150-300 Hz, these actuators are unique in terms of the large force they produce (8-15 N) and the requirement for very long lifetime (2-5 billion cycles). The complex nature of electromagnetic, motional and thermal problems is discussed. The methodologies for FE modelling of such high-performance actuators are developed and discussed. These are used for modelling, design, performance evaluation and prediction of the above high-speed actuators. Modelling results showing some of the key design features of the actuators are presented in terms of force produced as a function of various design parameters.
Directory of Open Access Journals (Sweden)
Murali Muniraj
2015-01-01
Full Text Available A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.
Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin
2016-07-01
Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.
Abel, Julianna; Luntz, Jonathan; Brei, Diann
2012-08-01
Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.
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.
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.
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.
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.
Yan, Huijie; Yang, Liang; Qi, Xiaohua; Ren, Chunsheng
2015-02-01
The effect of a DC bias on the electrohydrodynamics (EHD) force induced by a surface dielectric barrier AC discharge actuator for airflow control at the atmospheric pressure is investigated. The measurement of the surface potential due to charge deposition at different DC biases is carried out by using a special designed corona like discharge potential probe. From the surface potential data, the plasma electromotive force is shown not affected much by the DC biases except for some reduction of the DC bias near the exposed electrode edge for the sheath-like configuration. The total thrust is measured by an analytical balance, and an almost linear relationship to the potential voltage at the exposed electrode edge is found for the direct thrust force. The temporally averaged ionic wind characteristics are investigated by Pitot tube sensor and schlieren visualization system. It is found that the ionic wind velocity profiles with different DC biases are almost the same in the AC discharge plasma area but gradually diversified in the further downstream area as well as the upper space away from the discharge plasma area. Also, the DC bias can significantly modify the topology of the ionic wind produced by the AC discharge actuator. These results can provide an insight into how the DC biases to affect the force generation.
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.
High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.
Gu, Guoying; Zhu, Limin
2010-08-01
In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.
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.
Design and modeling of a novel fibrous shape memory alloy (SMA) actuator
Shahinpoor, Mohsen; Wang, Guoping
1994-05-01
Presented is a novel design of a composite linear actuator utilizing a parallel array of contractile shape-memory alloy (SMA) wires. The fiber bundle of SMA wires is either circumscribed inside a helical compression spring with flat heads or are in parallel with a number of helical compression springs, end-capped by two parallel circular plates with embedded electrodes to which the ends of the SMA wires are secured. Thus, the wires can be electrically heated and subsequently contracted to compress the helical compression spring. Upon cooling the SMA wires expand and allow the helical compression spring to tightly stretch them to their initial length. Design details are first fully described. Steps involved in the fabrication of a number of these composite SMA actuators are then elaborated on. A number of interesting heat transfer phenomena are observed. In essence the dynamic behavior of the actuator depends on the interaction between the current supplied to the wires and the rate of heat transfer from the wires due to convection and radiation. A design model is finally presented for the dynamic response of contractile fiber bundles embedded in or around elastic springs that are either linear helical compression springs, hyperelastic springs such as rubberlike materials, or nonlinear springs such as air. The fiber bundle is assumed to consist of a parallel array of contractile fibers made from contractile shape-memory alloy (SMA) wires. The proposed model considers the temperature- induced contraction of the fibers due to resistive heating of the shape-memory wires. Results of both dynamic computer simulation and dynamics of a prototype model built in our laboratory indicate a fairly good comparison.
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...
Vereshchagina, E.; Gardeniers, J. G. E.
2009-05-01
Over the last twenty years, we have followed a rapid expansion in the development of chemical sensors and microreactors for detection and analysis of volatile organic compounds. However, for many of the developed gas sensors poor sensitivity and selectivity, and high-power consumption remain among one of the main drawbacks. One promising approach to increase selectivity at lower power consumption is calorimetric sensing, performed in a pulsed regime and using specific catalytic materials. In this work, we study kinetics of various catalytic oxidation reactions using micromachined hot surface polysilicon-based sensor containing sensitive and selective catalysts. The sensor acts as both thermal actuator of chemical and biochemical reactions on hot-surfaces and detector of heats (enthalpies) associated with these reactions. Using novel deposition techniques we integrated selective catalysts in an array of hot plates such that they can be thermally actuated and sensed individually. This allows selective detection and analysis of dangerous gas compounds in a mixture, specifically hydrocarbons at concentrations down to low ppm level. In this contribution we compare various techniques for the local immobilization of catalytic material on hot spots of the sensor in terms of process compatibility, mechanical stress, stability and cost.
LES of wind farm response to transient scenarios using a high fidelity actuator disk model
Moens, M.; Duponcheel, M.; Winckelmans, G.; Chatelain, P.
2016-09-01
Large eddy simulations coupled to Actuator Disks are used to investigate wake effects in wind farms. An effort is made on the wind turbine model: it uses the prevailing velocities at each point of the disk to estimate the aerodynamic loads and is improved using a tip-loss correction and realistic control schemes. This accurate and efficient tool is used to study the wind farm response in terms of flow and power production during an unsteady scenario: this work focuses on an emergency shutdown of one rotor inside a wind farm.
Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan
2014-01-01
As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Directory of Open Access Journals (Sweden)
Miaolei Zhou
Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Towards a model-based development approach for wireless sensor-actuator network protocols
DEFF Research Database (Denmark)
Kumar S., A. Ajith; Simonsen, Kent Inge
2014-01-01
Model-Driven Software Engineering (MDSE) is a promising approach for the development of applications, and has been well adopted in the embedded applications domain in recent years. Wireless Sensor Actuator Networks consisting of resource constrained hardware and platformspecific operating system...... induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...... 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....
Validation of the actuator disc approach in PHOENICS using small scale model wind turbines
Simisiroglou, N.; Sarmast, S.; Breton, S.-P.; Ivanell, S.
2016-09-01
In this study two wind turbine setups are investigated numerically: (a) the flow around a single model wind turbine and (b) the wake interaction between two in-line model wind turbines. This is done by using Reynolds averaged Navier-Stokes (RANS) and an actuator disc (ACD) technique in the computational fluid dynamics code PHOENICS. The computations are conducted for the design condition of the rotors using four different turbulence closure models. The computed axial velocity field as well as the turbulent kinetic energy are compared with PIV measurements. For the two model wind turbine setup, the thrust and power coefficient are also computed and compared with measurements. The results show that this RANS ACD method is able to predict the overall behaviour of the flow with low computational effort and that the turbulence closure model has a direct effect on the predicted wake development.
Analysis of Foot Slippage Effects on an Actuated Spring-mass Model of Dynamic Legged Locomotion
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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.
Laib, Khaled; Megnous, Ahmed Rhéda; Pham, Minh Tu; Lin-Shi, Xuefang
2016-01-01
This report presents an averaged model and nonlinear observer for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The averaged model is elaborated which has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a sliding mode observer is designed using the piston's position and the pressure measurements in one of the chambers to estimate the piston velocity and the pressure in the other ...
Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M
2016-11-01
The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP.
Hydrological land surface modelling
DEFF Research Database (Denmark)
Ridler, Marc-Etienne Francois
to imperfect model forecasts. It remains a crucial challenge to account for system uncertainty, so as to provide model outputs accompanied by a quantified confidence interval. Properly characterizing and reducing uncertainty opens-up the opportunity for risk-based decision-making and more effective emergency...... and disaster management. The objective of this study is to develop and investigate methods to reduce hydrological model uncertainty by using supplementary data sources. The data is used either for model calibration or for model updating using data assimilation. Satellite estimates of soil moisture and surface...... temperature are explored in a multi-objective calibration experiment to optimize the parameters in a SVAT model in the Sahel. The two satellite derived variables were effective at constraining most land-surface and soil parameters. A data assimilation framework is developed and implemented with an integrated...
Ghanbari, Mina; Hossainpour, Siamak; Rezazadeh, Ghader
2015-11-01
This paper deals with the analysis of a novel micro-electromechanical sensor for measurement of microscale fluid physical properties. The proposed sensor is made up of a micro-beam with one end fixed and a micro-plate as a sensing element at its free end, which is immersed in a microscale fluid media. As fluids show different behavior in microscale than in macroscale, the microscale fluid media have been modeled based on micro-polar theory. So non-classical properties of fluid that are absent in macroscale flows need to be measured. In order to actuate the sensor longitudinally, an AC voltage is applied to the piezoelectric layers on the upper and lower surfaces of the micro-beam. Coupled governing partial differential equations of motion of the fluid field and longitudinal vibration of the micro-beam have been derived based on micro-polar theory. The obtained governing differential equations with time-varying boundary conditions have been simplified and transformed to an enhanced form with homogenous boundary conditions. Then, they have been discretized over the beam and fluid domain using Galerkin-based reduced-order model. The dynamic response of the sensing element for different piezoelectric actuation voltages and different exciting frequencies has been studied. It has been shown that by investigating damping and inertial effect fluid loading on response of the micro-beam, properties of a microscale fluid can be measured. At the end, effects of geometrical parameters of the sensor on the response of sensing element have been studied.
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.
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.
Two-spring model for active compression textiles with integrated NiTi coil actuators
Holschuh, B.; Newman, D.
2015-03-01
This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (\\gt 29.6 kPa) while minimizing (\\lt 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications.
Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine
Eid Mohamed
2012-01-01
Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC) engines. Applications of solenoid valve actuators in (IC) engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA) uses solenoid to actuate valve movement independently for the application of (IC) engine. In this work presents the...
Tabesh, Ahmadreza; Fréchette, Luc G.
2008-10-01
The analytical model presented in this paper describes the energy conversion mechanism of a piezoelectric beam (bimorph) under small-deflection static and vibrating conditions. The model provides an improved approach to design and analyze the performance of piezoelectric actuators and energy harvesters (sensors). Conventional models assume a linear voltage distribution over the piezoelectric beam thickness, which is shown here to be invalid. The proposed modeling method improves accuracy by using a quadratic voltage distribution. The equivalent capacitance of a beam shows a 40% discrepancy between a conventional model and the proposed model for PZT5A material. This inaccuracy level is not negligible, especially when the design of micro-power electrical energy harvesting is concerned. The method solves simultaneously the solid mechanics and Maxwell's equations with the constitutive equations for piezoelectric materials. The paper also proposes a phasor-based procedure for measuring the damping of a piezoelectric beam. An experimental setup is developed to verify the validity of the model. The experimental results confirm the accuracy of the improved model and also reveal limitations in using models for small deflections.
DEFF Research Database (Denmark)
Habib, Tufail
2012-01-01
In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about investig......In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about...
Yan, Huijie; Yang, Liang; Qi, Xiaohua; Ren, Chunsheng
2016-07-01
The characteristics of a plate-to-plate AC surface dielectric barrier discharge (SDBD) actuator using the pulse-induced breakdown enhancing method are experimentally investigated. The encapsulated electrode is supplied with a sine high AC voltage, while the exposed electrode is feed by a synchronized pulse voltage. Based on the thrust force and power consumption measurements, a parametric study was performed using a positive pulse applied at the trough phase of the AC cycles in which the thrust force was observed to increase by about 100% to 300% and the efficiency up to about 100% compared with the AC-only supply conditions for different AC voltages within the tested range. The pulse-induced breakdown effect was analyzed from the electrical and light emission waveforms to reveal the underlying mechanism. The surface potential due to the charge deposition effect was also measured using a specially designed corona-like discharge potential probe. It is shown that the pulse-induced breakdown was able to cause a temporarily intensified local electric field to enhance the glow-like discharge and meanwhile increase the time-average surface potential in the region further downstream. The improvement in the force by the enhancement in the pulse-induced breakdown was mainly due to enhancements in the glow-like discharge and the surface potential increment, with the latter being more important when the AC voltage is higher.
Holland, Scott D.
1994-01-01
The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.
Development of Traveling Wave Actuators Using Waveguides of Different Geometrical Forms
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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.
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.
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.
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....
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...
Predictive Surface Complexation Modeling
Energy Technology Data Exchange (ETDEWEB)
Sverjensky, Dimitri A. [Johns Hopkins Univ., Baltimore, MD (United States). Dept. of Earth and Planetary Sciences
2016-11-29
Surface complexation plays an important role in the equilibria and kinetics of processes controlling the compositions of soilwaters and groundwaters, the fate of contaminants in groundwaters, and the subsurface storage of CO_{2} and nuclear waste. Over the last several decades, many dozens of individual experimental studies have addressed aspects of surface complexation that have contributed to an increased understanding of its role in natural systems. However, there has been no previous attempt to develop a model of surface complexation that can be used to link all the experimental studies in order to place them on a predictive basis. Overall, my research has successfully integrated the results of the work of many experimentalists published over several decades. For the first time in studies of the geochemistry of the mineral-water interface, a practical predictive capability for modeling has become available. The predictive correlations developed in my research now enable extrapolations of experimental studies to provide estimates of surface chemistry for systems not yet studied experimentally and for natural and anthropogenically perturbed systems.
Positioning magnetorheological actuator
Energy Technology Data Exchange (ETDEWEB)
Mikhailov, Valery; Bazinenkov, Alexey; Akimov, Igor [Bauman Moscow State Technical University, 2-nd Baumanskaia st. 5, MT-11, 105005, Moscow (Russian Federation); Borin, Dmitry [Technische Universitaet Dresden, Chair of Magnetofluiddynamics, 01062, Dresden (Germany)], E-mail: mikhailov@bmstu.ru
2009-02-01
In this work we consider a construction of a positioning magnetorheological actuator based on bellow units, as well as dynamical model, which include such elements as a magnetically hysteresis, pressure loses in hydraulic system, nonlinearity of rheological behaviour of working fluid. Two operating modes of positioning actuator are taken into account and transients are presented. Dynamical modelling shows possibility for the improvement of a real control system and ensure of submicron precision of positioning with millisecond time of response.
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...
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.)
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.
Narasimhan, Sriram; Roychoudhury, Indranil; Balaban, Edward; Saxena, Abhinav
2010-01-01
Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this approach does not work very well when it is not feasible to create analytic relations describing all the observed data, e.g., for vibration data which is usually sampled at very high rates and requires very detailed finite element models to describe its behavior. In such cases, features (in time and frequency domains) that contain diagnostic information are extracted from the data. Since this is a computationally intensive process, it is not efficient to extract all the features all the time. In this paper we present an approach that combines the analytic model-based and feature-driven diagnosis approaches. The analytic approach is used to reduce the set of possible faults and then features are chosen to best distinguish among the remaining faults. We describe an implementation of this approach on the Flyable Electro-mechanical Actuator (FLEA) test bed.
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.
Han, Ping
2017-01-01
A novel Giant Magnetostrictive Actuator (GMA) experimental system with Fiber Bragg Grating (FBG) sensing technique and its modeling method based on data driven principle are proposed. The FBG sensors are adopted to gather the multi-physics fields' status data of GMA considering the strong nonlinearity of the Giant Magnetostrictive Material and GMA micro-actuated structure. The feedback features are obtained from the raw dynamic status data, which are preprocessed by data fill and abnormal value detection algorithms. Correspondingly the Least Squares Support Vector Machine method is utilized to realize GMA online nonlinear modeling with data driven principle. The model performance and its relative algorithms are experimentally evaluated. The model can regularly run in the frequency range from 10 to 1000 Hz and temperature range from 20 to 100 °C with the minimum prediction error stable in the range from -1.2% to 1.1%.
A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model
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
Olthuis, Wouter; Volanschi, Alex; Bergveld, Piet
1998-01-01
In this paper, a new, simple method to determine dynamic surface tension in aqueous solutions is reported, explained and experimentally verified. By function integration, a small device is obtained. Apart from control and interface electronics no external components or systems are necessary. Instead
Olthuis, Wouter; Volanschi, Alex; Bergveld, Piet
1997-01-01
In this paper, a new, simple method to determine dynamic surface tension in aqueous solutions is reported, explained and experimentally verified. By function integration, a small device is obtained; apart from control and interface electronics no external components or systems are necessary. Instead
Lambert, Tyler Ross; Gurley, Austin; Beale, David
2017-03-01
Shape memory alloys (SMA) can be used to create actuators that are simple, high strength, and inexpensive. These benefits come at the cost of low electrical efficiency, moderate lifetime, and complex mechanical behavior that makes them difficult to design into new applications and products. To improve the integration of SMA actuators—in particular thin SMA wires heated by passing electric current through them—into modern mechanical applications, we have created tools for modeling SMA mechanical and thermal behavior in dynamic systems and under feedback controls. Thermo-electro-mechanical constitutive models are implemented in a multibody dynamics software where they are easily applied to an actuator emplaced in a multibody dynamic system. Mechanical behavior is modeled with 1D constitutive equations. The material state determines the electrical resistivity of the material which drives ohmic heating, while thermal cooling is based on a heat transfer analysis of thin cylinders. These models contain states which are very difficult to measure experimentally (such as crystal phase fraction) and thus provide insight into the material behavior and design that experimental results cannot offer. This thermomechanical model is used in conjunction with sliding mode control—historically difficult to simulate in numerically integrated models—to develop a working ball-on-a-beam setup in which the ball position is controlled via current passed through an SMA wire and with application of an original self-sensing method. The constitutive model is developed in the multibody dynamics software MSC ADAMS and validated through the simulation of the same system.
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.
Development of Control Models and a Robust Multivariable Controller for Surface Shape Control
Energy Technology Data Exchange (ETDEWEB)
Winters, Scott Eric [Univ. of California, Davis, CA (United States)
2003-06-18
Surface shape control techniques are applied to many diverse disciplines, such as adaptive optics, noise control, aircraft flutter control and satellites, with an objective to achieve a desirable shape for an elastic body by the application of distributed control forces. Achieving the desirable shape is influenced by many factors, such as, actuator locations, sensor locations, surface precision and controller performance. Building prototypes to complete design optimizations or controller development can be costly or impractical. This shortfall, puts significant value in developing accurate modeling and control simulation approaches. This thesis focuses on the field of adaptive optics, although these developments have the potential for application in many other fields. A static finite element model is developed and validated using a large aperture interferometer system. This model is then integrated into a control model using a linear least squares algorithm and Shack-Hartmann sensor. The model is successfully exercised showing functionality for various wavefront aberrations. Utilizing a verified model shows significant value in simulating static surface shape control problems with quantifiable uncertainties. A new dynamic model for a seven actuator deformable mirror is presented and its accuracy is proven through experiment. Bond graph techniques are used to generate the state space model of the multi-actuator deformable mirror including piezo-electric actuator dynamics. Using this verified model, a robust multi-input multi-output (MIMO) H_{∞} controller is designed and implemented. This controller proved superior performance as compared to a standard proportional-integral controller (PI) design.
Finite element analysis and validation of dielectric elastomer actuators used for active origami
McGough, Kevin; Ahmed, Saad; Frecker, Mary; Ounaies, Zoubeida
2014-09-01
The field of active origami explores the incorporation of active materials into origami-inspired structures in order to serve as a means of actuation. Active origami-inspired structures capable of folding into complex three-dimensional (3D) shapes have the potential to be lightweight and versatile compared to traditional methods of actuation. This paper details the finite element analysis and experimental validation of unimorph actuators. Actuators are fabricated by adhering layers of electroded dielectric elastomer (3M VHB F9473PC) onto a passive substrate layer (3M Magic Scotch Tape). Finite element analysis of the actuators simulates the electromechanical coupling of the dielectric elastomer under an applied voltage by applying pressures to the surfaces of the dielectric elastomer where the compliant electrode (conductive carbon grease) is present. 3D finite element analysis of the bending actuators shows that applying contact boundary conditions to the electroded region of the active and passive layers provides better agreement to experimental data compared to modeling the entire actuator as continuous. To improve the applicability of dielectric elastomer-based actuators for active origami-inspired structures, folding actuators are developed by taking advantage of localized deformation caused by a passive layer with non-uniform thickness. Two-dimensional analysis of the folding actuators shows that agreement to experimental data diminishes as localized deformation increases. Limitations of using pressures to approximate the electromechanical coupling of the dielectric elastomer under an applied electric field and additional modeling considerations are also discussed.
Kwak, Moon K.; Heo, Seok; Jeong, Moonsan
2009-04-01
This paper is concerned with the dynamic modelling, active vibration controller design and experiments for a cylindrical shell equipped with piezoelectric sensors and actuators. The dynamic model was derived by using Rayleigh-Ritz method based on the Donnel-Mushtari shell theory. The actuator equations which relate the applied voltages to the generalized force and sensor equations which relate the generalized displacements to the sensor output voltages for the piezoelectric wafer were derived based on the pin-force model. The equations of motion along with the piezoelectric sensor equations were then reduced to modal forms considering the modes of interest. An aluminium shell was fabricated to demonstrate the effectiveness of the modelling and control techniques. The boundary conditions at both ends of the shell were assumed to be a shear diaphragm in the numerical analysis. Theoretical natural frequencies of the aluminium shell were then calculated and compared to experimental result. They were in good agreement with experimental result for the first two free-vibration modes. The multi-input and multi-output positive position feedback controller, which can cope with the first two vibration modes, was designed based on the block-inverse theory and was implemented digitally using the DSP board. The experimental results showed that vibrations of the cylindrical shell can be successfully suppressed by the piezoelectric actuator and the proposed controller.
Model identification of terfenol-D magnetostrictive actuator for precise positioning control
Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah
2016-04-01
Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.
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.
Coalescence-induced droplet actuation
Sellier, Mathieu; Verdier, Claude; Nock, Volker
2011-11-01
This work investigates a little explored driving mechanism to actuate droplets: the surface tension gradient which arises during the coalescence of two droplets of liquid having different compositions and therefore surface tensions. The resulting surface tension gradient gives rise to a Marangoni flow which, if sufficiently large, can displace the droplet. In order to understand, the flow dynamics arising during the coalescence of droplets of different fluids, a model has been developed in the lubrication framework. The numerical results confirm the existence of a self-propulsion window which depends on two dimensionless groups representing competing effects during the coalescence: the surface tension contrast between the droplets which promotes actuation and species diffusion which tends to make the mixture uniform thereby anihilating Marangoni flow and droplet motion. In parallel, experiments have been conducted to confirm this self-propulsion behaviour. The experiment consists in depositing a droplet of distilled water on a ``hydrophilic highway.'' This stripe was obtained by plasma-treating a piece of PDMS shielded in some parts by glass coverslips. This surface functionalization was found to be the most convenient way to control the coalescence. When a droplet of ethanol is deposited near the ``water slug,'' coalescence occurs and a rapid motion of the resulting mixture is observed. The support of the Dumont d'Urville NZ-France Science & Technology program is gratefully acknowledged.
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.
Airplane Actuation Trade Study
1983-01-01
the electrical subsystem it is anticipated that 270 HVDC will not always be the most efficient power source. Lighting, instrumentation, avionics...sizing considerations all motor loads such as surface control actuators, fuel pumps, ECS fans and pumps, etc., are regarded as powered by 270 HVDC . All
Actuator concepts and mechatronics
Gilbert, Michael G.; Horner, Garnett C.
1998-06-01
Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.
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.
Quang Truong, Dinh; Ahn, Kyoung Kwan
2014-07-01
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique.
Worthy test programmes and developments of smart electromechanical actuators
Annaz, Fawaz Yahya
2007-02-01
Early aircraft flight control systems were totally manually operated, that is, the force required to move flight control surfaces was generated by the pilot and transmitted by cables and rods. As aerodynamics and airframe technology developed and speeds increased, the forces required to move control surfaces increased, as did the number of surfaces. In order to provide the extra power required, hydraulic technology was introduced. To date, the common element in the development of flight control systems has been, mainly, restricted to this type of technology. This is because of its proven reliability and the lack of alternative technologies. However, the technology to build electromechanically actuated primary flight control systems is now available. Motors developing the required power at the required frequencies are now possible (with the use of high energy permanent magnetic materials and compact high speed electronic circuits). It is this particular development which may make the concept of an 'all electric aircraft' realizable in the near future. The purpose of the all electric aircraft concept is the consolidation of all secondary power systems into electric power. The elimination of hydraulic and pneumatic secondary power systems will improve maintainability, flight readiness and use of energy. This paper will present the development of multi-lane smart electric actuators and offer an insight into other subsequent fields of study. The key areas of study may be categorized as follows. State of the art hydraulic actuators. Electromechanical actuator system test programmes. Development of electromechanical actuators. Modelling of electromechanical actuators.
Mendoza, Victor; Bachant, Peter; Wosnik, Martin; Goude, Anders
2016-09-01
Vertical axis wind turbines (VAWT) can be used to extract renewable energy from wind flows. A simpler design, low cost of maintenance, and the ability to accept flow from all directions perpendicular to the rotor axis are some of the most important advantages over conventional horizontal axis wind turbines (HAWT). However, VAWT encounter complex and unsteady fluid dynamics, which present significant modeling challenges. One of the most relevant phenomena is dynamic stall, which is caused by the unsteady variation of angle of attack throughout the blade rotation, and is the focus of the present study. Dynamic stall is usually used as a passive control for VAWT operating conditions, hence the importance of predicting its effects. In this study, a coupled model is implemented with the open-source CFD toolbox OpenFOAM for solving the Navier-Stokes equations, where an actuator line model and dynamic stall model are used to compute the blade loading and body force. Force coefficients obtained from the model are validated with experimental data of pitching airfoil in similar operating conditions as an H-rotor type VAWT. Numerical results show reasonable agreement with experimental data for pitching motion.
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
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
Magnetic Actuators and Sensors
Brauer, John R.
2005-12-01
Magnetic actuators and sensors are needed to enable computer and manual control of motion.Â Magnetic actuators allow a small electrical signal to move small or large objects.Â To sense the amount of motion, magnetic sensors areÂ frequently used.Â This book provides the most up-to-date coverage of topics important to modern engineers, both electrical and mechanical. The author includes the latest findings and design techniques from computer models.Â The latest software tools are used.
Sensor and actuator modeling of a realistic wheeled mobile robot simulator
José Gonçalves; José Lima; Hélder Filipe Pinto de Oliveira; Paulo José Cerqueira Gomes da Costa
2008-01-01
This paper describes the sensor and actuator modelingof a realistic wheeled mobile robot simulator. The motivationof developing such simulator is to produce a personalizedversatile tool that allows production and validationof robot software reducing considerably the developmenttime. The mobile robot simulator was developed in ObjectPascal with its dynamics based on the ODE (OpenDynamics Engine), allowing to develop robot software fora three wheel omnidirectional robot equipped with Infra-Red ...
Edwards, C. L.; Boone, B. G.; Levine, W. S.; Davis, C. C.
2007-04-01
The availability of recently developed MEMS micro-mirror technology provides an opportunity to replace macro-scale actuators for free-space laser beamsteering in lidar and communication systems. Such an approach is under investigation at the Johns Hopkins University Applied Physics Laboratory for use on space-based platforms. Precision modeling of mirror pointing and its dynamics are critical to optimal design and control of MEMS beamsteerers. Beginning with Hornbeck's torque approach, this paper presents a first-principle, analytically closed-form torque model for an electro-statically actuated two-axis (tip-tilt) MEMS structure. An Euler dynamic equation formulation describes the gimbaled motion as a coupled pair of damped harmonic oscillators with a common forcing function. Static physical parameters such as MEMS mirror dimensions, facet mass, and height are inputs to the model as well as dynamic harmonic oscillator parameters such as damping and restoring constants fitted from measurements. A Taylor series expansion of the torque function provides valuable insights into basic one dimensional as well as two dimensional MEMS behavior, including operational sensitivities near "pull-in." The model also permits the natural inclusion and analysis of pointing noise sources such as electrical drive noise, platform vibration, and molecular Brownian motion. MATLAB and SIMULINK simulations illustrate performance sensitivities, controllability, and physical limitations, important considerations in the design of optimal pointing systems.
Spaggiari, Andrea; Dragoni, Eugenio; Tuissi, Ausonio
2014-07-01
This work aims at the experimental characterization and modeling validation of shape memory alloy (SMA) Negator springs. According to the classic engineering books on springs, a Negator spring is a spiral spring made of strip of metal wound on the flat with an inherent curvature such that, in repose, each coil wraps tightly on its inner neighbor. The main feature of a Negator springs is the nearly constant force displacement behavior in the unwinding of the strip. Moreover the stroke is very long, theoretically infinite, as it depends only on the length of the initial strip. A Negator spring made in SMA is built and experimentally tested to demonstrate the feasibility of this actuator. The shape memory Negator spring behavior can be modeled with an analytical procedure, which is in good agreement with the experimental test and can be used for design purposes. In both cases, the material is modeled as elastic in austenitic range, while an exponential continuum law is used to describe the martensitic behavior. The experimental results confirms the applicability of this kind of geometry to the shape memory alloy actuators, and the analytical model is confirmed to be a powerful design tool to dimension and predict the spring behavior both in martensitic and austenitic range.
Zhu, Wu-Le; Zhu, Zhiwei; Shi, Yi; Wang, Xinwei; Guan, Kaimin; Ju, Bing-Feng
2016-11-01
In this paper, a new piezo-actuated XY parallel compliant mechanism for large workspace nano-positioning with decoupled motions is developed by incorporating a novel Z-shaped flexure hinge (ZFH)-based mechanism into the mirror-symmetrically distributed structure. The bridge-type mechanism and two-stage leverage mechanisms serve as preliminary displacement amplifiers, while further amplification with motion transfer and decoupled output motions are achieved by means of the ZFH mechanism. Based on finite element theory, a high-precision analytical model of the XY compliant mechanism is established by considering all the connecting linkages as flexible components. Through the improved differential evolution algorithm, the optimized compliant mechanism is capable of performing millimeter-scale workspace nano-positioning with decoupled motions. In addition, the input displacement unbalance, resulting from the lateral force which has potential to damage the piezoelectric actuators, is markedly lowered to a negligible value. The performance of the fabricated compliant mechanism with optimized parameters is investigated to well agree with both the analytical model and ANSYS simulation. In addition, based on the inverse kinematics derived from the model and experimental results, different elliptical vibration trajectories are accurately acquired.
Wang, Yanjie; Zhu, Zicai; Liu, Jiayu; Chang, Longfei; Chen, Hualing
2016-08-01
In this paper, the surface of a Nafion membrane was roughened by the sandblasting method, mainly considering the change of sandblasting time and powder size. The roughened surfaces were characterized in terms of their topography from the confocal laser scanning microscope (CLSM) and SEM. The key surface parameters, such as Sa (the arithmetical mean deviation of the specified surface profile), SSA (the surface area ratio before and after roughening) and the area measurement on the histogram from the CLSM images, were extracted and evaluated from the roughened membranes. Also, the detailed change in surface and interfacial electrodes were measured and discussed together with the surface resistance, equivalent modulus, capacitance and performances of IPMC actuators based on the roughened membranes. The results show that a suitable sandblasting condition, resulting in the decrease in the bending stiffness and the increase in the interface area closely related to the capacitance, can effectively increase the electromechanical responses of IPMCs. Although the surface roughening by sandblasting caused a considerable lowering of mechanical strength, it was very effective for enlarging the interfacial area between Nafion membrane and the electrode layers, and for forming a penetrated electrode structure, which facilitated improvement of the surface resistance and capacitance characteristics of IPMCs. In this work, a quantitative relationship was built between the topography of Nafion membrane surface and electromechanical performance of IPMCs by means of sandblasting.
Dynamics of droplet motion under electrowetting actuation.
Annapragada, S Ravi; Dash, Susmita; Garimella, Suresh V; Murthy, Jayathi Y
2011-07-05
The static shape of droplets under electrowetting actuation is well understood. The steady-state shape of the droplet is obtained on the basis of the balance of surface tension and electrowetting forces, and the change in the apparent contact angle is well characterized by the Young-Lippmann equation. However, the transient droplet shape behavior when a voltage is suddenly applied across a droplet has received less attention. Additional dynamic frictional forces are at play during this transient process. We present a model to predict this transient behavior of the droplet shape under electrowetting actuation. The droplet shape is modeled using the volume of fluid method. The electrowetting and dynamic frictional forces are included as an effective dynamic contact angle through a force balance at the contact line. The model is used to predict the transient behavior of water droplets on smooth hydrophobic surfaces under electrowetting actuation. The predictions of the transient behavior of droplet shape and contact radius are in excellent agreement with our experimental measurements. The internal fluid motion is explained, and the droplet motion is shown to initiate from the contact line. An approximate mathematical model is also developed to understand the physics of the droplet motion and to describe the overall droplet motion and the contact line velocities.
Directory of Open Access Journals (Sweden)
Cevher Ak
2014-01-01
Full Text Available This study presents an inverse approach to obtain a relation between applied voltage and displacement of the midpoint of fixed-fixed beam actuator. The approach has two main sections. The first one is the inverse design of a model to replace real action of upper beam under electrostatic force. The formula obtained from the first section does not comprise the residual stress and gives very small errors when there is no residual stress on the upper electrode. So, the second part was carried out to add this important system variable into the formula. Likewise, inverse solution was again applied in the later section. The final formula demonstrates that pull-in limit of clamped-clamped actuator is to be at around 40% of original spacing that is in agreement with simulation and previous experimental results. Its percentage errors are within 2% when compared with simulations that are based on finite element method (FEM. The results are comparable to numerical solutions received from diverse distributed models which require more calculation power in electrostatic and structural domains. On top of that, our formula is valid for all displacements from original position up to pull-in limit.
Experimental measurements and numerical modeling of a thermostress convection-based actuator
Fowee, Katherine; Ibrayeva, Aizhan; Strongrich, Andrew; Alexeenko, Alina
2016-11-01
The capability of gas actuation using thermal gradients in a rarefied gas flow is demonstrated for arrays of interdigitated hot and cold vanes. The force acting on the cold vane array is quantified using a microNewton torsional balance over a range of pressures between 3.8 mTorr to 900 mTorr. Simulations are carried out using the SPARTA direct simulation monte carlo software to elucidate the mechanisms governing force production. Both experimental and numerical results are non-dimensionalized and fitted using the linear least-squares method. These correlations facilitate prediction of performance for dynamically similar geometries.
Wastegate Actuator Modeling and Tuning of a PID Controller for Boost Pressure Control
Thomasson, Andreas
2009-01-01
In some turbochargers, boost pressure is reduced by opening the wastegate valve. In a modern turbo charged car, the most common way for opening the wastegate is with a pneumatic actuator and an air control solenoid, controlled by the ECU. In the control systems studied the ECU utilizes a static feedforward and a PID controller, for the purpose of making the boost pressure follow its reference value. With no systematic method for tuning the controller, this can be time consuming, and a set of ...
Analysis of the sweeped actuator line method
Directory of Open Access Journals (Sweden)
Nathan Jörn
2015-01-01
Full Text Available The actuator line method made it possible to describe the near wake of a wind turbine more accurately than with the actuator disk method. Whereas the actuator line generates the helicoidal vortex system shed from the tip blades, the actuator disk method sheds a vortex sheet from the edge of the rotor plane. But with the actuator line come also temporal and spatial constraints, such as the need for a much smaller time step than with actuator disk. While the latter one only has to obey the Courant-Friedrichs-Lewy condition, the former one is also restricted by the grid resolution and the rotor tip-speed. Additionally the spatial resolution has to be finer for the actuator line than with the actuator disk, for well resolving the tip vortices. Therefore this work is dedicated to examining a method in between of actuator line and actuator disk, which is able to model the transient behaviour, such as the rotating blades, but which also relaxes the temporal constraint. Therefore a larger time-step is used and the blade forces are swept over a certain area. The main focus of this article is on the aspect of the blade tip vortex generation in comparison with the standard actuator line and actuator disk.
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.
Directory of Open Access Journals (Sweden)
S. Raja
2011-01-01
Full Text Available The use of surface bonded and embedded piezoelectric composite actuators is examined through a numerical study. Modelling schemes are therefore developed by applying the isoparametric finite element approach to idealise extension-bending and shear-bending couplings due to piezoelectric actuations. A modal control based linear quadratic regulator is employed to perform the active vibration control studies. Influence of shear actuation direction and its width has been examined and interesting deflection patterns are noticed. The through width SAFC develops a constant deflection beyond its length along the laminated plate length. In contrast, segmented SAFC produces a moderate to linearly varying deflection pattern. MFC actuators have shown promising features in vibration control performances. Nevertheless, closed loop damping presents the efficiency of SAFC in the vibration control application. It is therefore envisaged that optimally actuated smart laminates can be designed using MFC and SAFC to efficiently counteract the disturbance forces.
Modeling for Standoff Surface Detection
2013-11-01
including blast vaporization, droplet evaporation , secondary evaporation from liquid deposition, and liquid desorption. Bauer and Gibbs 1 provide...Imaging System 31 7. 3-D DROPLET MODELING 7.1 Introduction The wetting action of a liquid drop deposited on a surface...SUPPLEMENTARY NOTES 14. ABSTRACT: This report describes the development of a contamination droplet -distribution model generated from the output of the
Piezoelectric actuator for pulsating jets
Brissaud, Michel; Gonnard, Paul; Bera, Jean-Christophe; Sunyach, Michel
2000-08-01
Recent researches in aeronautics showed that fluidic actuator systems could offer possibilities for drag reduction and lift improvement. To this end many actuator types were designed. This paper deals with the design, fabrication and test of piezoelectric actuator in order to generate pulsated jets normal to a surface and control air flow separation. It is based on the flexural displacement of a rectangular metal plate clamped on one of its large edge. Piezoelectric patches cemented on the plate were used for driving into vibration the actuator. Experimental measurements show that pulsed flow velocities are adjustable from 1.5m/s to 35m/s through a 100x1mm2 slit andwithin a 100 to 400 Hz frequency range. Prototype provides the jet performances classically required for active control flow.
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.
Yang, Chenye; Liu, Sanwei; Xie, Xin; Livermore, Carol
2016-12-01
The design, analytical modelling, finite element analysis (FEA), and experimental characterization of a microelectromechanical system (MEMS) out-of-plane (vertical) translational piezoelectric lead-zirconate-titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Three types of bimorph actuators with different electrode patterns (with spiral tethers half actuated, fully actuated with uniform polarity, or fully actuated with reversed polarity) are designed and modelled. The two actuators with the highest predicted performance (half actuated and fully actuated with uniform polarity) are implemented and characterized. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Analytical modelling and FEA are used to analyze and predict the actuators’ displacements and blocking forces. Experimental measurements of the deflections and blocking forces of actuators with full uniform actuation and half actuation validate the design. At an applied voltage of 110 V, the out-of-plane deflections of the actuators with half actuation and full uniform actuation are measured at about 17 µm and 29 µm respectively, in good agreement with analytical predictions of 17.3 µm and 34.2 µm and FEA predictions of 17.1 µm and 25.8 µm. The blocking force for devices with half-actuated tethers is predicted to be 12 mN (analytical) and 10 mN (FEA), close to the experimental value of 9 mN. The blocking force for devices with full uniform actuation is predicted to be 23 mN (analytical) and 17 mN (FEA), as compared with 15 mN in experiments.
Soft Pneumatic Actuators for Rehabilitation
Guido Belforte; Gabriella Eula; Alexandre Ivanov; Silvia Sirolli
2014-01-01
Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM) in rehabilitation apparatus is described and the general characteri...
Directory of Open Access Journals (Sweden)
Shunsuke Nansai
2015-01-01
Full Text Available The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.
Directory of Open Access Journals (Sweden)
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.
Geometry optimization of linear and annular plasma synthetic jet actuators
Neretti, G.; Seri, P.; Taglioli, M.; Shaw, A.; Iza, F.; Borghi, C. A.
2017-01-01
The electrohydrodynamic (EHD) interaction induced in atmospheric air pressure by a surface dielectric barrier discharge (DBD) actuator has been experimentally investigated. Plasma synthetic jet actuators (PSJAs) are DBD actuators able to induce an air stream perpendicular to the actuator surface. These devices can be used in the field of aerodynamics to prevent or induce flow separation, modify the laminar to turbulent transition inside the boundary layer, and stabilize or mix air flows. They can also be used to enhance indirect plasma treatment effects, increasing the reactive species delivery rate onto surfaces and liquids. This can play a major role in plasma processing and chemical kinetics modelling, where often only diffusive mechanisms are considered. This paper reports on the importance that different electrode geometries can have on the performance of different PSJAs. A series of DBD aerodynamic actuators designed to produce perpendicular jets has been fabricated on two-layer printed circuit boards (PCBs). Both linear and annular geometries were considered, testing different upper electrode distances in the linear case and different diameters in the annular one. An AC voltage supplied at a peak of 11.5 kV and a frequency of 5 kHz was used. Lower electrodes were connected to the ground and buried in epoxy resin to avoid undesired plasma generation on the lower actuator surface. Voltage and current measurements were carried out to evaluate the active power delivered to the discharges. Schlieren imaging allowed the induced jets to be visualized and gave an estimate of their evolution and geometry. Pitot tube measurements were performed to obtain the velocity profiles of the PSJAs and to estimate the mechanical power delivered to the fluid. The optimal values of the inter-electrode distance and diameter were found in order to maximize jet velocity, mechanical power or efficiency. Annular geometries were found to achieve the best performance.
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
Highly-Compact SMA Actuators A Feasibiltiy Study of Fuel-Powered and Thermoelectric SMA Actuators
2003-12-01
TEM top surface TEM DC Power source Finned Heat Sink (FHS) DAQ Thermocouple(s) TEM bottom surface Config 1: single TEM ( Melcor ) Config 2: stacked TEM...strained to 3% before testing. A PWM based actuation control scheme was used to resistively heat the SMA actuator. TEMs were acquired from Melcor and
Shape-Memory-Alloy Actuator For Flight Controls
Barret, Chris
1995-01-01
Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.
Marjanovic, N.; Mirocha, J. D.; Chow, F. K.
2013-12-01
In this work, we examine the performance of a generalized actuator disk (GAD) model embedded within the Weather Research and Forecasting (WRF) atmospheric model to study wake effects on successive rows of turbines at a North American wind farm. These wake effects are of interest as they can drastically reduce down-wind energy extraction and increase turbulence intensity. The GAD, which is designed for turbulence-resolving simulations, is used within downscaled large-eddy simulations (LES) forced with mesoscale simulations and WRF's grid nesting capability. The GAD represents the effects of thrust and torque created by a wind turbine on the atmosphere within a disk representing the rotor swept area. The lift and drag forces acting on the turbine blades are parameterized using blade-element theory and the aerodynamic properties of the blades. Our implementation permits simulation of turbine wake effects and turbine/airflow interactions within a realistic atmospheric boundary layer flow field, including resolved turbulence, time-evolving mesoscale forcing, and real topography. The GAD includes real-time yaw and pitch control to respond realistically to changing flow conditions. Simulation results are compared to SODAR data from operating wind turbines and an already existing WRF mesoscale turbine drag parameterization to validate the GAD parameterization.
Wai, Rong-Jong; Yang, Zhi-Wei
2008-10-01
This paper focuses on the development of adaptive fuzzy neural network control (AFNNC), including indirect and direct frameworks for an n-link robot manipulator, to achieve high-precision position tracking. In general, it is difficult to adopt a model-based design to achieve this control objective due to the uncertainties in practical applications, such as friction forces, external disturbances, and parameter variations. In order to cope with this problem, an indirect AFNNC (IAFNNC) scheme and a direct AFNNC (DAFNNC) strategy are investigated without the requirement of prior system information. In these model-free control topologies, a continuous-time Takagi-Sugeno (T-S) dynamic fuzzy model with online learning ability is constructed to represent the system dynamics of an n-link robot manipulator. In the IAFNNC, an FNN estimator is designed to tune the nonlinear dynamic function vector in fuzzy local models, and then, the estimative vector is used to indirectly develop a stable IAFNNC law. In the DAFNNC, an FNN controller is directly designed to imitate a predetermined model-based stabilizing control law, and then, the stable control performance can be achieved by only using joint position information. All the IAFNNC and DAFNNC laws and the corresponding adaptive tuning algorithms for FNN weights are established in the sense of Lyapunov stability analyses to ensure the stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by dc servomotors are given to verify the effectiveness and robustness of the proposed methodologies. In addition, the superiority of the proposed control schemes is indicated in comparison with proportional-differential control, fuzzy-model-based control, T-S-type FNN control, and robust neural fuzzy network control systems.
Axelrod's Model with Surface Tension
Pace, Bruno
2012-01-01
In this work we propose a subtle change in Axelrod's model for the dissemination of culture. The mechanism consists of excluding non-interacting neighbours from the set of neighbours out of which an agent is drawn for potential cultural interactions. Although the alteration proposed does not alter topologically the configuration space, it yields significant qualitative changes, specifically the emergence of surface tension, driving the system in some cases to metastable states. The transient behaviour is considerably richer, and cultural regions have become stable leading to the formation of different spatio-temporal structures. A new metastable "glassy" phase emerges between the globalised phase and the polarised, multicultural phase.
Euler force actuation mechanism for siphon valving in compact disk-like microfluidic chips.
Deng, Yongbo; Fan, Jianhua; Zhou, Song; Zhou, Teng; Wu, Junfeng; Li, Yin; Liu, Zhenyu; Xuan, Ming; Wu, Yihui
2014-03-01
Based on the Euler force induced by the acceleration of compact disk (CD)-like microfluidic chip, this paper presents a novel actuation mechanism for siphon valving. At the preliminary stage of acceleration, the Euler force in the tangential direction of CD-like chip takes the primary place compared with the centrifugal force to function as the actuation of the flow, which fills the siphon and actuates the siphon valving. The Euler force actuation mechanism is demonstrated by the numerical solution of the phase-field based mathematical model for the flow in siphon valve. In addition, experimental validation is implemented in the polymethylmethacrylate-based CD-like microfluidic chip manufactured using CO2 laser engraving technique. To prove the application of the proposed Euler force actuation mechanism, whole blood separation and plasma extraction has been conducted using the Euler force actuated siphon valving. The newly introduced actuation mechanism overcomes the dependence on hydrophilic capillary filling of siphon by avoiding external manipulation or surface treatments of polymeric material. The sacrifice for highly integrated processing in pneumatic pumping technique is also prevented by excluding the volume-occupied compressed air chamber.
Modeling and Simulation of SMA Wire Actuator%SMA驱动丝的建模与仿真
Institute of Scientific and Technical Information of China (English)
杨士斌; 徐敏
2012-01-01
研究SMA动力学优化模型,针对形状记忆合金(SMA)驱动丝具有强非线性、迟滞效应等特性,为设计SMA驱动丝的自适应结构,提出建立SMA驱动丝模型并提供高效的仿真方法.采用有限元软件实现了受轴向载荷的SMA驱动丝的仿真建模.对本构模型是根据自由能的一维热-力学耦合模型,可以同时复现形状记忆效应和超弹性.数值仿真能够引起材料相变的非均匀温度和应变分布.仿真结果表明,建立热-力学耦合模型,可为设计SMA驱动丝的自适应结构计算提供可靠依据.%Shape memory alloy (SMA) shows high nonlinear and hysteretic phenomenon. In order to design SMA based adaptive structure, it is necessary to model and simulate the wire actuator in an efficient way. A thermo - mechanical model of SMA wire under uniaxial loading was implemented in finite element codes. The constitutive model is a one dimensional model which based on free energy and motivated by statistical thermodynamics. The model has the ability to represent both shape memory effect and pseudoelasticity. The numerical simulations can capture the inhomogeneous thermal and strain distribution which triggers the phase transformation locally. After investigation under different convective boundary conditions, the result shows that an obvious stroke lost happened in fixed temperature case comparing with adiabatic thermal boundary conditions which come from the thermo-mechanical coupling effect.
Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.
2016-09-01
Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental
Electromagnetic rotational actuation.
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.
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.
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...
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
Microfabrication of stacked dielectric elastomer actuator fibers
Corbaci, Mert; Walter, Wayne; Lamkin-Kennard, Kathleen
2016-04-01
Dielectric elastomer actuators (DEA) are one of the best candidate materials for next generation of robotic actuators, soft sensors and artificial muscles due to their fast response, mechanical robustness and compliance. However, high voltage requirements of DEAs have impeded their potential to become widely used in such applications. In this study, we propose a method for fabrication of silicon based multilayer DEA fibers composed of microlevel dielectric layers to improve the actuation ratios of DEAs at lower voltages. A multi-walled carbon nanotube - polydimethylsiloxane (MWCNT/PDMS) composite was used to fabricate mechanically compliant, conductive parallel plates and electrode connections for the DEA actuators. Active surface area and layer thickness were varied to study the effects of these parameters on actuation ratio as a function of applied voltage. Different structures were fabricated to assess the flexibility of the fabrication method for specific user-end applications.
Effective Actuation: High Bandwidth Actuators and Actuator Scaling Laws
2007-11-02
piezo elements mounted on structural members and devices that exhibited aeroacoustic resonance. The former type of actuator ( piezo ) was considered...Raman and Kibens (Raman et al. 2000). These experiments involved high-frequency forcing applied to low-speed flows using wedge piezo actuators and... Subharmonic Interaction and Wall Influence," AIAA- 86-1047, May, 1986. Davis, S. A., 2000, "The manipulation of large and small flow structures in single and
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...
Active vibration control using DEAP actuators
Sarban, Rahimullah; Jones, Richard W.
2010-04-01
Dielectric electro-active polymer (DEAP) is a new type of smart material, which has the potential to be used to provide effective actuation for a wide range of applications. The properties of DEAP material place it somewhere between those of piezoceramics and shape memory alloys. Of the range of DEAP-based actuators that have been developed those having a cylindrical configuration are among the most promising. This contribution introduces the use of a tubular type DEAP actuator for active vibration control purposes. Initially the DEAP-based tubular actuator to be used in this study, produced by Danfoss PolyPower A/S, is introduced along with the static and dynamic characteristics. Secondly an electromechanical model of the tubular actuator is briefly reviewed and its ability to model the actuator's hysteresis characteristics for a range of periodic input signals at different frequencies demonstrated. The model will be used to provide hysteresis compensation in future vibration isolation studies. Experimental active vibration control using the actuator is then examined, specifically active vibration isolation of a 250 g mass subject to shaker generated 'ground vibration'. An adaptive feedforward control strategy is used to achieve this. The ability of the tubular actuator to reject both tonal and broadband random vibratory disturbances is then demonstrated.
Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators
National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....
Phobos surface spectra mineralogical modeling
Pajola, M.; Lazzarin, M.; Dalle Ore, C. M.; Cruikshank, D. P.; Roush, T. L.; Pendleton, Y.; Bertini, I.; Magrin, S.; Carli, C.; La Forgia, F.; Barbieri, C.
2014-04-01
A mineralogical model composed of a mixture of Tagish Lake meteorite (TL) and Pyroxene Glass (PM80) was presented in [1] to explain the surface reflectance of Phobos from 0.25 to 4.0 μm. The positive results we obtained, when comparing the OSIRIS data [2] extended in wavelength to include the [3,4] spectra, forced us to perform a wider comparison between our TL-PM80 model and the CRISM and OMEGA Phobos spectra presented in [5]. Such spectra cover three different regions of interest (ROIs) situated in the Phobos sub-Mars hemisphere: the interior of the Stickney crater, its eastern rim, and its proximity terrain southeast of the Reldresal crater. We decided to vary the percentage mixture of the components of our model (80% TL, 20% PM80), between pure TL and pure PM80, by means of the radiative transfer code based on the [6] formulation of the slab approximation. Once this spectral range was derived, see Fig. 1, we attempted to compare it with the [5] spectra between 0.4 and 2.6 μm, i.e. below the thermal emitted radiation, to see if any spectral match was possible. We observed that CRISM scaled spectra above 1.10 μm fall within pure Tagish Lake composition and the [1] model. The CRISM data below 1.10 μm present more discrepancies with our models, in particular for the Stickney's rim spectrum. Nevertheless the TL and PM80 components seem to be good mineralogical candidates on Phobos. We performed the same analysis with the OMEGA data and, again, we found out that the Stickney's rim spectrum lies out of our model range, while the two remaining spectra still lie between pure TL and 80% TL - 20% PM80, but indicating that a different, more complicated mixture is expected in order to explain properly both the spectral trend and the possible absorption bands located above 2.0 μm. Within this analysis, we point out that a big fraction of TL material (modeled pure or present with a minimum percentage of 80% mixed together with 20% PM80) seems to explain Phobos spectral
Pneumatic Rotary Actuator Angle Control System
Institute of Scientific and Technical Information of China (English)
王鹏; 彭光正; 伍清河
2003-01-01
Based on the adaptive control method, a kind of parameter adjustor was used to control pneumatic rotary actuator to track the expected output. The system uses electropneumatic proportional valve as control device, which adjusts the gas flow of actuator 's two cavities, then changes the pressure of cavity and pushes the piston of actuator to move, so the rotary actuator 's axis can be made to revolve to the required angle at last. According to the characteristic of pneumatic system, the control system was described with a fourth-order mathematic model. The control rule is deduced by model reference adaptive control method. By the result of experiment, it was proved that by using the adaptive control method, the output of rotary actuator could track the expected value timely and accurately.
SMA actuators for morphing wings
Brailovski, V.; Terriault, P.; Georges, T.; Coutu, D.
An experimental morphing laminar wing was developed to prove the feasibility of aircraft fuel consumption reduction through enhancement of the laminar flow regime over the wing extrados. The morphing wing prototype designed for subsonic cruise flight conditions (Mach 0.2 … 0.3; angle of attack - 1 … +2∘), combines three principal subsystems: (1) flexible extrados, (2) rigid intrados and (3) an actuator group located inside the wing box. The morphing capability of the wing relies on controlled deformation of the wing extrados under the action of shape memory alloys (SMA) actuators. A coupled fluid-structure model of the morphing wing was used to evaluate its mechanical and aerodynamic performances in different flight conditions. A 0.5 m chord and 1 m span prototype of the morphing wing was tested in a subsonic wind tunnel. In this work, SMA actuators for morphing wings were modeled using a coupled thermo-mechanical finite element model and they were windtunnel validated. If the thermo-mechanical model of SMA actuators presented in this work is coupled with the previously developed structureaerodynamic model of the morphing wing, it could serve for the optimization of the entire morphing wing system.
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.
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...
On electrostatically actuated NEMS/MEMS circular plates
Caruntu, Dumitru I.; Alvarado, Iris
2011-04-01
This paper deals with electrostatically actuated micro and nano-electromechanical (MEMS/NEMS) circular plates. The system under investigation consists of two bodies, a deformable and conductive circular plate placed above a fixed, rigid and conductive ground plate. The deformable circular plate is electrostatically actuated by applying an AC voltage between the two plates. Nonlinear parametric resonance and pull-in occur at certain frequencies and relatively large AC voltage, respectively. Such phenomena are useful for applications such as sensors, actuators, switches, micro-pumps, micro-tweezers, chemical and mass sensing, and micro-mirrors. A mathematical model of clamped circular MEMS/NEMS electrostatically actuated plates has been developed. Since the model is in the micro- and nano-scale, surface forces, van der Waals and/or Casimir, acting on the plate are included. A perturbation method, the Method of Multiple Scales (MMS), is used for investigating the case of weakly nonlinear MEMS/NEMS circular plates. Two time scales, fast and slow, are considered in this work. The amplitude-frequency and phase-frequency response of the plate in the case of primary resonance are obtained and discussed.
Reachability and Real-Time Actuation Strategies for the Active SLIP Model
2015-06-01
3325–3332. [2] R. Blickhan, The spring-mass model for running and hopping, Journal of Biomechanics 22 (1989), no. 11/12 1217–1227. [3] R. Blickhan and R...Biomimetics 7 (2012), no. 1 016006. [20] A. Seyfarth, H. Geyer, M. Günther, and R. Blickhan, A movement criterion for running , Journal of Biomechanics 35...AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES 14. ABSTRACT Running and hopping follow similar patterns
Golovin, Y.; Golovin, D.; Klyachko, N.; Majouga, A.; Kabanov, A.
2017-02-01
Various plausible acceleration mechanisms of drug release from nanocarriers composed of a single-domain magnetic nanoparticle core with attached long macromolecule chains activated by low frequency non-heating alternating magnetic field (AMF) are discussed. The most important system characteristics affecting the AMF exposure impact are determined. Impact of several reasonable mechanisms is estimated analytically or obtained using numerical modeling. Some conditions providing manifold release acceleration as a result from exposure in AMF are found.
Turbulent boundary layer separation control using plasma actuator at Reynolds number 2000000
Institute of Scientific and Technical Information of China (English)
Zhang Xin; Huang Yong; Wang Xunnian; Wang Wanbo; Tang Kun; Li Huaxing
2016-01-01
An experimental investigation was conducted to evaluate the effect of symmetrical plasma actuators on turbulent boundary layer separation control at high Reynolds number. Com-pared with the traditional control method of plasma actuator, the whole test model was made of aluminum and acted as a covered electrode of the symmetrical plasma actuator. The experimental study of plasma actuators’ effect on surrounding air, a canonical zero-pressure gradient turbulent boundary, was carried out using particle image velocimetry (PIV) and laser Doppler velocimetry (LDV) in the 0.75 m ? 0.75 m low speed wind tunnel to reveal the symmetrical plasma actuator characterization in an external flow. A half model of wing-body configuration was experimentally investigated in the £ 3.2 m low speed wind tunnel with a six-component strain gauge balance and PIV. The results show that the turbulent boundary layer separation of wing can be obviously sup-pressed and the maximum lift coefficient is improved at high Reynolds number with the symmetri-cal plasma actuator. It turns out that the maximum lift coefficient increased by approximately 8.98% and the stall angle of attack was delayed by approximately 2? at Reynolds number 2 ? 106. The effective mechanism for the turbulent separation control by the symmetrical plasma actuators is to induce the vortex near the wing surface which could create the relatively large-scale disturbance and promote momentum mixing between low speed flow and main flow regions.
Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM
Directory of Open Access Journals (Sweden)
Behrouz Najjari
2012-07-01
Full Text Available In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Two common control policies to track valve position, a Proportional Integrator (PI based on Pulse Width Modulation (PWM and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC.
Directory of Open Access Journals (Sweden)
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.
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
Lee, Woochang; Jung, Jaeyeon; Hahn, Young Ki; Kim, Sang Kyu; Lee, Yeolho; Lee, Joonhyung; Lee, Tae-Han; Park, Jin-Young; Seo, Hyejung; Lee, Jung Nam; Oh, Jin Ho; Choi, Youn-Suk; Lee, Soo Suk
2013-05-07
A fully automated point-of-care testing (POCT) system with a surface acoustic wave (SAW) immunosensor was developed for rapid and sensitive detection of cardiac troponin I (cTnI) in body fluid (plasma and whole blood). The assay, based on gold nanoparticle sandwich immunoassay and subsequent gold staining, was performed on the SAW immunosensor packaged inside a disposable microfluidic cartridge. The entire fluidic process, including plasma separation, reagent transport, metering, and mixing, was carried out by controlling the centrifugal force acting on the rotating cartridge and laser-irradiated ferrowax microvalves. On investigation of sensor response to various cTnI concentrations, the system exhibited a high performance with a detection limit of 6.7 pg mL(-1), and the coefficient of variation was less than 10% over the entire test range (10 pg mL(-1) to 25 ng mL(-1)). On comparing this POCT system with a clinically utilized system in a physical laboratory (Centaur® XP; Siemens), a correlation coefficient of 0.998 was found, validating the diagnostic capability of the SAW immunosensor.
Surface modeling of soil antibiotics.
Shi, Wen-jiao; Yue, Tian-xiang; Du, Zheng-ping; Wang, Zong; Li, Xue-wen
2016-02-01
Large numbers of livestock and poultry feces are continuously applied into soils in intensive vegetable cultivation areas, and then some veterinary antibiotics are persistent existed in soils and cause health risk. For the spatial heterogeneity of antibiotic residues, developing a suitable technique to interpolate soil antibiotic residues is still a challenge. In this study, we developed an effective interpolator, high accuracy surface modeling (HASM) combined vegetable types, to predict the spatial patterns of soil antibiotics, using 100 surface soil samples collected from an intensive vegetable cultivation area located in east of China, and the fluoroquinolones (FQs), including ciprofloxacin (CFX), enrofloxacin (EFX) and norfloxacin (NFX), were analyzed as the target antibiotics. The results show that vegetable type is an effective factor to be combined to improve the interpolator performance. HASM achieves less mean absolute errors (MAEs) and root mean square errors (RMSEs) for total FQs (NFX+CFX+EFX), NFX, CFX and EFX than kriging with external drift (KED), stratified kriging (StK), ordinary kriging (OK) and inverse distance weighting (IDW). The MAE of HASM for FQs is 55.1 μg/kg, and the MAEs of KED, StK, OK and IDW are 99.0 μg/kg, 102.8 μg/kg, 106.3 μg/kg and 108.7 μg/kg, respectively. Further, RMSE simulated by HASM for FQs (CFX, EFX and NFX) are 106.2 μg/kg (88.6 μg/kg, 20.4 μg/kg and 39.2 μg/kg), and less 30% (27%, 22% and 36%), 33% (27%, 27% and 43%), 38% (34%, 23% and 41%) and 42% (32%, 35% and 51%) than the ones by KED, StK, OK and IDW, respectively. HASM also provides better maps with more details and more consistent maximum and minimum values of soil antibiotics compared with the measured data. The better performance can be concluded that HASM takes the vegetable type information as global approximate information, and takes local sampling data as its optimum control constraints.
Modeling of biological nanostructured surfaces
Cristea, P. D.; Tuduce, Rodica; Arsene, O.; Dinca, Alina; Fulga, F.; Nicolau, D. V.
2010-02-01
The paper presents a methodology using atom or amino acid hydrophobicities to describe the surface properties of proteins in order to predict their interactions with other proteins and with artificial nanostructured surfaces. A standardized pattern is built around each surface atom of the protein for a radius depending on the molecule type and size. The atom neighborhood is characterized in terms of the hydrophobicity surface density. A clustering algorithm is used to classify the resulting patterns and to identify the possible interactions. The methodology has been implemented in a software package based on Java technology deployed in a Linux environment.
Discrete Surface Modelling Using Partial Differential Equations.
Xu, Guoliang; Pan, Qing; Bajaj, Chandrajit L
2006-02-01
We use various nonlinear partial differential equations to efficiently solve several surface modelling problems, including surface blending, N-sided hole filling and free-form surface fitting. The nonlinear equations used include two second order flows, two fourth order flows and two sixth order flows. These nonlinear equations are discretized based on discrete differential geometry operators. The proposed approach is simple, efficient and gives very desirable results, for a range of surface models, possibly having sharp creases and corners.
Williamson, Matthew M.
1995-01-01
This thesis presents the design, construction, control and evaluation of a novel for controlled actuator. Traditional force controlled actuators are designed from the premise that 'Stiffer is better'. This approach gives a high bandwidth system, prone to problems of contact instability, noise, and low power density. The actuator presented in this thesis is designed from the premise that 'Stiffness isn't everything'. The actuator, which incorporates a series elastic element, trades off achievable bandwidth for gains in stable, low noise force control, and protection against shock loads. This thesis reviews related work in robot force control, presents theoretical descriptions of the control and expected performance from a series elastic actuator, and describes the design of a test actuator constructed to gather performance data. Finally the performance of the system is evaluated by comparing the performance data to theoretical predictions.
Laser surface processing and model studies
Yilbas, Bekir Sami
2013-01-01
This book introduces model studies associated with laser surface processing such as conduction limited heating, surface re-melting, Marangoni flow and its effects on the temperature field, re-melting of multi-layered surfaces, laser shock processing, and practical applications. The book provides insight into the physical processes involved with laser surface heating and phase change in laser irradiated region. It is written for engineers and researchers working on laser surface engineering.
Surface Flux Modeling for Air Quality Applications
Directory of Open Access Journals (Sweden)
Limei Ran
2011-08-01
Full Text Available For many gasses and aerosols, dry deposition is an important sink of atmospheric mass. Dry deposition fluxes are also important sources of pollutants to terrestrial and aquatic ecosystems. The surface fluxes of some gases, such as ammonia, mercury, and certain volatile organic compounds, can be upward into the air as well as downward to the surface and therefore should be modeled as bi-directional fluxes. Model parameterizations of dry deposition in air quality models have been represented by simple electrical resistance analogs for almost 30 years. Uncertainties in surface flux modeling in global to mesoscale models are being slowly reduced as more field measurements provide constraints on parameterizations. However, at the same time, more chemical species are being added to surface flux models as air quality models are expanded to include more complex chemistry and are being applied to a wider array of environmental issues. Since surface flux measurements of many of these chemicals are still lacking, resistances are usually parameterized using simple scaling by water or lipid solubility and reactivity. Advances in recent years have included bi-directional flux algorithms that require a shift from pre-computation of deposition velocities to fully integrated surface flux calculations within air quality models. Improved modeling of the stomatal component of chemical surface fluxes has resulted from improved evapotranspiration modeling in land surface models and closer integration between meteorology and air quality models. Satellite-derived land use characterization and vegetation products and indices are improving model representation of spatial and temporal variations in surface flux processes. This review describes the current state of chemical dry deposition modeling, recent progress in bi-directional flux modeling, synergistic model development research with field measurements, and coupling with meteorological land surface models.
Simulating Magneto-Aerodynamic Actuator
2007-12-20
2005. 19. Boeuf, J.P., Lagmich, Y., Callegari, Th., and Pitchford , L.C., Electro- hydrodynamic Force and Acceleration in Surface Discharge, AIAA 2006...Plasmadynamics and Laser Award, 2004 AFRL Point of Contact Dr. Donald B. Paul , AFRL/VA WPAFB, OH 937-255-7329, met weekly. Dr. Alan Garscadden, AFRL/PR...validating database for numerical simulation of magneto-aerodynamic actuator for hypersonic flow control. Points of contact at the AFRL/VA are Dr. D. Paul
Magnetic actuators and sensors
Brauer, John R
2014-01-01
An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva
Haas, Edwin Gerard; Beauman, Ronald; Palo, Jr., Stefan
2013-01-29
The invention provides a device and method for actuating electrical switches remotely. The device is removably attached to the switch and is actuated through the transfer of a user's force. The user is able to remain physically removed from the switch site obviating need for protective equipment. The device and method allow rapid, safe actuation of high-voltage or high-current carrying electrical switches or circuit breakers.
Wing tip vortex control by the pulsed MHD actuator
Moralev, I. A.; Biturin, V. A.; Kazansky, P. N.; Zaitsev, M. Yu.; Kopiev, Vl. A.
2016-10-01
The paper presents the experimental results and the analysis of the wingtip vortex control by magnetohydrodynamic (MHD) plasma actuator [1]. The actuator is installed on the surface of the asymmetric wing of a finite span. In a single cycle of actuator operation, the pulsed discharge is created between two electrodes and then driven by the Lorentz force in the spanwise direction. The evolution of the vortex after the actuator pulse is studied directly downstream of the wing trailing edge. The shift of the vortex position, without a significant change in the vortex circulation is the main effect obtained after the discharge pulse. The effect of the external flow velocity and the position of the actuator on the shift amplitude were studied. The authority of the flow control by the actuator is shown to reduce at higher velocity values; the position on the suction side of the airfoil is shown to be crucial for the effective actuator operation.
Actuator environmental stability
Yoshikawa, Shoko; Farrell, Michael
2000-06-01
Various configurations of piezoelectric high strain actuators are available in the market. The influence of humidity at high temperature is not well documented, even though it is an important consideration for actuator performance. This paper describes the testing and results of two different families of actuators; QuickPack products and multilayer actuators, tested under two environments; room temperature low humidity and elevated temperature and humidity (80°C/80%RH). A constant DC load was applied to the QP10N andand QP10Ni products in free condition, while positive only AC field was applied to multilayer actuators, under pre-stressed condition. High field IR was used as the main tool to determine the health of QuickPack products, whereas, in-situ displacement was measured to monitor the health of multilayer actuators. As expected, in both families of actuators, it was shown that the actuator life is significantly reduced when specimens are exposed to humidity at elevated temperature. Improvement of the humidity barrier, thus less moisture penetration, even when electrodes do not contain silver, is expected to prolong life of actuators.
Chan, Wilfred K.; Clingman, Dan J.; Amitay, Michael
2016-04-01
Piezoelectric materials have long been used for active flow control purposes in aerospace applications to increase the effectiveness of aerodynamic surfaces on aircraft, wind turbines, and more. Piezoelectric actuators are an appropriate choice due to their low mass, small dimensions, simplistic design, and frequency response. This investigation involves the development of piezoceramic-based actuators with two bimorphs placed in series. Here, the main desired characteristic was the achievable displacement amplitude at specific driving voltages and frequencies. A parametric study was performed, in which actuators with varying dimensions were fabricated and tested. These devices were actuated with a sinusoidal waveform, resulting in an oscillating platform on which to mount active flow control devices, such as dynamic vortex generators. The main quantification method consisted of driving these devices with different voltages and frequencies to determine their free displacement, blocking force, and frequency response. It was found that resonance frequency increased with shorter and thicker actuators, while free displacement increased with longer and thinner actuators. Integration of the devices into active flow control test modules is noted. In addition to physical testing, a quasi-static analytical model was developed and compared with experimental data, which showed close correlation for both free displacement and blocking force.
LQR Control of Shell Vibrations Via Piezoceramic Actuators
delRosario, R. C. H.; Smith, R. C.
1997-01-01
A model-based Linear Quadratic Regulator (LQR) method for controlling vibrations in cylindrical shells is presented. Surface-mounted piezo-ceramic patches are employed as actuators which leads to unbounded control input operators. Modified Donnell-Mushtari shell equations incorporating strong or Kelvin-Voigt damping are used to model the system. The model is then abstractly formulated in terms of sesquilinear forms. This provides a framework amenable for proving model well-posedness and convergence of LQR gains using analytic semigroup results combined with LQR theory for unbounded input operators. Finally, numerical examples demonstrating the effectiveness of the method are presented.
Dynamic Factor Models for the Volatility Surface
DEFF Research Database (Denmark)
van der Wel, Michel; Ozturk, Sait R.; Dijk, Dick van
The implied volatility surface is the collection of volatilities implied by option contracts for different strike prices and time-to-maturity. We study factor models to capture the dynamics of this three-dimensional implied volatility surface. Three model types are considered to examine desirable...... features for representing the surface and its dynamics: a general dynamic factor model, restricted factor models designed to capture the key features of the surface along the moneyness and maturity dimensions, and in-between spline-based methods. Key findings are that: (i) the restricted and spline......-based models are both rejected against the general dynamic factor model, (ii) the factors driving the surface are highly persistent, (iii) for the restricted models option Delta is preferred over the more often used strike relative to spot price as measure for moneyness....
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.
Uncertainties in Surface Layer Modeling
Pendergrass, W.
2015-12-01
A central problem for micrometeorologists has been the relationship of air-surface exchange rates of momentum and heat to quantities that can be predicted with confidence. The flux-gradient profile developed through Monin-Obukhov Similarity Theory (MOST) provides an integration of the dimensionless wind shear expression where is an empirically derived expression for stable and unstable atmospheric conditions. Empirically derived expressions are far from universally accepted (Garratt, 1992, Table A5). Regardless of what form of these relationships might be used, their significance over any short period of time is questionable since all of these relationships between fluxes and gradients apply to averages that might rarely occur. It is well accepted that the assumption of stationarity and homogeneity do not reflect the true chaotic nature of the processes that control the variables considered in these relationships, with the net consequence that the levels of predictability theoretically attainable might never be realized in practice. This matter is of direct relevance to modern prognostic models which construct forecasts by assuming the universal applicability of relationships among averages for the lower atmosphere, which rarely maintains an average state. Under a Cooperative research and Development Agreement between NOAA and Duke Energy Generation, NOAA/ATDD conducted atmospheric boundary layer (ABL) research using Duke renewable energy sites as research testbeds. One aspect of this research has been the evaluation of legacy flux-gradient formulations (the ϕ functions, see Monin and Obukhov, 1954) for the exchange of heat and momentum. At the Duke Energy Ocotillo site, NOAA/ATDD installed sonic anemometers reporting wind and temperature fluctuations at 10Hz at eight elevations. From these observations, ϕM and ϕH were derived from a two-year database of mean and turbulent wind and temperature observations. From this extensive measurement database, using a
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.
Institute of Scientific and Technical Information of China (English)
胡放荣; 马文英; 汪为民
2011-01-01
Based on a three-layer polysilicon surface micromachining process and some experience formulas of adaptive optics, an electrostatically actuated microelectromechanical systems (MEMS) deformable mirror (DM) with 16 actuators and continuous surface is designed and fabricated. Both static and dynamic characteristics of the prototype are tested using a scanning white light interferometer ZygoNewView7300. The result from the static test shows that the displacement of the actuator is 0. 667 jim at 150 V, the interaction between the neighboring actuator is 9% , and the position repeatability of the surface of DM is 10%. At the same time, the result from the dynamic test shows that the response time of the prototype is less than 30 fis and a cosine curve is observed under a sine driving signal. The resonance frequency of the actuator is about 36 kHz. This type of DM can be used for free space optical communication, laser beam shaping, wavefront correction, projection, biomedical imaging and human eye aberration correction.%基于三层多晶硅表面加工工艺和自适应光学经验公式,设计并制作了一种静电驱动的16单元连续面形微机电系统(MEMS)变形镜(DM),并用ZygoNewView7300白光干涉仪对样片的静态特性和动态响应特性进行了测试.静态测试结果表明,器件在150 V电压下的最大形变量为0.667 μm,相邻单元之间的交联值为9％,镜面位置重复性为10％.动态测试结果表明,器件对正弦驱动信号的响应时间小于30μs,响应曲线近似为一条余弦曲线,谐振频率为36 kHz.该变形镜可用于自由空间光通信、激光光束整形、波前畸变校正、投影显示、生物医学成像和人眼视差校正等重要领域.
Another lesson from plants: the forward osmosis-based actuator.
Directory of Open Access Journals (Sweden)
Edoardo Sinibaldi
Full Text Available Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW. Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
Another lesson from plants: the forward osmosis-based actuator.
Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara
2014-01-01
Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
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,
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...
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...
Wind turbine rotor simulation using the actuator disk and actuator line methods
Tzimas, M.; Prospathopoulos, J.
2016-09-01
The present paper focuses on wind turbine rotor modeling for loads and wake flow prediction. Two steady-state models based on the actuator disk approach are considered, using either a uniform thrust or a blade element momentum calculation of the wind turbine loads. A third model is based on the unsteady-state actuator line approach. Predictions are compared with measurements in wind tunnel experiments and in atmospheric environment and the capabilities and weaknesses of the different models are addressed.
Bagherpoor, H M; Salmasi, Farzad R
2015-07-01
In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance.
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.
Deformable surface modeling based on dual subdivision
Institute of Scientific and Technical Information of China (English)
WANG Huawei; SUN Hanqiu; QIN Kaihuai
2005-01-01
Based on dual Doo-Sabin subdivision and the corresponding parameterization, a modeling technique of deformable surfaces is presented in this paper. In the proposed model, all the dynamic parameters are computed in a unified way for both non-defective and defective subdivision matrices, and central differences are used to discretize the Lagrangian dynamics equation instead of backward differences. Moreover, a local scheme is developed to solve the dynamics equation approximately, thus the order of the linear equation is reduced greatly. Therefore, the proposed model is more efficient and faster than the existing dynamic models. It can be used for deformable surface design, interactive surface editing, medical imaging and simulation.
Optimal Control Surface Layout for an Aeroservoelastic Wingbox
Stanford, Bret K.
2017-01-01
This paper demonstrates a technique for locating the optimal control surface layout of an aeroservoelastic Common Research Model wingbox, in the context of maneuver load alleviation and active utter suppression. The combinatorial actuator layout design is solved using ideas borrowed from topology optimization, where the effectiveness of a given control surface is tied to a layout design variable, which varies from zero (the actuator is removed) to one (the actuator is retained). These layout design variables are optimized concurrently with a large number of structural wingbox sizing variables and control surface actuation variables, in order to minimize the sum of structural weight and actuator weight. Results are presented that demonstrate interdependencies between structural sizing patterns and optimal control surface layouts, for both static and dynamic aeroelastic physics.
Mirrors Containing Biomimetic Shape-Control Actuators
Bar-Cohen, Yoseph; Mouroulis, Pantazis; Bao, Xiaoqi; Sherrit, Stewart
2003-01-01
Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call
Digital Modeling Phenomenon Of Surface Ground Movement
Directory of Open Access Journals (Sweden)
Ioan Voina
2016-11-01
Full Text Available With the development of specialized software applications it was possible to approach and resolve complex problems concerning automating and process optimization for which are being used field data. Computerized representation of the shape and dimensions of the Earth requires a detailed mathematical modeling, known as "digital terrain model". The paper aims to present the digital terrain model of Vulcan mining, Hunedoara County, Romania. Modeling consists of a set of mathematical equations that define in detail the surface of Earth and has an approximate surface rigorously and mathematical, that calculated the land area. Therefore, the digital terrain model means a digital representation of the earth's surface through a mathematical model that approximates the land surface modeling, which can be used in various civil and industrial applications in. To achieve the digital terrain model of data recorded using linear and nonlinear interpolation method based on point survey which highlights the natural surface studied. Given the complexity of this work it is absolutely necessary to know in detail of all topographic elements of work area, without the actions to be undertaken to project and manipulate would not be possible. To achieve digital terrain model, within a specialized software were set appropriate parameters required to achieve this case study. After performing all steps we obtained digital terrain model of Vulcan Mine. Digital terrain model is the complex product, which has characteristics that are equivalent to the specialists that use satellite images and information stored in a digital model, this is easier to use.
Biomimetic photo-actuation: progress and challenges
Dicker, Michael P. M.; Weaver, Paul M.; Rossiter, Jonathan M.; Bond, Ian P.; Faul, Charl F. J.
2016-04-01
Photo-actuation, such as that observed in the reversible sun-tracking movements of heliotropic plants, is produced by a complex, yet elegant series of processes. In the heliotropic leaf movements of the Cornish Mallow, photo-actuation involves the generation, transport and manipulation of chemical signals from a distributed network of sensors in the leaf veins to a specialized osmosis driven actuation region in the leaf stem. It is theorized that such an arrangement is both efficient in terms of materials use and operational energy conversion, as well as being highly robust. We concern ourselves with understanding and mimicking these light driven, chemically controlled actuating systems with the aim of generating intelligent structures which share the properties of efficiency and robustness that are so important to survival in Nature. In this work we present recent progress in mimicking these photo-actuating systems through remote light exposure of a metastable state photoacid and the resulting signal and energy transfer through solution to a pH-responsive hydrogel actuator. Reversible actuation strains of 20% were achieved from this arrangement, with modelling then employed to reveal the critical influence hydrogel pKa has on this result. Although the strong actuation achieved highlights the progress that has been made in replicating the principles of biomimetic photo-actuation, challenges such as photoacid degradation were also revealed. It is anticipated that current work can directly lead to the development of high-performance and low-cost solartrackers for increased photovoltaic energy capture and to the creation of new types of intelligent structures employing chemical control systems.
Kim, Dae-Kwan; Han, Jae-Hung; Kwon, Ki-Jung
2009-02-01
In the present study, a biomimetic flexible flapping wing was developed on a real ornithopter scale by using macro-fiber composite (MFC) actuators. With the actuators, the maximum camber of the wing can be linearly changed from -2.6% to +4.4% of the maximum chord length. Aerodynamic tests were carried out in a low-speed wind tunnel to investigate the aerodynamic characteristics, particularly the camber effect, the chordwise flexibility effect and the unsteady effect. Although the chordwise wing flexibility reduces the effective angle of attack, the maximum lift coefficient can be increased by the MFC actuators up to 24.4% in a static condition. Note also that the mean values of the perpendicular force coefficient rise to a value of considerably more than 3 in an unsteady aerodynamic flow region. Additionally, particle image velocimetry (PIV) tests were performed in static and dynamic test conditions to validate the flexibility and unsteady effects. The static PIV results confirm that the effective angle of attack is reduced by the coupling of the chordwise flexibility and the aerodynamic force, resulting in a delay in the stall phenomena. In contrast to the quasi-steady flow condition of a relatively high advance ratio, the unsteady aerodynamic effect due to a leading edge vortex can be found along the wing span in a low advance ratio region. The overall results show that the chordwise wing flexibility can produce a positive effect on flapping aerodynamic characteristics in quasi-steady and unsteady flow regions; thus, wing flexibility should be considered in the design of efficient flapping wings.
Modeling of global surface air temperature
Gusakova, M. A.; Karlin, L. N.
2012-04-01
A model to assess a number of factors, such as total solar irradiance, albedo, greenhouse gases and water vapor, affecting climate change has been developed on the basis of Earth's radiation balance principle. To develop the model solar energy transformation in the atmosphere was investigated. It's a common knowledge, that part of the incoming radiation is reflected into space from the atmosphere, land and water surfaces, and another part is absorbed by the Earth's surface. Some part of outdoing terrestrial radiation is retained in the atmosphere by greenhouse gases (carbon dioxide, methane, nitrous oxide) and water vapor. Making use of the regression analysis a correlation between concentration of greenhouse gases, water vapor and global surface air temperature was obtained which, it is turn, made it possible to develop the proposed model. The model showed that even smallest fluctuations of total solar irradiance intensify both positive and negative feedback which give rise to considerable changes in global surface air temperature. The model was used both to reconstruct the global surface air temperature for the 1981-2005 period and to predict global surface air temperature until 2030. The reconstructions of global surface air temperature for 1981-2005 showed the models validity. The model makes it possible to assess contribution of the factors listed above in climate change.
Cryogenic Piezoelectric Actuator
Jiang, Xiaoning; Cook, William B.; Hackenberger, Wesley S.
2009-01-01
In this paper, PMN-PT single crystal piezoelectric stack actuators and flextensional actuators were designed, prototyped and characterized for space optics applications. Single crystal stack actuators with footprint of 10 mm x10 mm and the height of 50 mm were assembled using 10 mm x10mm x0.15mm PMN-PT plates. These actuators showed stroke > 65 - 85 microns at 150 V at room temperature, and > 30 microns stroke at 77 K. Flextensional actuators with dimension of 10mm x 5 mm x 7.6 mm showed stroke of >50 microns at room temperature at driving voltage of 150 V. A flextensional stack actuator with dimension of 10 mm x 5 mm x 47 mm showed stroke of approx. 285 microns at 150 V at room temperature and > 100 microns at 77K under driving of 150 V should be expected. The large cryogenic stroke and high precision of these actuators are promising for cryogenic optics applications.
Model on surface borehole squeezing deformation fracture*
Institute of Scientific and Technical Information of China (English)
SUN Hai-tao; HU Qian-ting; HUANG Sheng-shu
2009-01-01
As a good method to solve the problem of high methane on the workface and in the goaf, drawing coal strata methane through a surface borehole is used. However, the excavation affected the overlying rock strata greatly. When the excavation face passed through the surface borehole position, the surface borehole fractures fast. This problem was seriously related to the unformed squeeze effect. Therefore, a squeezing deformation fracture model based on the rock strata squeezing effect was set up. At the same time, a 3DEC simulation model is presented to confirm the theory. The result shows that the mod-el is reliable and has a good engineering application value.
Generalized Models for Rock Joint Surface Shapes
Directory of Open Access Journals (Sweden)
Shigui Du
2014-01-01
Full Text Available Generalized models of joint surface shapes are the foundation for mechanism studies on the mechanical effects of rock joint surface shapes. Based on extensive field investigations of rock joint surface shapes, generalized models for three level shapes named macroscopic outline, surface undulating shape, and microcosmic roughness were established through statistical analyses of 20,078 rock joint surface profiles. The relative amplitude of profile curves was used as a borderline for the division of different level shapes. The study results show that the macroscopic outline has three basic features such as planar, arc-shaped, and stepped; the surface undulating shape has three basic features such as planar, undulating, and stepped; and the microcosmic roughness has two basic features such as smooth and rough.
Investigation of airfoil leading edge separation control with nanosecond plasma actuator
Zheng, J. G.; Cui, Y. D.; Zhao, Z. J.; Li, J.; Khoo, B. C.
2016-11-01
A combined numerical and experimental investigation of airfoil leading edge flow separation control with a nanosecond dielectric barrier discharge (DBD) plasma actuator is presented. Our study concentrates on describing dynamics of detailed flow actuation process and elucidating the nanosecond DBD actuation mechanism. A loose coupling methodology is employed to perform simulation, which consists of a self-similar plasma model for the description of pulsed discharge and two-dimensional Reynolds averaged Navier-Stokes (RANS) equations for the calculation of external airflow. A series of simulations of poststall flows around a NACA0015 airfoil is conducted with a Reynolds number range covering both low and high Re at Re=(0.05 ,0.15 ,1.2 ) ×106 . Meanwhile, wind-tunnel experiment is performed for two low Re flows to measure aerodynamic force on airfoil model and transient flow field with time-resolved particle image velocimetry (PIV). The PIV measurement provides possibly the clearest view of flow reattachment process under the actuation of a nanosecond plasma actuator ever observed in experiments, which is highly comparable to that predicted by simulation. It is found from the detailed simulation that the discharge-induced residual heat rather than shock wave plays a dominant role in flow control. For any leading edge separations, the preliminary flow reattachment is realized by residual heat-induced spanwise vortices. After that, the nanosecond actuator functions by continuing exciting flow instability at poststall attack angles or acting as an active trip near stall angle. As a result, the controlled flow is characterized by a train of repetitive, downstream moving vortices over suction surface or an attached turbulent boundary layer, which depends on both angle of attack and Reynolds number. The advection of residual temperature with external flow offers a nanosecond plasma actuator a lot of flexibility to extend its influence region. Animations are provided for
DEFF Research Database (Denmark)
Lignarolo, Lorenzo E.M.; Mehta, Dhruv; Stevens, Richard J.A.M.
2016-01-01
stereoscopic Particle Image Velocimetry was employed to obtain the velocity field and turbulence statistics in the near wake of a two-bladed wind turbine model and of a porous disc, which mimics the numerical actuator used in the simulations. Researchers have been invited to simulate the experimental case......In this paper we report the results of a workshop organised by the Delft University of Technology in 2014, aiming at the comparison between different state-of-the-art numerical models for the simulation of wind turbine wakes. The chosen benchmark case is a wind tunnel measurement, where...... based on the disc drag coefficient and the inflow characteristics. Four large eddy simulation (LES) codes from different institutions and a vortex model are part of the comparison. The purpose of this benchmark is to validate the numerical predictions of the flow field statistics in the near wake...
Smart actuators for active vibration control
Pourboghrat, Farzad; Daneshdoost, Morteza
1998-07-01
In this paper, the design and implementation of smart actuators for active vibration control of mechanical systems are considered. A smart actuator is composed of one or several layers of piezo-electric materials which work both as sensors and actuators. Such a system also includes micro- electronic or power electronic amplifiers, depending on the power requirements and applications, as well as digital signal processing systems for digital control implementation. In addition, PWM type micro/power amplifiers are used for control implementation. Such amplifiers utilize electronic switching components that allow for miniaturization, thermal efficiency, cost reduction, and precision controls that are robust to disturbances and modeling errors. An adaptive control strategy is then developed for vibration damping and motion control of cantilever beams using the proposed smart self-sensing actuators.
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.
Considerations for contractile electroactive materials and actuators
Rasmussen, Lenore; Schramm, David; Rasmussen, Paul; Mullally, Kevin; Meixler, Lewis D.; Pearlman, Daniel; Kirk, Alice
2011-04-01
Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.
An Improved MUSIC Model for Gibbsite Surfaces
Energy Technology Data Exchange (ETDEWEB)
Mitchell, Scott C.; Bickmore, Barry R.; Tadanier, Christopher J.; Rosso, Kevin M.
2004-06-01
Here we use gibbsite as a model system with which to test a recently published, bond-valence method for predicting intrinsic pKa values for surface functional groups on oxides. At issue is whether the method is adequate when valence parameters for the functional groups are derived from ab initio structure optimization of surfaces terminated by vacuum. If not, ab initio molecular dynamics (AIMD) simulations of solvated surfaces (which are much more computationally expensive) will have to be used. To do this, we had to evaluate extant gibbsite potentiometric titration data that where some estimate of edge and basal surface area was available. Applying BET and recently developed atomic force microscopy methods, we found that most of these data sets were flawed, in that their surface area estimates were probably wrong. Similarly, there may have been problems with many of the titration procedures. However, one data set was adequate on both counts, and we applied our method of surface pKa int prediction to fitting a MUSIC model to this data with considerable success—several features of the titration data were predicted well. However, the model fit was certainly not perfect, and we experienced some difficulties optimizing highly charged, vacuum-terminated surfaces. Therefore, we conclude that we probably need to do AIMD simulations of solvated surfaces to adequately predict intrinsic pKa values for surface functional groups.
Pneumatic squirming robot based on flexible pneumatic actuator
Yang, Qinghua; Zhang, Libin; Bao, Guanjun; Ruan, Jian
2005-12-01
The design of a kind of pneumatic squirming robot is presented. It is based on the use of flexible pneumatic actuator. The flexible pneumatic actuator was made of caoutchouc. Its working principle is described. The structure, working principle, pneumatic and electrical control system of the pneumatic squirming robot are designed. All of the actuator's driving and squirming parts are composed of pneumatic elements. The vacuum osculums, which act as feet, are connected to the flexible pneumatic actuator. When the vacuum pumps operate, vacuum will be produced in the corresponding osculums, which can adsorb on the contacting surface and orient the robot. The actuator, operating under air pressure, drives the robot. By controlling the vacuum pumps and the actuator, straight and bending squirming of this robot can be obtained.
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.
MEMS Actuators for Improved Performance and Durability
Yearsley, James M.
Micro-ElectroMechanical Systems (MEMS) devices take advantage of force-scaling at length scales smaller than a millimeter to sense and interact with directly with phenomena and targets at the microscale. MEMS sensors found in everyday devices like cell-phones and cars include accelerometers, gyros, pressure sensors, and magnetic sensors. MEMS actuators generally serve more application specific roles including micro- and nano-tweezers used for single cell manipulation, optical switching and alignment components, and micro combustion engines for high energy density power generation. MEMS rotary motors are actuators that translate an electric drive signal into rotational motion and can serve as rate calibration inputs for gyros, stages for optical components, mixing devices for micro-fluidics, etc. Existing rotary micromotors suffer from friction and wear issues that affect lifetime and performance. Attempts to alleviate friction effects include surface treatment, magnetic and electrostatic levitation, pressurized gas bearings, and micro-ball bearings. The present work demonstrates a droplet based liquid bearing supporting a rotary micromotor that improves the operating characteristics of MEMS rotary motors. The liquid bearing provides wear-free, low-friction, passive alignment between the rotor and stator. Droplets are positioned relative to the rotor and stator through patterned superhydrophobic and hydrophilic surface coatings. The liquid bearing consists of a central droplet that acts as the motor shaft, providing axial alignment between rotor and stator, and satellite droplets, analogous to ball-bearings, that provide tip and tilt stable operation. The liquid bearing friction performance is characterized through measurement of the rotational drag coefficient and minimum starting torque due to stiction and geometric effects. Bearing operational performance is further characterized by modeling and measuring stiffness, environmental survivability, and high
Pinera, Alex
2013-01-01
This invention is a magnetically actuated seal in which either a single electromagnet, or multiple electromagnets, are used to control the seal's position. This system can either be an open/ close type of system or an actively controlled system.
Magnetically Actuated Seal Project
National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...
The XXZ Heisenberg model on random surfaces
Energy Technology Data Exchange (ETDEWEB)
Ambjørn, J., E-mail: ambjorn@nbi.dk [The Niels Bohr Institute, Copenhagen University, Blegdamsvej 17, DK-2100 Copenhagen (Denmark); Institute for Mathematics, Astrophysics and Particle Physics (IMAPP), Radbaud University Nijmegen, Heyendaalseweg 135, 6525 AJ, Nijmegen (Netherlands); Sedrakyan, A., E-mail: sedrak@nbi.dk [The Niels Bohr Institute, Copenhagen University, Blegdamsvej 17, DK-2100 Copenhagen (Denmark); Yerevan Physics Institute, Br. Alikhanyan str. 2, Yerevan-36 (Armenia)
2013-09-21
We consider integrable models, or in general any model defined by an R-matrix, on random surfaces, which are discretized using random Manhattan lattices. The set of random Manhattan lattices is defined as the set dual to the lattice random surfaces embedded on a regular d-dimensional lattice. They can also be associated with the random graphs of multiparticle scattering nodes. As an example we formulate a random matrix model where the partition function reproduces the annealed average of the XXZ Heisenberg model over all random Manhattan lattices. A technique is presented which reduces the random matrix integration in partition function to an integration over their eigenvalues.
The XXZ Heisenberg model on random surfaces
Ambjorn, J
2013-01-01
We consider integrable models, or in general any model defined by an $R$-matrix, on random surfaces, which are discretized using random Manhattan lattices. The set of random Manhattan lattices is defined as the set dual to the lattice random surfaces embedded on a regular d-dimensional lattice. They can also be associated with the random graphs of multiparticle scattering nodes. As an example we formulate a random matrix model where the partition function reproduces the annealed average of the XXZ Heisenberg model over all random Manhattan lattices. A technique is presented which reduces the random matrix integration in partition function to an integration over their eigenvalues.
Tendon Driven Finger Actuation System
Ihrke, Chris A. (Inventor); Reich, David M. (Inventor); Bridgwater, Lyndon (Inventor); Linn, Douglas Martin (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor); Abdallah, Muhammad E. (Inventor); Permenter, Frank Noble (Inventor); Mehling, Joshua S. (Inventor)
2013-01-01
A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
Structure-property relations of gold and graphene nanoporous actuators
Saane, Siva Shankar Reddy
2015-01-01
Electrochemical nanoporous actuators have low weight, large specific surface areas and low voltage operating capabilities, making them attractive for application in small-scale electromechanical devices. The actuation strain of these materials at the macroscopic scale is a manifestation of microscop
Design of an innovative magnetostrictive patch actuator
Cinquemani, S.; Giberti, H.
2015-04-01
Magnetostrictive actuators can be profitably used to reduce vibration in structures. However, this technology has been exploited only to develop inertial actuators, while patches actuators have not been ever used in practice. Patches actuators consist on a layer of magnetostrictive material, which has to be stuck to the surface of the vibrating structure, and on a coil surrounding the layer itself. However, the presence of the winding severely limits the use of such devices. As a matter of fact, the scientific literature reports only theoretical uses of such actuators, but, in practice it does not seem they were ever used. This paper presents an innovative solution to improve the structure of the actuator patches, allowing their use in several practical applications. The principle of operation of these devices is rather simple. The actuator patch is able to generate a local deformation of the surface of the vibrating structure so as to introduce an equivalent damping that dissipates the kinetic energy associated to the vibration. This deformation is related to the behavior of the magnetostrictive material immersed in a variable magnetic field generated by the a variable current flowing in the winding. Contrary to what suggested in the theoretical literature, the designed device has the advantage of generating the variable magnetic field no longer in close proximity of the material, but in a different area, thus allowing a better coupling. The magnetic field is then conveyed through a suitable ferromagnetic structure to the magnetostrictive material. The device has been designed and simulated through FEA. Results confirm that the new configuration can easily overcome all the limits of traditional devices.
Mass and charge transport in IPMC actuators with fractal interfaces
Chang, Longfei; Wu, Yucheng; Zhu, Zicai; Li, Heng
2016-04-01
Ionic Polymer-Metal Composite (IPMC) actuators have been attracting a growing interest in extensive applications, which consequently raises the demands on the accuracy of its theoretical modeling. For the last few years, rough landscape of the interface between the electrode and the ionic membrane of IPMC has been well-documented as one of the key elements to ensure a satisfied performance. However, in most of the available work, the interface morphology of IPMC was simplified with structural idealization, which lead to perplexity in the physical interpretation on its interface mechanism. In this paper, the quasi-random rough interface of IPMC was described with fractal dimension and scaling parameters. And the electro-chemical field was modeled by Poisson equation and a properly simplified Nernst-Planck equation set. Then, by simulation with Finite Element Method, a comprehensive analysis on he inner mass and charge transportation in IPMC actuators with different fractal interfaces was provided, which may be further adopted to instruct the performance-oriented interface design for ionic electro-active actuators. The results also verified that rough interface can impact the electrical and mechanical response of IPMC, not only from the respect of the real surface increase, but also from mass distribution difference caused by the complexity of the micro profile.
Minimal model for spoof acoustoelastic surface states
Energy Technology Data Exchange (ETDEWEB)
Christensen, J., E-mail: jochri@fotonik.dtu.dk; Willatzen, M. [Department of Photonics Engineering, Technical University of Denmark, DK-2800 Kgs. Lyngby (Denmark); Liang, Z. [College of Electronic Science and Technology, Shenzhen University, Shenzhen (China)
2014-12-15
Similar to textured perfect electric conductors for electromagnetic waves sustaining artificial or spoof surface plasmons we present an equivalent phenomena for the case of sound. Aided by a minimal model that is able to capture the complex wave interaction of elastic cavity modes and airborne sound radiation in perfect rigid panels, we construct designer acoustoelastic surface waves that are entirely controlled by the geometrical environment. Comparisons to results obtained by full-wave simulations confirm the feasibility of the model and we demonstrate illustrative examples such as resonant transmissions and waveguiding to show a few examples of many where spoof elastic surface waves are useful.
Minimal model for spoof acoustoelastic surface states
Directory of Open Access Journals (Sweden)
J. Christensen
2014-12-01
Full Text Available Similar to textured perfect electric conductors for electromagnetic waves sustaining artificial or spoof surface plasmons we present an equivalent phenomena for the case of sound. Aided by a minimal model that is able to capture the complex wave interaction of elastic cavity modes and airborne sound radiation in perfect rigid panels, we construct designer acoustoelastic surface waves that are entirely controlled by the geometrical environment. Comparisons to results obtained by full-wave simulations confirm the feasibility of the model and we demonstrate illustrative examples such as resonant transmissions and waveguiding to show a few examples of many where spoof elastic surface waves are useful.
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.
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...... different wind turbines have been simulated: one with constant circulation along the blades, to replicate the vortex method approximations, and the other with a realistic circulation distribution, to compare the outcomes of the vortex model with real operative wind-turbine conditions (Tjæreborg wind turbine......). The vortex model matched the numerical simulation of the turbine with constant blade circulation in terms of the near-wake structure and local forces along the blade. The results from the Tjæreborg turbine case showed some discrepancies between the two approaches, but overall, the agreement is qualitatively...
Actuators of 3-element unimorph deformable mirror
Fu, Tianyang; Ning, Yu; Du, Shaojun
2016-10-01
Kinds of wavefront aberrations exist among optical systems because of atmosphere disturbance, device displacement and a variety of thermal effects, which disturb the information of transmitting beam and restrain its energy. Deformable mirror(DM) is designed to adjust these wavefront aberrations. Bimorph DM becomes more popular and more applicable among adaptive optical(AO) systems with advantages in simple structure, low cost and flexible design compared to traditional discrete driving DM. The defocus aberration accounted for a large proportion of all wavefront aberrations, with a simpler surface and larger amplitude than others, so it is very useful to correct the defocus aberration effectively for beam controlling and aberration adjusting of AO system. In this study, we desired on correcting the 3rd and 10th Zernike modes, analyze the characteristic of the 3rd and 10th defocus aberration surface distribution, design 3-element actuators unimorph DM model study on its structure and deformation principle theoretically, design finite element models of different electrode configuration with different ring diameters, analyze and compare effects of different electrode configuration and different fixing mode to DM deformation capacity through COMSOL finite element software, compare fitting efficiency of DM models to the 3rd and 10th Zernike modes. We choose the inhomogeneous electrode distribution model with better result, get the influence function of every electrode and the voltage-PV relationship of the model. This unimorph DM is suitable for the AO system with a mainly defocus aberration.
Uncertainty and Sensitivity in Surface Dynamics Modeling
Kettner, Albert J.; Syvitski, James P. M.
2016-05-01
Papers for this special issue on 'Uncertainty and Sensitivity in Surface Dynamics Modeling' heralds from papers submitted after the 2014 annual meeting of the Community Surface Dynamics Modeling System or CSDMS. CSDMS facilitates a diverse community of experts (now in 68 countries) that collectively investigate the Earth's surface-the dynamic interface between lithosphere, hydrosphere, cryosphere, and atmosphere, by promoting, developing, supporting and disseminating integrated open source software modules. By organizing more than 1500 researchers, CSDMS has the privilege of identifying community strengths and weaknesses in the practice of software development. We recognize, for example, that progress has been slow on identifying and quantifying uncertainty and sensitivity in numerical modeling of earth's surface dynamics. This special issue is meant to raise awareness for these important subjects and highlight state-of-the-art progress.
An Novel Improved Model Free Control Against Actuator Saturation%考虑执行器饱和的改进无模型自适应控制
Institute of Scientific and Technical Information of China (English)
程志强; 朱纪洪; 袁夏明
2016-01-01
Model free adaptive control (MFAC) is a data-driven based control approach. The advantages of this method lie in low computational complexity, strong robustness and no-need of modeling during its design progress. However, actuator saturation is a problem which is not yet considered in all of the existing MFAC methods. In this paper, a novel improved MFAC method is proposed to deal with the constrains of actuator. Hildreth method is used to solve control output by introducing constraint condition for the critical function of control input, which simplifies the programming progress and reduces the computing load. After that, the stability of the closed-loop system is proved through rigorous analysis. At the end, taking Wood/Berry distillation as the plant, a series of comparative simulation is conducted and the result shows a better performance by using the proposed controller than traditional MFAC methods when actuator saturation exists.%无模型自适应控制(Model free adaptive control, MFAC)是一种数据驱动的控制方法,具有计算简单、鲁棒性强、无需建模等优点。目前无模型自适应控制方法普遍未考虑可能出现的执行器饱和问题。本文针对这一问题,对执行器执行能力存在上限的情况设计了改进算法。该算法通过对控制输入准则函数引入约束条件,使用Hildreth 方法进行数值求解,具有编程简单、计算量小的优点。在此基础上分析并证明了闭环稳定性。最后以蒸馏塔模型为控制对象,通过对比仿真实验验证了算法的有效性。
Carbon nanotube based NEMS actuators and sensors
Forney, Michael; Poler, Jordan
2011-03-01
Single-walled carbon nanotubes (SWNTs) have been widely studied due to superior mechanical and electrical properties. We have grown vertically aligned SWNTs (VA-SWNTs) onto microcantilever (MC) arrays, which provides an architecture for novel actuators and sensors. Raman spectroscopy confirms that the CVD-grown nanotubes are SWNTs and SEM confirms aligned growth. As an actuator, this hybrid MC/VA-SWNT system can be electrostatically modulated. SWNTs are excellent electron acceptors, so we can charge up the VA-SWNT array by applying a voltage. The electrostatic repulsion among the charged SWNTs provides a surface stress that induces MC deflection. Simulation results show that a few electrons per SWNT are needed for measureable deflections, and experimental actuators are being characterized by SEM, Raman, and an AFM optical lever system. The applied voltage is sinusoidally modulated, and deflection is measured with a lock-in amplifier. These actuators could be used for nano-manipulation, release of drugs from a capsule, or nano-valves. As a sensor, this MC/VA-SWNT system offers an improved sensitivity for chemical and bio-sensing compared to surface functionalized MC-based sensors. Those sensors only have a 2D sensing surface, but a MC/VA-SWNT system has significantly more sensing surface because the VA-SWNTs extend microns off the MC surface.
Simulation and Performance of Brushless DC Motor Actuators.
1985-12-01
AD-RI63 725 SIMULATION AND PERFORMANCE OF IRUSHLESS DC MOTOR ACTUATORS(U) NAVAL POSTGRADUATE SCHOOL MONTEREY CA A GERDA DEC 85 NPS69-85-628 M...California Progress Report SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS IN SUPPORT OF THE PROGRAM "ADVANCED MISSILE CONTROL DEVICES"I of...34.’ SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS SUMMARY The simulation model for a Brushless D.C. Motor and the associated * commutation power
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)
Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators
Directory of Open Access Journals (Sweden)
Janno Torop
2009-12-01
Full Text Available Devices using electroactive polymer-supported carbon material can be exploited as alternatives to conventional electromechanical actuators in applications where electromechanical actuators have some serious deficiencies. One of the numerous examples is precise microactuators. In this paper, we show for first time the dilatometric effect in nanocomposite material actuators containing carbide-derived carbon (CDC and polytetrafluoroetylene polymer (PTFE. Transducers based on high surface area carbide-derived carbon electrode materials are suitable for short range displacement applications, because of the proportional actuation response to the charge inserted, and high Coulombic efficiency due to the EDL capacitance. The material is capable of developing stresses in the range of tens of N cm-2. The area of an actuator can be dozens of cm2, which means that forces above 100 N are achievable. The actuation mechanism is based on the interactions between the high-surface carbon and the ions of the electrolyte. Electrochemical evaluations of the four different actuators with linear (longitudinal action response are described. The actuator electrodes were made from two types of nanoporous TiC-derived carbons with surface area (SA of 1150 m2 g-1 and 1470 m2 g-1, respectively. Two kinds of electrolytes were used in actuators: 1.0 M tetraethylammonium tetrafluoroborate (TEABF4 solution in propylene carbonate and pure ionic liquid 1-ethyl-3-methylimidazolium trifluoromethanesulfonate (EMITf. It was found that CDC based actuators exhibit a linear movement of about 1% in the voltage range of 0.8 V to 3.0 V at DC. The actuators with EMITf electrolyte had about 70% larger movement compared to the specimen with TEABF4 electrolyte.
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.
Computer Modelling of 3D Geological Surface
Kodge, B G
2011-01-01
The geological surveying presently uses methods and tools for the computer modeling of 3D-structures of the geographical subsurface and geotechnical characterization as well as the application of geoinformation systems for management and analysis of spatial data, and their cartographic presentation. The objectives of this paper are to present a 3D geological surface model of Latur district in Maharashtra state of India. This study is undertaken through the several processes which are discussed in this paper to generate and visualize the automated 3D geological surface model of a projected area.
A Parallel Approach To Optimum Actuator Selection With a Genetic Algorithm
Rogers, James L.
2000-01-01
Recent discoveries in smart technologies have created a variety of aerodynamic actuators which have great potential to enable entirely new approaches to aerospace vehicle flight control. For a revolutionary concept such as a seamless aircraft with no moving control surfaces, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements. The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement Maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. Genetic algorithms have been instrumental in achieving good solutions to discrete optimization problems, such as the actuator placement problem. As a proof of concept, a genetic has been developed to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control for a simplified, untapered, unswept wing model. To find the optimum placement by searching all possible combinations would require 1,100 hours. Formulating the problem and as a multi-objective problem and modifying it to take advantage of the parallel processing capabilities of a multi-processor computer, reduces the optimization time to 22 hours.
Sedighi Ghozotkhar, Mehdi; Palasantzas, Georgios
2014-01-01
Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating
Liquid surface model for carbon nanotube energetics
DEFF Research Database (Denmark)
Solov'yov, Ilia; Mathew, Maneesh; Solov'yov, Andrey V.;
2008-01-01
an important insight in the energetics and stability of nanotubes of different chirality and might be important for the understanding of nanotube growth process. For the computations we use empirical Brenner and Tersoff potentials and discuss their applicability to the study of carbon nanotubes. From......In the present paper we developed a model for calculating the energy of single-wall carbon nanotubes of arbitrary chirality. This model, which we call as the liquid surface model, predicts the energy of a nanotube with relative error less than 1% once its chirality and the total number of atoms...... are known. The parameters of the liquid surface model and its potential applications are discussed. The model has been suggested for open end and capped nanotubes. The influence of the catalytic nanoparticle, atop which nanotubes grow, on the nanotube stability is also discussed. The suggested model gives...
Land-surface modelling in hydrological perspective
DEFF Research Database (Denmark)
Overgaard, Jesper; Rosbjerg, Dan; Butts, M.B.
2006-01-01
The purpose of this paper is to provide a review of the different types of energy-based land-surface models (LSMs) and discuss some of the new possibilities that will arise when energy-based LSMs are combined with distributed hydrological modelling. We choose to focus on energy-based approaches, ......, and the difficulties inherent in various evaluation procedures are presented. Finally, the dynamic coupling of hydrological and atmospheric models is explored, and the perspectives of such efforts are discussed....
Characterisation of static actuation behaviour of encapsulated PZT
Doran, Conrad J.; Butler, Raymond J.
1994-09-01
Within the field of 'smart' structures considerable interest has been shown in the use of piezoelectric materials both as sensors and actuators. One of the best characterized of these materials is the family of Lead Zirconate Titanate (PZT) based ceramics. The use of PZT in intelligent systems has been fairly widespread, the high modulus of the material give high authority actuation, coupled with a wide operational bandwidth and relative ease of control by the application of an applied voltage. The linearity of the actuation response over a limited range has made PZT a popular choice for high precision, relatively low displacement applications. A number of attempts have been made to utilize such actuators for aerospace, using both surface mounting [1] and embedding techniques [2,3]. The effects of actuators on aeroelastic performance has also been investigated for aerospace applications [4,5]. The current practical solution to this problem appears to be the use of spatially distributed actuators [6]. One of the practical limitations of this problem are the large number of actuators required to produce the required degree of static control. In order to ensure accurate shape control, measurements must be taken to ensure there are no significant difference in the actuator element properties due to factors such as batch processing variation. In the past this has proved difficult due to the extremely brittle nature of the actuator material. More specifically the requirement for thinner elements for use in embedded applications has increased this problem. A method by which the static performance of electroceramic actuators could be quickly established would therefore be desirable. This paper presents the results of recent work to develop a test method to define the static electromechanical properties of encapsulated actuator materials in order to assess their suitability as static actuators for aerospace applications. Preliminary results using a standard PZT material are
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.
Vibration analysis of magnetostrictive thin-film composite cantilever actuator
Xu, Yan; Shang, Xinchun
2016-09-01
The transverse vibration of a composed cantilever beam with magnetostrictive layer is analyzed, which is employed to simulate dynamic response of an actuator. The high-order shear deformation theory of beam and the coupling magnetoelastic constitutive relationship are introduced to construct the governing equations, all interface conditions between magnetostrictive film and elastic substrate as well as the free stress condition on the top and bottom surfaces of the beam can be satisfied. In order to demonstrate validity of the presented mathematical modeling, the verification examples are also given. Furthermore, the effect of geometry and material parameters on dynamic characteristics of magnetostrictive cantilever beam, such as the nature frequency and amplitude, is discussed. Moreover, through computing the magneto-mechanical coupling factor of the beam structure, the variation tendency curves of the factor along with different parameters and frequencies of magnetostrictive cantilever beam actuator have been presented. These numerical results should be useful for the design of beam-type with magnetostrictive thin-film actuators.
Actuator and method for positioning an object
Van Schieveen, J.P.; Spronck, J.W.
2010-01-01
The invention relates to an actuator for positioning an object in a first direction of movement, comprising a base, at least three positioning members, wherein each of the at least three positioning members has a contact surface which is configured to bear against the object under prestress, and a c
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
Radiative transfer modeling of surface chemical deposits
Reichardt, Thomas A.; Kulp, Thomas J.
2016-05-01
Remote detection of a surface-bound chemical relies on the recognition of a pattern, or "signature," that is distinct from the background. Such signatures are a function of a chemical's fundamental optical properties, but also depend upon its specific morphology. Importantly, the same chemical can exhibit vastly different signatures depending on the size of particles composing the deposit. We present a parameterized model to account for such morphological effects on surface-deposited chemical signatures. This model leverages computational tools developed within the planetary and atmospheric science communities, beginning with T-matrix and ray-tracing approaches for evaluating the scattering and extinction properties of individual particles based on their size and shape, and the complex refractive index of the material itself. These individual-particle properties then serve as input to the Ambartsumian invariant imbedding solution for the reflectance of a particulate surface composed of these particles. The inputs to the model include parameters associated with a functionalized form of the particle size distribution (PSD) as well as parameters associated with the particle packing density and surface roughness. The model is numerically inverted via Sandia's Dakota package, optimizing agreement between modeled and measured reflectance spectra, which we demonstrate on data acquired on five size-selected silica powders over the 4-16 μm wavelength range. Agreements between modeled and measured reflectance spectra are assessed, while the optimized PSDs resulting from the spectral fitting are then compared to PSD data acquired from independent particle size measurements.
Active control of interior noise in a large scale cylinder using piezoelectric actuators
Lester, H. C.; Silcox, R. J.
1992-07-01
The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.
Optimization of ultrasonic transducers for selective guided wave actuation
Miszczynski, Mateusz; Packo, Pawel; Zbyrad, Paulina; Stepinski, Tadeusz; Uhl, Tadeusz; Lis, Jerzy; Wiatr, Kazimierz
2016-04-01
The application of guided waves using surface-bonded piezoceramic transducers for nondestructive testing (NDT) and Structural Health Monitoring (SHM) have shown great potential. However, due to difficulty in identification of individual wave modes resulting from their dispersive and multi-modal nature, selective mode excitement methods are highly desired. The presented work focuses on an optimization-based approach to design of a piezoelectric transducer for selective guided waves generation. The concept of the presented framework involves a Finite Element Method (FEM) model in the optimization process. The material of the transducer is optimized in topological sense with the aim of tuning piezoelectric properties for actuation of specific guided wave modes.
Integrated sensing and actuation of muscle-like actuators
Gisby, T. A.; Xie, S.; Calius, E. P.; Anderson, I. A.
2009-03-01
The excellent overall performance and compliant nature of Dielectric Elastomer Actuators (DEAs) make them ideal candidates for artificial muscles. Natural muscle however is much more than just an actuator, it provides position feedback to the brain that is essential for the body to maintain balance and correct posture. If DEAs are to truly earn the moniker of "artificial muscles" they need to be able to reproduce, if not improve on, this functionality. Self-sensing DEAs are the ideal solution to this problem. This paper presents a system by which the capacitance of a DEA can be sensed while it is being actuated and used for feedback control. This system has been strongly influenced by the desire for portability i.e. designed for use in a battery operated microcontroller based system. It is capable of controlling multiple independent DEAs using a single high voltage power supply. These features are important developments for artificial muscle devices where accuracy and low mass are important e.g. a prosthetic hand or force-feedback surgical tools. A numerical model of the electrical behaviour of the DEA that incorporates arbitrary leakage currents and the impact of arbitrary variable capacitance has been created to model a DEA system. A robust capacitive self-sensing method that uses a slew-rate controlled Pulse Width Modulation (PWM) signal and compensates for the effects of leakage current and variable capacitance is presented. The numerical model is then used to compare the performance of this new method with an earlier method previously published by the authors.
NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY
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.
Minimal model for spoof acoustoelastic surface states
DEFF Research Database (Denmark)
Christensen, Johan; Liang, Z.; Willatzen, Morten
2014-01-01
Similar to textured perfect electric conductors for electromagnetic waves sustaining artificial or spoof surface plasmons we present an equivalent phenomena for the case of sound. Aided by a minimal model that is able to capture the complex wave interaction of elastic cavity modes and airborne...... sound radiation in perfect rigid panels, we construct designer acoustoelastic surface waves that are entirely controlled by the geometrical environment. Comparisons to results obtained by full-wave simu- lations confirm the feasibility of the model and we demonstrate illustrative examples...
Modeling of Droplet Evaporation on Superhydrophobic Surfaces.
Fernandes, Heitor C M; Vainstein, Mendeli H; Brito, Carolina
2015-07-14
When a drop of water is placed on a rough surface, there are two possible extreme regimes of wetting: the one called Cassie-Baxter (CB) with air pockets trapped underneath the droplet and the one called the Wenzel (W) state characterized by the homogeneous wetting of the surface. A way to investigate the transition between these two states is by means of evaporation experiments, in which the droplet starts in a CB state and, as its volume decreases, penetrates the surface's grooves, reaching a W state. Here we present a theoretical model based on the global interfacial energies for CB and W states that allows us to predict the thermodynamic wetting state of the droplet for a given volume and surface texture. We first analyze the influence of the surface geometric parameters on the droplet's final wetting state with constant volume and show that it depends strongly on the surface texture. We then vary the volume of the droplet, keeping the geometric surface parameters fixed to mimic evaporation and show that the drop experiences a transition from the CB to the W state when its volume reduces, as observed in experiments. To investigate the dependency of the wetting state on the initial state of the droplet, we implement a cellular Potts model in three dimensions. Simulations show very good agreement with theory when the initial state is W, but it disagrees when the droplet is initialized in a CB state, in accordance with previous observations which show that the CB state is metastable in many cases. Both simulations and the theoretical model can be modified to study other types of surfaces.
Sliding-mode control for semi-active suspension with actuator dynamics
Chen, Bo-Chiuan; Shiu, Yu-Hua; Hsieh, Feng-Chi
2011-02-01
A sliding-mode controller (SMC) is proposed for semi-active suspensions to achieve ride comfort and handling performance simultaneously. First, a nonlinear quarter-car model of Macpherson strut suspension is established in Matlab/Simulink. Constrained damper force and actuator dynamics are considered for the damper model. System identification is applied to the nonlinear model for obtaining the linear model parameters. Kalman filter is designed based on the linear model and the actuator dynamics to estimate the state responses required for SMC. The sliding surface consists of tyre deflection and sprung mass acceleration. The proposed SMC is evaluated using the nonlinear model for both time and frequency domain responses. Robustness due to the increased sprung mass and deteriorated suspension is also investigated in this paper. Preliminary simulation results show improved ride comfort without sacrificing the road holding performance.
Copper Planar Microcoils Applied to Magnetic Actuation
Moulin, J; Martincic, E; Dufour-Gergam, E
2008-01-01
Recent advances in microtechnology allow realization of planar microcoils. These components are integrated in MEMS as magnetic sensor or actuator. In the latter case, it is necessary to maximize the effective magnetic field which is proportional to the current passing through the copper track and depends on the distance to the generation microcoil. The aim of this work was to determine the optimal microcoil design configuration for magnetic field generation. The results were applied to magnetic actuation, taking into account technological constraints. In particular, we have considered different realistic configurations that involve a magnetically actuated device coupled to a microcoil. Calculations by a semi-analytical method using Matlab software were validated by experimental measurements. The copper planar microcoils are fabricated by U.V. micromoulding on different substrates: flexible polymer (Kapton) and silicate on silicon. They are constituted by a spiral-like continuous track. Their total surface is ...
Modeling of nonlocal memory hysteresis in piezoelectric actuators%压电驱动器记忆特性迟滞非线性建模
Institute of Scientific and Technical Information of China (English)
张桂林; 张承进; 赵学良
2012-01-01
As piezoelectric actuators have poor position accuracy caused by their inherent hysteresis nonlinearities, this paper proposed a new modeling method to precisely describe their hysteresis phenomena. Based on the motion rules of hysteresis curves and the nonlocal memory property of the hysteresis nonlinearity, proposed model modified the modeling errors fitted by parabolic model. To verify the feasibility of the model, an experiment was performed by the PST150/7/40VS12 piezoelectric actuator. Experimental results indicate that for the first order reversal signal, the maximum error is 0. 141 3 μm and the mean-squared error (MSE) is 0. 060 4 μm by using the parabolic model. However, for a more complex signal, those of the parabolic model are 1. 396 0 μm and 0. 856 6 μm, respectively. When using the amended model to predict the actuator response under the above-mentioned complex signal, the maximum prediction error and the mean-squared error are 0. 237 0 μm and 0. 09 μm, respectively. These data demonstrate that the proposed model not only provides a minor-loop i-dentical property, but also offers the nonlocal property and it can precisely predict the hysteresis path for assigned complex input profiles.%考虑压电驱动器固有的迟滞特性对驱动器定位精度的影响,提出了一种精确描述压电驱动器迟滞非线性特性的建模方法.根据迟滞曲线的运动规律,并且考虑迟滞曲线的记忆更新特性,新的迟滞数学模型修正了单纯采用抛物线拟合时的建模误差.为了验证模型的有效性,以PST150/7/40VS12型压电陶瓷驱动器为例进行了试验研究.研究显示,采用抛物线迟滞模型对一阶反转输入信号进行预测时,最大误差为0.141 3 μm,均方误差为0.060 4 μm,对复杂信号模型预测的最大误差为1.396 0 μm,均方误差为0.856 6 μm;采用修正后的模型对文中复杂信号建模时,最大误差为0.237 0 μm,均方误差为0.09 μm.实验结果表明,修正后的
Modeling Land Surface Phenology Using Earthlight
Henebry, G. M.
2005-12-01
Microwave radiometers have long been used in earth observation, but the coarse spatial resolution of the data has discouraged its use in investigations of the vegetated land surface. The Advanced Microwave Scanning Radiometer (AMSR-E) on the Aqua satellite acquires multifrequency observations twice daily (1:30 and 13:30). From these brightness temperatures come two data products relevant to land surface phenology: soil moisture and vegetation water content. Although the nominal spatial resolution of these products is coarse (25 km), the fine temporal sampling allows characterization of the diel variation in surface moisture as contained in the uppermost soil layer and bound in the vegetation canopy. The ephermal dynamics of surficial soil moisture are difficult to validate due to the scale discrepancy between the 625 sq km coverage of a single pixel and the sparse network of weather stations. In contrast, canopy dynamics are more readily validated using finer spatial resolution data products and/or ecoregionalizations. For sites in the North American Great Plains and Northern Eurasia dominated by herbaceous vegetation, I will present land surface phenologies modeled using emitted earthlight and compare them with land surface phenologies modeled using reflected sunlight. I will also explore whether some key climate modes have a significant effect on the microwave-retrieved land surface phenologies.
Functional Risk Modeling for Lunar Surface Systems
Thomson, Fraser; Mathias, Donovan; Go, Susie; Nejad, Hamed
2010-01-01
We introduce an approach to risk modeling that we call functional modeling , which we have developed to estimate the capabilities of a lunar base. The functional model tracks the availability of functions provided by systems, in addition to the operational state of those systems constituent strings. By tracking functions, we are able to identify cases where identical functions are provided by elements (rovers, habitats, etc.) that are connected together on the lunar surface. We credit functional diversity in those cases, and in doing so compute more realistic estimates of operational mode availabilities. The functional modeling approach yields more realistic estimates of the availability of the various operational modes provided to astronauts by the ensemble of surface elements included in a lunar base architecture. By tracking functional availability the effects of diverse backup, which often exists when two or more independent elements are connected together, is properly accounted for.
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.
Modeling surface roughness scattering in metallic nanowires
Energy Technology Data Exchange (ETDEWEB)
Moors, Kristof, E-mail: kristof@itf.fys.kuleuven.be [KU Leuven, Institute for Theoretical Physics, Celestijnenlaan 200D, B-3001 Leuven (Belgium); IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Sorée, Bart [IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Physics Department, University of Antwerp, Groenenborgerlaan 171, B-2020 Antwerpen (Belgium); KU Leuven, Electrical Engineering (ESAT) Department, Kasteelpark Arenberg 10, B-3001 Leuven (Belgium); Magnus, Wim [IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Physics Department, University of Antwerp, Groenenborgerlaan 171, B-2020 Antwerpen (Belgium)
2015-09-28
Ando's model provides a rigorous quantum-mechanical framework for electron-surface roughness scattering, based on the detailed roughness structure. We apply this method to metallic nanowires and improve the model introducing surface roughness distribution functions on a finite domain with analytical expressions for the average surface roughness matrix elements. This approach is valid for any roughness size and extends beyond the commonly used Prange-Nee approximation. The resistivity scaling is obtained from the self-consistent relaxation time solution of the Boltzmann transport equation and is compared to Prange-Nee's approach and other known methods. The results show that a substantial drop in resistivity can be obtained for certain diameters by achieving a large momentum gap between Fermi level states with positive and negative momentum in the transport direction.
Quantitative Modeling of Earth Surface Processes
Pelletier, Jon D.
This textbook describes some of the most effective and straightforward quantitative techniques for modeling Earth surface processes. By emphasizing a core set of equations and solution techniques, the book presents state-of-the-art models currently employed in Earth surface process research, as well as a set of simple but practical research tools. Detailed case studies demonstrate application of the methods to a wide variety of processes including hillslope, fluvial, aeolian, glacial, tectonic, and climatic systems. Exercises at the end of each chapter begin with simple calculations and then progress to more sophisticated problems that require computer programming. All the necessary computer codes are available online at www.cambridge.org/9780521855976. Assuming some knowledge of calculus and basic programming experience, this quantitative textbook is designed for advanced geomorphology courses and as a reference book for professional researchers in Earth and planetary science looking for a quantitative approach to Earth surface processes. More details...
Impact-Actuated Digging Tool for Lunar Excavation Project
National Aeronautics and Space Administration — Honeybee Robotics proposes to develop a vacuum compatible, impact-actuated digging tool for the excavation of frozen and compacted regolith on the lunar surface and...
Aerodynamic Optimization for Distributed Electro Mechanical Actuators Project
National Aeronautics and Space Administration — Traditional hydraulic actuation and control surface layout both limit span wise control of lift distribution, and require large volume within wing cross-section,...
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.
Reflector Surface Modelling : A European Collaboration
Albani, M; Balling, P.; Ettorre, M.; Gerini, G.; Maci, S.; Pontoppidan, K.; Sipus, Z.; Sjöberg, D.; Vecchi, G.; Vipiana, F.
2007-01-01
The topic of this paper is the work carried out in Work Package 2.3-2 of the EU network ACE. This work package is concerned with the modelling of the surfaces of modern reflector antennas. In particular the problems associated with homogenisation of periodic structures are described together with an
Constraining Numerical Geodynamo Modeling with Surface Observations
Kuang, Weijia; Tangborn, Andrew
2006-01-01
Numerical dynamo solutions have traditionally been generated entirely by a set of self-consistent differential equations that govern the spatial-temporal variation of the magnetic field, velocity field and other fields related to dynamo processes. In particular, those solutions are obtained with parameters very different from those appropriate for the Earth s core. Geophysical application of the numerical results therefore depends on correct understanding of the differences (errors) between the model outputs and the true states (truth) in the outer core. Part of the truth can be observed at the surface in the form of poloidal magnetic field. To understand these differences, or errors, we generate new initial model state (analysis) by assimilating sequentially the model outputs with the surface geomagnetic observations using an optimal interpolation scheme. The time evolution of the core state is then controlled by our MoSST core dynamics model. The final outputs (forecasts) are then compared with the surface observations as a means to test the success of the assimilation. We use the surface geomagnetic data back to year 1900 for our studies, with 5-year forecast and 20-year analysis periods. We intend to use the result; to understand time variation of the errors with the assimilation sequences, and the impact of the assimilation on other unobservable quantities, such as the toroidal field and the fluid velocity in the core.
Turbulent boundary layer separation control using plasma actuator at Reynolds number 2000000
Directory of Open Access Journals (Sweden)
Zhang Xin
2016-10-01
Full Text Available An experimental investigation was conducted to evaluate the effect of symmetrical plasma actuators on turbulent boundary layer separation control at high Reynolds number. Compared with the traditional control method of plasma actuator, the whole test model was made of aluminum and acted as a covered electrode of the symmetrical plasma actuator. The experimental study of plasma actuators’ effect on surrounding air, a canonical zero-pressure gradient turbulent boundary, was carried out using particle image velocimetry (PIV and laser Doppler velocimetry (LDV in the 0.75 m × 0.75 m low speed wind tunnel to reveal the symmetrical plasma actuator characterization in an external flow. A half model of wing-body configuration was experimentally investigated in the ∅ 3.2 m low speed wind tunnel with a six-component strain gauge balance and PIV. The results show that the turbulent boundary layer separation of wing can be obviously suppressed and the maximum lift coefficient is improved at high Reynolds number with the symmetrical plasma actuator. It turns out that the maximum lift coefficient increased by approximately 8.98% and the stall angle of attack was delayed by approximately 2° at Reynolds number 2 × 106. The effective mechanism for the turbulent separation control by the symmetrical plasma actuators is to induce the vortex near the wing surface which could create the relatively large-scale disturbance and promote momentum mixing between low speed flow and main flow regions.
Global modelling of Cryptosporidium in surface water
Vermeulen, Lucie; Hofstra, Nynke
2016-04-01
Introduction Waterborne pathogens that cause diarrhoea, such as Cryptosporidium, pose a health risk all over the world. In many regions quantitative information on pathogens in surface water is unavailable. Our main objective is to model Cryptosporidium concentrations in surface waters worldwide. We present the GloWPa-Crypto model and use the model in a scenario analysis. A first exploration of global Cryptosporidium emissions to surface waters has been published by Hofstra et al. (2013). Further work has focused on modelling emissions of Cryptosporidium and Rotavirus to surface waters from human sources (Vermeulen et al 2015, Kiulia et al 2015). A global waterborne pathogen model can provide valuable insights by (1) providing quantitative information on pathogen levels in data-sparse regions, (2) identifying pathogen hotspots, (3) enabling future projections under global change scenarios and (4) supporting decision making. Material and Methods GloWPa-Crypto runs on a monthly time step and represents conditions for approximately the year 2010. The spatial resolution is a 0.5 x 0.5 degree latitude x longitude grid for the world. We use livestock maps (http://livestock.geo-wiki.org/) combined with literature estimates to calculate spatially explicit livestock Cryptosporidium emissions. For human Cryptosporidium emissions, we use UN population estimates, the WHO/UNICEF JMP sanitation country data and literature estimates of wastewater treatment. We combine our emissions model with a river routing model and data from the VIC hydrological model (http://vic.readthedocs.org/en/master/) to calculate concentrations in surface water. Cryptosporidium survival during transport depends on UV radiation and water temperature. We explore pathogen emissions and concentrations in 2050 with the new Shared Socio-economic Pathways (SSPs) 1 and 3. These scenarios describe plausible future trends in demographics, economic development and the degree of global integration. Results and
Mitra, Sunanda
1992-11-01
Different approaches to computational stereo to represent human stereo vision have been developed over the past two decades. The Marr-Poggio theory of human stereo vision is probably the most widely accepted model of the human stereo vision. However, recently developed motion stereo models which use a sequence of images taken by either a moving camera or a moving object provide an alternative method of achieving multi-resolution matching without the use of Laplacian of Gaussian operators. While using image sequences, the baseline between two camera positions for a image pair is changed for the subsequent image pair so as to achieve different resolution for each image pair. Having different baselines also avoids the inherent occlusion problem in stereo vision models. The advantage of using multi-resolution images acquired by camera positioned at different baselines over those acquired by LOG operators is that one does not have to encounter spurious edges often created by zero-crossings in the LOG operated images. Therefore in designing a computer vision system, a motion stereo model is more appropriate than a stereo vision model. However, in some applications where only a stereo pair of images are available, recovery of 3D surfaces of natural scenes are possible in a computationally efficient manner by using cepstrum matching and regularization techniques. Section 2 of this paper describes a motion stereo model using multi-scale cepstrum matching for the detection of disparity between image pairs in a sequence of images and subsequent recovery of 3D surfaces from depth-map obtained by a non convergent triangulation technique. Section 3 presents a 3D surface recovery technique from a stereo pair using cepstrum matching for disparity detection and cubic B-splines for surface smoothing. Section 4 contains the results of 3D surface recovery using both of the techniques mentioned above. Section 5 discusses the merit of 2D cepstrum matching and cubic B
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
Nonmagnetic driver for piezoelectric actuators
DEFF Research Database (Denmark)
Ekhtiari, Marzieh
2014-01-01
Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....
Rotary actuators for plastic valves
Energy Technology Data Exchange (ETDEWEB)
Rudin, M. [Georg Fischer Piping Systems Ltd, Schaffhausen (Switzerland)
2004-07-01
Flexibility and modularity plus a high level of quality are the defining characteristics of this new generation of actuators from Georg Fischer. In conjunction with the new 546 ball valve, the PA 11/PA 21 pneumatic actuators and the EA 11/EA 21 electric actuators form an optimally co-ordinated system. (orig.)
Work Functions for Models of Scandate Surfaces
Mueller, Wolfgang
1997-01-01
The electronic structure, surface dipole properties, and work functions of scandate surfaces have been investigated using the fully relativistic scattered-wave cluster approach. Three different types of model surfaces are considered: (1) a monolayer of Ba-Sc-O on W(100), (2) Ba or BaO adsorbed on Sc2O3 + W, and (3) BaO on SC2O3 + WO3. Changes in the work function due to Ba or BaO adsorption on the different surfaces are calculated by employing the depolarization model of interacting surface dipoles. The largest work function change and the lowest work function of 1.54 eV are obtained for Ba adsorbed on the Sc-O monolayer on W(100). The adsorption of Ba on Sc2O3 + W does not lead to a low work function, but the adsorption of BaO results in a work function of about 1.6-1.9 eV. BaO adsorbed on Sc2O3 + WO3, or scandium tungstates, may also lead to low work functions.
Grain Surface Models and Data for Astrochemistry
Cuppen, H. M.; Walsh, C.; Lamberts, T.; Semenov, D.; Garrod, R. T.; Penteado, E. M.; Ioppolo, S.
2017-01-01
The cross-disciplinary field of astrochemistry exists to understand the formation, destruction, and survival of molecules in astrophysical environments. Molecules in space are synthesized via a large variety of gas-phase reactions, and reactions on dust-grain surfaces, where the surface acts as a catalyst. A broad consensus has been reached in the astrochemistry community on how to suitably treat gas-phase processes in models, and also on how to present the necessary reaction data in databases; however, no such consensus has yet been reached for grain-surface processes. A team of {˜}25 experts covering observational, laboratory and theoretical (astro)chemistry met in summer of 2014 at the Lorentz Center in Leiden with the aim to provide solutions for this problem and to review the current state-of-the-art of grain surface models, both in terms of technical implementation into models as well as the most up-to-date information available from experiments and chemical computations. This review builds on the results of this workshop and gives an outlook for future directions.
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.
Electromechanical flight control actuator
1979-01-01
The feasibility of using an electromechanical actuator (EMA) as the primary flight control equipment in aerospace flight is examined. The EMA motor design is presented utilizing improved permanent magnet materials. The necessary equipment to complete a single channel EMA using the single channel power electronics breadboard is reported. The design and development of an improved rotor position sensor/tachometer is investigated.
Baumbick, Robert J. (Inventor)
2002-01-01
The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.
Directory of Open Access Journals (Sweden)
Christophe Gutfrind
2016-05-01
Full Text Available The purpose of this article is to describe the design of a limited stroke actuator and the corresponding prototype to drive a Low Pressure (LP Exhaust Gas Recirculation (EGR valve for use in Internal Combustion Engines (ICEs. The direct drive actuator topology is an axial flux machine with two air gaps in order to minimize the rotor inertia and a bipolar surface-mounted permanent magnet in order to respect an 80° angular stroke. Firstly, the actuator will be described and optimized under constraints of a 150 ms time response, a 0.363 N·m minimal torque on an angular range from 0° to 80° and prototyping constraints. Secondly, the finite element method (FEM using the FLUX-3D® software (CEDRAT, Meylan, France will be used to check the actuator performances with consideration of the nonlinear effect of the iron material. Thirdly, a prototype will be made and characterized to compare its measurement results with the analytical model and the FEM model results. With these electromechanical behavior measurements, a numerical model is created with Simulink® in order to simulate an EGR system with this direct drive actuator under all operating conditions. Last but not least, the energy consumption of this machine will be estimated to evaluate the efficiency of the proposed EGR electromechanical system.
Gutfrind, Christophe; Dufour, Laurent; Liebart, Vincent; Vannier, Jean-Claude; Vidal, Pierre
2016-05-20
The purpose of this article is to describe the design of a limited stroke actuator and the corresponding prototype to drive a Low Pressure (LP) Exhaust Gas Recirculation (EGR) valve for use in Internal Combustion Engines (ICEs). The direct drive actuator topology is an axial flux machine with two air gaps in order to minimize the rotor inertia and a bipolar surface-mounted permanent magnet in order to respect an 80° angular stroke. Firstly, the actuator will be described and optimized under constraints of a 150 ms time response, a 0.363 N·m minimal torque on an angular range from 0° to 80° and prototyping constraints. Secondly, the finite element method (FEM) using the FLUX-3D(®) software (CEDRAT, Meylan, France) will be used to check the actuator performances with consideration of the nonlinear effect of the iron material. Thirdly, a prototype will be made and characterized to compare its measurement results with the analytical model and the FEM model results. With these electromechanical behavior measurements, a numerical model is created with Simulink(®) in order to simulate an EGR system with this direct drive actuator under all operating conditions. Last but not least, the energy consumption of this machine will be estimated to evaluate the efficiency of the proposed EGR electromechanical system.
Institute of Scientific and Technical Information of China (English)
MA Yong; WANG Wan-lu; LIAO Ke-jun; KONG Chun-yang
2004-01-01
For a low surface barrier, the energy band, barrier height and width of the space charge region at the surface of relatively large grains of ZnO are presented analytically on condition that the electron distribution obeys the Boltzmann statistics. It is shown that the temperature in the space charge distribution factor has an important effect on the energy band, barrier height and width of the space charge region. The depletion approximation is a model in which the temperature in the space charge distribution factor is zero. Our results are better than the depletion approximation.
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
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.
Integration of Heterogenous Digital Surface Models
Boesch, R.; Ginzler, C.
2011-08-01
The application of extended digital surface models often reveals, that despite an acceptable global accuracy for a given dataset, the local accuracy of the model can vary in a wide range. For high resolution applications which cover the spatial extent of a whole country, this can be a major drawback. Within the Swiss National Forest Inventory (NFI), two digital surface models are available, one derived from LiDAR point data and the other from aerial images. Automatic photogrammetric image matching with ADS80 aerial infrared images with 25cm and 50cm resolution is used to generate a surface model (ADS-DSM) with 1m resolution covering whole switzerland (approx. 41000 km2). The spatially corresponding LiDAR dataset has a global point density of 0.5 points per m2 and is mainly used in applications as interpolated grid with 2m resolution (LiDAR-DSM). Although both surface models seem to offer a comparable accuracy from a global view, local analysis shows significant differences. Both datasets have been acquired over several years. Concerning LiDAR-DSM, different flight patterns and inconsistent quality control result in a significantly varying point density. The image acquisition of the ADS-DSM is also stretched over several years and the model generation is hampered by clouds, varying illumination and shadow effects. Nevertheless many classification and feature extraction applications requiring high resolution data depend on the local accuracy of the used surface model, therefore precise knowledge of the local data quality is essential. The commercial photogrammetric software NGATE (part of SOCET SET) generates the image based surface model (ADS-DSM) and delivers also a map with figures of merit (FOM) of the matching process for each calculated height pixel. The FOM-map contains matching codes like high slope, excessive shift or low correlation. For the generation of the LiDAR-DSM only first- and last-pulse data was available. Therefore only the point distribution can
Electrothermal Actuators for SiO2 Photonic MEMS
Directory of Open Access Journals (Sweden)
Tjitte-Jelte Peters
2016-11-01
Full Text Available This paper describes the design, fabrication and characterization of electrothermal bimorph actuators consisting of polysilicon on top of thick (>10 μ m silicon dioxide beams. This material platform enables the integration of actuators with photonic waveguides, producing mechanically-flexible photonic waveguide structures that are positionable. These structures are explored as part of a novel concept for highly automated, sub-micrometer precision chip-to-chip alignment. In order to prevent residual stress-induced fracturing that is associated with the release of thick oxide structures from a silicon substrate, a special reinforcement method is applied to create suspended silicon dioxide beam structures. The characterization includes measurements of the post-release deformation (i.e., without actuation, as well as the deflection resulting from quasi-static and dynamic actuation. The post-release deformation reveals a curvature, resulting in the free ends of 800 μ m long silicon dioxide beams with 5 μ m-thick polysilicon to be situated approximately 80 μ m above the chip surface. Bimorph actuators that are 800 μ m in length produce an out-of-plane deflection of approximately 11 μ m at 60 mW dissipated power, corresponding to an estimated 240 ∘ C actuator temperature. The delivered actuation force of the 800 μ m-long bimorph actuators having 5 μ m-thick polysilicon is calculated to be approximately 750 μN at 120 mW .
Architecture Optimization of More Electric Aircraft Actuation System
Institute of Scientific and Technical Information of China (English)
QI Haitao; FU Yongling; QI Xiaoye; LANG Yan
2011-01-01
The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology,which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system.The traditional “trial and error” method cannot satisfy the design demands.In this paper,firstly,the composition of more electric aircraft(MEA) flight control actuation system(FCAS) is introduced,and the possible architecture quantity is calculated.Secondly,the evaluation criteria of FCAS architecture with respect to safe reliability,weight and efficiency are proposed,and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration.Finally,the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm(GA).Compared to the traditional actuation system architecture,which only adopts servo valve controlled hydraulic actuators,the weight of the optimized more electric actuation system architecture can be reduced by 6%,and the efficiency can be improved by 30% based on the safe reliability requirements.
Improving land surface models with FLUXNET data
Directory of Open Access Journals (Sweden)
Y. -P. Wang
2009-07-01
Full Text Available There is a growing consensus that land surface models (LSMs that simulate terrestrial biosphere exchanges of matter and energy must be better constrained with data to quantify and address their uncertainties. FLUXNET, an international network of sites that measure the land surface exchanges of carbon, water and energy using the eddy covariance technique, is a prime source of data for model improvement. Here we outline a multi-stage process for "fusing" (i.e. linking LSMs with FLUXNET data to generate better models with quantifiable uncertainty. First, we describe FLUXNET data availability, and its random and systematic biases. We then introduce methods for assessing LSM model runs against FLUXNET observations in temporal and spatial domains. These assessments are a prelude to more formal model-data fusion (MDF. MDF links model to data, based on error weightings. In theory, MDF produces optimal analyses of the modelled system, but there are practical problems. We first discuss how to set model errors and initial conditions. In both cases incorrect assumptions will affect the outcome of the MDF. We then review the problem of equifinality, whereby multiple combinations of parameters can produce similar model output. Fusing multiple independent and orthogonal data provides a means to limit equifinality. We then show how parameter probability density functions (PDFs from MDF can be used to interpret model validity, and to propagate errors into model outputs. Posterior parameter distributions are a useful way to assess the success of MDF, combined with a determination of whether model residuals are Gaussian. If the MDF scheme provides evidence for temporal variation in parameters, then that is indicative of a critical missing dynamic process. A comparison of parameter PDFs generated with the same model from multiple FLUXNET sites can provide insights into the concept and validity of plant functional types (PFT – we would expect similar parameter
Improving land surface models with FLUXNET data
Directory of Open Access Journals (Sweden)
M. Williams
2009-03-01
Full Text Available There is a growing consensus that land surface models (LSMs that simulate terrestrial biosphere exchanges of matter and energy must be better constrained with data to quantify and address their uncertainties. FLUXNET, an international network of sites that measure the land surface exchanges of carbon, water and energy using the eddy covariance technique, is a prime source of data for model improvement. Here we outline a multi-stage process for fusing LSMs with FLUXNET data to generate better models with quantifiable uncertainty. First, we describe FLUXNET data availability, and its random and systematic biases. We then introduce methods for assessing LSM model runs against FLUXNET observations in temporal and spatial domains. These assessments are a prelude to more formal model-data fusion (MDF. MDF links model to data, based on error weightings. In theory, MDF produces optimal analyses of the modelled system, but there are practical problems. We first discuss how to set model errors and initial conditions. In both cases incorrect assumptions will affect the outcome of the MDF. We then review the problem of equifinality, whereby multiple combinations of parameters can produce similar model output. Fusing multiple independent data provides a means to limit equifinality. We then show how parameter probability density functions (PDFs from MDF can be used to interpret model process validity, and to propagate errors into model outputs. Posterior parameter distributions are a useful way to assess the success of MDF, combined with a determination of whether model residuals are Gaussian. If the MDF scheme provides evidence for temporal variation in parameters, then that is indicative of a critical missing dynamic process. A comparison of parameter PDFs generated with the same model from multiple FLUXNET sites can provide insights into the concept and validity of plant functional types (PFT – we would expect similar parameter estimates among sites
Failure of cargo aileron’s actuator
Directory of Open Access Journals (Sweden)
G. Zucca
2014-10-01
Full Text Available During a ferry flight, in a standard operation condition and at cruising level, a military cargo experienced a double hydraulic system failure due to a structural damage of the dual booster actuator. The booster actuator is the main component in mechanism of aileron’s deflection. The crew was able to arrange an emergency landing thanks to the spare oil onboard: load specialists refilled the hydraulic reservoirs. Due to safety concerns and in order to prevent the possibility of other similar incidents, a technical investigation took place. The study aimed to carry out the analysis of root causes of the actuator failure. The Booster actuator is composed mainly by the piston rod and its aluminum external case (AA7049. The assembly has two bronze caps on both ends. These are fixed in position by means of two retainers. At one end of the actuator case is placed a trunnion: a cylindrical protrusion used as a pivoting point on the aircraft. The fracture was located at one end of the case, on the trunnion side, in correspondence to the cap and over the retainer. One of the two fracture surfaces was found separated to the case and with the cap entangled inside. The fracture surfaces of the external case indicated fatigue crack growth followed by ductile separation. The failure analysis was performed by means of optical, metallographic, digital and electronic microscopy. The collected evidences showed a multiple initiation fracture mechanism. Moreover, 3D scanner reconstruction and numerical simulation demonstrated that dimensional non conformances and thermal loads caused an abnormal stress concentration. Stress concentration was located along the case assy outer surface where the fatigue crack originated. The progressive rupture mechanism grew under cyclical axial load due to the normal operations. Recommendations were issued in order to improve dimensional controls and assembly procedures during production and overhaul activities.
Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator
Directory of Open Access Journals (Sweden)
Keng Huat Koh
2014-06-01
Full Text Available This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force and V (driving voltage within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.
Modeling heterogeneous chemical processes on aerosol surface
Institute of Scientific and Technical Information of China (English)
Junjun Deng; Tijian Wang; Li Liu; Fei Jiang
2010-01-01
To explore the possible impact of heterogeneous chemical processes on atmospheric trace components,a coupled box model including gas-phase chemical processes,aerosol thermodynamic equilibrium processes,and heterogeneous chemical processes on the surface of dust,black carbon(BC)and sea salt is set up to simulate the effects of heterogeneous chemistry on the aerosol surface,and analyze the primary factors affecting the heterogeneous processes.Results indicate that heterogeneous chemical processes on the aerosol surface in the atmosphere will affect the concentrations of trace gases such as H2O2,HO2,O3,NO2,NO3,HNO3 and SO2,and aerosols such as SO42-,NO3-and NH4+.Sensitivity tests suggest that the magnitude of the impact of heterogeneous processes strongly depends on aerosol concentration and the surface uptake coefficients used in the box model.However,the impact of temperature on heterogeneous chemical processes is considerably less.The"renoxification"of HNO3 will affect the components of the troposphere such as nitrogen oxide and ozone.
Shallow Water Propagation and Surface Reverberation Modeling
2012-09-30
compare the results with experiment. This work will be used to help interpret field data of bistatic scattering from sea ice cover and calibrate...approximate analytical and numerical acoustic models used to compute bistatic scattering. The clouds of bubbles entrained at the sea surface by breaking...ABSTRACT SAR 18. NUMBER OF PAGES 7 19a. NAME OF RESPONSIBLE PERSON a. REPORT unclassified b. ABSTRACT unclassified c. THIS PAGE unclassified
Modeling of ESD events from polymeric surfaces
Energy Technology Data Exchange (ETDEWEB)
Pfeifer, Kent Bryant
2014-03-01
Transient electrostatic discharge (ESD) events are studied to assemble a predictive model of discharge from polymer surfaces. An analog circuit simulation is produced and its response is compared to various literature sources to explore its capabilities and limitations. Results suggest that polymer ESD events can be predicted to within an order of magnitude. These results compare well to empirical findings from other sources having similar reproducibility.
Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices
Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie
2016-09-01
Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.
Statistical Seasonal Sea Surface based Prediction Model
Suarez, Roberto; Rodriguez-Fonseca, Belen; Diouf, Ibrahima
2014-05-01
The interannual variability of the sea surface temperature (SST) plays a key role in the strongly seasonal rainfall regime on the West African region. The predictability of the seasonal cycle of rainfall is a field widely discussed by the scientific community, with results that fail to be satisfactory due to the difficulty of dynamical models to reproduce the behavior of the Inter Tropical Convergence Zone (ITCZ). To tackle this problem, a statistical model based on oceanic predictors has been developed at the Universidad Complutense of Madrid (UCM) with the aim to complement and enhance the predictability of the West African Monsoon (WAM) as an alternative to the coupled models. The model, called S4CAST (SST-based Statistical Seasonal Forecast) is based on discriminant analysis techniques, specifically the Maximum Covariance Analysis (MCA) and Canonical Correlation Analysis (CCA). Beyond the application of the model to the prediciton of rainfall in West Africa, its use extends to a range of different oceanic, atmospheric and helth related parameters influenced by the temperature of the sea surface as a defining factor of variability.
Improvements on Mean Free Wave Surface Modeling
Institute of Scientific and Technical Information of China (English)
董国海; 滕斌; 程亮
2002-01-01
Some new results of the modeling of mean free surface of waves or wave set-up are presented. The stream function wave theory is applied to incident short waves. The limiting wave steepness is adopted as the wave breaker index in the calculation of wave breaking dissipation. The model is based on Roelvink (1993), but the numerical techniques used in the solution are based on the Weighted-Average Flux (WAF) method (Watson et al., 1992), with Time-Operator-Splitting (TOS) used for the treatment of the source terms. This method allows a small number of computational points to be used, and is particularly efficient in modeling wave set-up. The short wave (or incident primary wave) energy equation issolved by use of a traditional Lax-Wendroff technique. The present model is found to be satisfactory compared with the measurements conducted by Stive (1983).
Directory of Open Access Journals (Sweden)
Xavier Arouette
2010-03-01
Full Text Available We have developed a hydraulic displacement amplification mechanism (HDAM and studied its dynamic response when combined with a piezoelectric actuator. The HDAM consists of an incompressible fluid sealed in a microcavity by two largely deformable polydimethylsiloxane (PDMS membranes. The geometry with input and output surfaces having different cross-sectional areas creates amplification. By combining the HDAM with micro-actuators, we can amplify the input displacement generated by the actuators, which is useful for applications requiring large deformation, such as tactile displays. We achieved a mechanism offering up to 18-fold displacement amplification for static actuation and 12-fold for 55 Hz dynamic actuation.
Distributed Magnetic Actuators for Fine Shape Control
1988-06-01
Assumptions Appropriate for Use in Finite Element Bean Model for Local Interaction Actuator Schemes . . . . . . . . . . . . 63 36 Definition of Mean...78 A, LIST OF TABLES 1 Physical Paraseters of Bean Model . . . . . . . . . 16 2 Lowest Four Natural Frequencies of35 Element Model...effectiveness calculated using the rigid bean model . The coils are capable of producing adequate forces. As shown earlier, with current densities of 108 A/rn2
Nanopositioner actuator energy cost and performance
Engelen, J.B.C.; Khatib, M.G.; Abelmann, L.; Elwenspoek, M.C.
2013-01-01
We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and per
Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla
Guo, H. T.; Liao, W. H.
2009-03-01
The objective of this paper is to develop smart actuators for knee braces as assistive devices for helping disabled people to recover their mobility. The actuator functions as motor, clutch, and brake. In the design, magnetorheological (MR) fluids are utilized to generate controllable torque. To decrease the size of the actuator, motor and MR fluids are integrated. MR fluids are filled inside the DC motor based actuator. Additional design factors of smart actuators including influence of permanent magnet on MR fluids and dynamic sealing are also considered. Finite element model of the smart actuator is built and analyzed. A prototype of the smart actuator with two different inner armatures is fabricated and their characteristics are investigated. Torques are compared between simulation and experiments. The results show that the developed smart actuator with multiple functions is promising for assistive knee braces.
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.
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...
Dissolution actuated sample container
Nance, Thomas A.; McCoy, Frank T.
2013-03-26
A sample collection vial and process of using a vial is provided. The sample collection vial has an opening secured by a dissolvable plug. When dissolved, liquids may enter into the interior of the collection vial passing along one or more edges of a dissolvable blocking member. As the blocking member is dissolved, a spring actuated closure is directed towards the opening of the vial which, when engaged, secures the vial contents against loss or contamination.
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.
Cylindrical Piezoelectric Fiber Composite Actuators
Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.
2008-01-01
The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.
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...
The design and analysis of a MEMS electrothermal actuator
Suocheng, Wang; Yongping, Hao; Shuangjie, Liu
2015-04-01
This paper introduces a type of out-of-plane microelectrothermal actuator, which is based on the principle of bimetal film thermal expansion in the fuse. A polymer SU-8 material and nickel are used as the functional and structural materials of the actuator. Through heating the resistance wire using electricity, the actuator produces out-of-plane motion in the perpendicular axial direction of the device and the bias layer contact with the substrate, completing signal output. Using Coventorware software to establish the three-dimensional model, the geometric structure is optimized and the electrothermal capabilities are determined theoretically. From electrothermal analysis, the actuator's displacement is 18 μm and the temperature rises from 300 to 440 K under a voltage of 5 V and the response time is 5 ms. The actuator's displacement is 20 μm under a 100000 m/s2 acceleration in the accelerating field. In the coupled field, applying a 3 V voltage, the initial temperature is 300 K, while the acceleration is 50000 m/s2, the driving displacement of the actuator is 23 μm, and temperature rises to 400 K. Finally, through checking the stress in different field sources, the maximum stress of the actuator is smaller than the allowable stress of nickel. The results show that the electrothermal actuator has high reliability.
Mechanisms and actuators for rotorcraft blade morphing
Vocke, Robert D., III
The idea of improved fight performance through changes in the control surfaces dates back to the advent of aviation with the Wright brothers' pioneering work on "wing warping," but it was not until the recent progress in material and actuator development that such control surfaces seemed practical for modern aircraft. This has opened the door to a new class of aircraft that have the ability to change shape or morph, which are being investigated due to the potential to have a single platform serve multiple mission objectives, as well as improve performance characteristics. While the majority of existing research for morphing aircraft has focused on fixedwing aircraft, rotary-wing aircraft have begun to receive more attention. The purpose of this body of work is to investigate the current state of morphing actuation technology for rotorcraft and improve upon it. Specifically, this work looks at two types of morphing: Pneumatic Artificial Muscle (PAM) actuated trailing edge flaps and conformal variable diameter morphing. First, active camber changes through the use of PAM powered trailing edge flaps were investigated due to the potential for reductions in power requirements and vibration/noise levels. A PAM based antagonistic actuation system was developed utilizing a novel combination of mechanism geometry and PAM bias contraction optimization to overcome the natural extension stiffening characteristics of PAMs. In open-loop bench-top testing against a "worst-case" constant torsional loading, the system demonstrated actuation authority suitable for both primary control and vibration/noise reduction. Additionally, closed-loop test data indicated that the system was capable of tracking complex waveforms consistent with those needed for rotorcraft control. This system demonstrated performance on-par with the state of the art pneumatic trailing edge flap actuators, yet with a much smaller footprint and impact on the rotor-blade. The second morphing system developed in
Instability wave control in turbulent jet by plasma actuators
Kopiev, V. F.; Akishev, Y. S.; Belyaev, I. V.; Berezhetskaya, N. K.; Bityurin, V. A.; Faranosov, G. A.; Grushin, M. E.; Klimov, A. I.; Kopiev, V. A.; Kossyi, I. A.; Moralev, I. A.; Ostrikov, N. N.; Taktakishvili, M. I.; Trushkin, N. I.; Zaytsev, M. Yu
2014-12-01
Instability waves in the shear layer of turbulent jets are known to be a significant source of jet noise, which makes their suppression important for the aviation industry. In this study we apply plasma actuators in order to control instability waves in the shear layer of a turbulent air jet at atmospheric pressure. Three types of plasma actuators are studied: high-frequency dielectric barrier discharge, slipping surface discharge, and surface barrier corona discharge. Particle image velocimetry measurements of the shear layer demonstrate that the plasma actuators have control authority over instability waves and effectively suppress the instability waves artificially generated in the shear layer. It makes these actuators promising for application in active control systems for jet noise mitigation.
Actuator Characterization of Man Portable Precision Maneuver Concepts
2014-03-01
brushless DC motors, along with a model of the rotating wing concept and a prototype 40-mm projectile, which was fired through the spark range (14), is... Model Characterization of Brushless DC Motors. IEEE Transactions on Industry Applications 1992, 28 (1), 172–180. 17. Rigatos, G.G. Particle and Kalman...concepts is addressed. Actuator experiments conducted over a variety of conditions validate dynamic models of the actuator and supply the data
Telescoping cylindrical piezoelectric fiber composite actuator assemblies
Allison, Sidney G. (Inventor); Shams, Qamar A. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox Chattin, legal representative, Melanie L. (Inventor)
2010-01-01
A telescoping actuator assembly includes a plurality of cylindrical actuators in a concentric arrangement. Each cylindrical actuator is at least one piezoelectric fiber composite actuator having a plurality of piezoelectric fibers extending parallel to one another and to the concentric arrangement's longitudinal axis. Each cylindrical actuator is coupled to concentrically-adjacent ones of the cylindrical actuators such that the plurality of cylindrical actuators can experience telescopic movement. An electrical energy source coupled to the cylindrical actuators applies actuation energy thereto to generate the telescopic movement.
Institute of Scientific and Technical Information of China (English)
赵光银; 李应红; 梁华; 化为卓; 韩孟虎
2015-01-01
One-zone inhomogeneous phenomenological nanosecond dielectric barrier discharge (NS-DBD) actuation model used for flow control simulation is established to investigate the flow control mechanisms, based on experiments and theoretical analysis. When the inhomogeneous phenomenological model is applied to a plate, the formation of spanwise vorticity is analyzed through the vorticity transport equation, and the spanwise vorticity is mainly engendered due to the baroclinicity of pressure gradient and density gradient, also due to the vorticity transfer by the flow convection in the vicinity of the actuation region. Agreement of the simulation with experiments on a column shows that the inhomogeneous phenomenological NS-DBD actuation model is reasonable. Separation control over NACA 0015 airfoil at high angle of attack indicates that the spanwise vortices induced by plasma actuation make the separated shear layer instable, promote interaction between shear layers, and downstream the separation point. Different excitation frequency has different effect on the lift, with the optimum reduced frequency F+≈6 in current simulation.%结合NS-DBD实验数据和理论分析，建立NS-DBD单区非均匀唯象学模型，旨在通过合理的模型进行流动控制仿真，揭示流动控制机理.在平板无来流时，运用单区非均匀唯象学模型，通过引入涡量输运方程，求解涡量方程各项，分析展向涡形成机理.展向涡主要是由压力升诱导激励区压力梯度和密度梯度的不正交性产生的，其次是激励区附近流场的对流引起的涡量转移.圆柱上的激励仿真得到与实验一致的压缩波结构和冲击波位置，验证了模型合理性. NACA 0015翼型大迎角分离控制的仿真表明，激励诱导展向涡促使主流和分离流相互作用，使分离点移向下游；脉冲激励频率通过诱导展向涡的数量对流动分离产生不同的作用效果，本文最佳的无量纲激
Deflection of Cross-Ply Composite Laminates Induced by Piezoelectric Actuators
Directory of Open Access Journals (Sweden)
Chi-Sheng Lin
2010-01-01
Full Text Available The coupling effects between the mechanical and electric properties of piezoelectric materials have drawn significant attention for their potential applications as sensors and actuators. In this investigation, two piezoelectric actuators are symmetrically surface bonded on a cross-ply composite laminate. Electric voltages with the same amplitude and opposite sign are applied to the two symmetric piezoelectric actuators, resulting in the bending effect on the laminated plate. The bending moment is derived by using the classical laminate theory and piezoelectricity. The analytical solution of the flexural displacement of the simply supported composite plate subjected to the bending moment is solved by using the plate theory. The analytical solution is compared with the finite element solution to show the validation of present approach. The effects of the size and location of the piezoelectric actuators on the response of the composite laminate are presented through a parametric study. A simple model incorporating the classical laminate theory and plate theory is presented to predict the deformed shape of the simply supported laminate plate.
Miniaturized Rotary Actuators Using Shape Memory Alloy for Insect-Type MEMS Microrobot
Directory of Open Access Journals (Sweden)
Ken Saito
2016-03-01
Full Text Available Although several types of locomotive microrobots have been developed, most of them have difficulty locomoting on uneven surfaces. Thus, we have been focused on microrobots that can locomote using step patterns. We are studying insect-type microrobot systems. The locomotion of the microrobot is generated by rotational movements of the shape memory alloy-type rotary actuator. In addition, we have constructed artificial neural networks by using analog integrated circuit (IC technology. The artificial neural networks can output the driving waveform without using software programs. The shape memory alloy-type rotary actuator and the artificial neural networks are constructed with silicon wafers; they can be integrated by using micro-electromechanical system (MEMS technology. As a result, the MEMS microrobot system can locomote using step patterns. The insect-type MEMS microrobot system is 0.079 g in weight and less than 5.0 mm in size, and its locomotion speed is 2 mm/min. The locomotion speed is slow because the heat of the shape memory alloy conducts to the mechanical parts of the MEMS microrobot. In this paper, we discuss a new rotary actuator compared with the previous model and show the continuous rotation of the proposed rotary actuator.
Revising Hydrology of a Land Surface Model
Le Vine, Nataliya; Butler, Adrian; McIntyre, Neil; Jackson, Christopher
2015-04-01
Land Surface Models (LSMs) are key elements in guiding adaptation to the changing water cycle and the starting points to develop a global hyper-resolution model of the terrestrial water, energy and biogeochemical cycles. However, before this potential is realised, there are some fundamental limitations of LSMs related to how meaningfully hydrological fluxes and stores are represented. An important limitation is the simplistic or non-existent representation of the deep subsurface in LSMs; and another is the lack of connection of LSM parameterisations to relevant hydrological information. In this context, the paper uses a case study of the JULES (Joint UK Land Environmental Simulator) LSM applied to the Kennet region in Southern England. The paper explores the assumptions behind JULES hydrology, adapts the model structure and optimises the coupling with the ZOOMQ3D regional groundwater model. The analysis illustrates how three types of information can be used to improve the model's hydrology: a) observations, b) regionalized information, and c) information from an independent physics-based model. It is found that: 1) coupling to the groundwater model allows realistic simulation of streamflows; 2) a simple dynamic lower boundary improves upon JULES' stationary unit gradient condition; 3) a 1D vertical flow in the unsaturated zone is sufficient; however there is benefit in introducing a simple dual soil moisture retention curve; 4) regionalized information can be used to describe soil spatial heterogeneity. It is concluded that relatively simple refinements to the hydrology of JULES and its parameterisation method can provide a substantial step forward in realising its potential as a high-resolution multi-purpose model.
Bistable (latching) solenoid actuated propellant isolation valve
Wichmann, H.; Deboi, H. H.
1979-01-01
The design, fabrication, assembly and test of a development configuration bistable (latching) solenoid actuated propellant isolation valve suitable for the control hydrazine and liquid fluorine to an 800 pound thrust rocket engine is described. The valve features a balanced poppet, utilizing metal bellows, a hard poppet/seat interface and a flexure support system for the internal moving components. This support system eliminates sliding surfaces, thereby rendering the valve free of self generated particles.
BIMORPH PIEZOELECTRIC ACTUATOR FOR SMALL PIPE ROBOT
Institute of Scientific and Technical Information of China (English)
无
2002-01-01
An experimental bimorph piezoelectric element (PZT) actuator for small pipe robot is developed. The robotcan move in φ 20 mm pipe, and can carry a CCD camera for detecting cracks or fine holes on inner surface of pipe. Thevelocity of the robot can reach 17～22 mm/s for vertical pipe up/down, respectively. Moving principle and its perfor-mance characteristics are presented.
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.
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.
Mycorrhizal fungi and global land surface models?
Brzostek, E. R.; Fisher, J. B.; Shi, M.; Phillips, R.
2013-12-01
In the current generation of Land Surface Models (LSMs), the representation of coupled carbon (C) and nutrient cycles does not account for allocation of C by plants to mycorrhizal fungi in exchange for limiting nutrients. Given that the amount of C transferred to mycorrhizae can exceed 20% of net primary production (NPP), mycorrhizae can supply over half of the nitrogen (N) needed to support NPP, and that large majority of plants form associations with mycorrhizae; integrating these mechanisms into LSMs may significantly alter our understanding of the role of the terrestrial biosphere in mitigating climate change. Here, we present results from the integration of a mycorrhizal framework into a cutting-edge global plant nitrogen model -- Fixation & Uptake of Nitrogen (FUN; Fisher et al., 2010) -- that can be coupled into existing LSMs. In this mycorrhizal framework, the C cost of N acquisition varies as a function of mycorrhizal type with: (1) plants that support arbuscular mycorrhizae (AM) benefiting when N is plentiful and (2) plants that support ectomycorrhizae (ECM) benefiting when N is limiting. At the plot scale (15 x 15m), the My-FUN model improved predictions of retranslocation, N uptake, and the amount of C transferred into the soil relative to the base model across 45 plots that vary in mycorrhizal type in Indiana, USA. At the ecosystem scale, when we coupled this new framework into the Community Land Model (CLM-CN), the model estimated lower C uptake than the base model and more accurately predicted C uptake at the Morgan Monroe State Forest AmeriFlux site. These results suggest that the inclusion of a mycorrhizal framework into LSMs will enhance our ability to predict feedbacks between global change and the terrestrial biosphere.
Surface color perception and equivalent illumination models.
Brainard, David H; Maloney, Laurence T
2011-05-02
Vision provides information about the properties and identity of objects. The ease with which we perceive object properties belies the difficulty of the underlying information-processing task. In the case of object color, retinal information about object reflectance is confounded with information about the illumination as well as about the object's shape and pose. There is no obvious rule that allows transformation of the retinal image to a color representation that depends primarily on object surface reflectance. Under many circumstances, however, object color appearance is remarkably stable across scenes in which the object is viewed. Here, we review a line of experiments and theory that aim to understand how the visual system stabilizes object color appearance. Our emphasis is on models derived from explicit analysis of the computational problem of estimating the physical properties of illuminants and surfaces from the retinal image, and experiments that test these models. We argue that this approach has considerable promise for allowing generalization from simplified laboratory experiments to richer scenes that more closely approximate natural viewing. We discuss the relation between the work we review and other theoretical approaches available in the literature.
Microfabricated actuators and their application to optics
Energy Technology Data Exchange (ETDEWEB)
Sniegowski, J.J.; Garcia, E.J.
1994-12-31
Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.
Bioadhesion to model thermally responsive surfaces
Andrzejewski, Brett Paul
This dissertation focuses on the characterization of two surfaces: mixed self-assembled monolayers (SAMs) of hexa(ethylene glycol) and alkyl thiolates (mixed SAM) and poly(N-isopropylacrylamide) (PNIPAAm). The synthesis of hexa(ethylene gylcol) alkyl thiol (C11EG 6OH) is presented along with the mass spectrometry and nuclear magnetic resonance results. The gold substrates were imaged prior to SAM formation with atomic force micrscopy (AFM). Average surface roughness of the gold substrate was 0.44 nm, 0.67 nm, 1.65 nm for 15, 25 and 60 nm gold thickness, respectively. The height of the mixed SAM was measured by ellipsometry and varied from 13 to 28°A depending on surface mole fraction of C11EG6OH. The surface mole fraction of C11EG6OH for the mixed SAM was determined by X-ray photoelectron spectroscopy (XPS) with optimal thermal responsive behavior in the range of 0.4 to 0.6. The mixed SAM surface was confirmed to be thermally responsive by contact angle goniometry, 35° at 28°C and ˜55° at 40°C. In addition, the mixed SAM surfaces were confirmed to be thermally responsive for various aqueous mediums by tensiometry. Factors such as oxygen, age, and surface mole fraction and how they affect the thermal responsive of the mixed SAM are discussed. Lastly, rat fibroblasts were grown on the mixed SAM and imaged by phase contrast microscopy to show inhibition of attachment at temperatures below the molecular transition. Qualitative and quantitative measurements of the fibroblast adhesion data are provided that support the hypothesis of the mixed SAM exhibits a dominantly non-fouling molecular conformation at 25°C whereas it exhibits a dominantly fouling molecular conformation at 40°C. The adhesion of six model proteins: bovine serum albumin, collagen, pyruvate kinase, cholera toxin subunit B, ribonuclease, and lysozyme to the model thermally responsive mixed SAM were examined using AFM. All six proteins possessed adhesion to the pure component alkyl thiol, in
MERGING DIGITAL SURFACE MODELS IMPLEMENTING BAYESIAN APPROACHES
Directory of Open Access Journals (Sweden)
H. Sadeq
2016-06-01
Full Text Available In this research different DSMs from different sources have been merged. The merging is based on a probabilistic model using a Bayesian Approach. The implemented data have been sourced from very high resolution satellite imagery sensors (e.g. WorldView-1 and Pleiades. It is deemed preferable to use a Bayesian Approach when the data obtained from the sensors are limited and it is difficult to obtain many measurements or it would be very costly, thus the problem of the lack of data can be solved by introducing a priori estimations of data. To infer the prior data, it is assumed that the roofs of the buildings are specified as smooth, and for that purpose local entropy has been implemented. In addition to the a priori estimations, GNSS RTK measurements have been collected in the field which are used as check points to assess the quality of the DSMs and to validate the merging result. The model has been applied in the West-End of Glasgow containing different kinds of buildings, such as flat roofed and hipped roofed buildings. Both quantitative and qualitative methods have been employed to validate the merged DSM. The validation results have shown that the model was successfully able to improve the quality of the DSMs and improving some characteristics such as the roof surfaces, which consequently led to better representations. In addition to that, the developed model has been compared with the well established Maximum Likelihood model and showed similar quantitative statistical results and better qualitative results. Although the proposed model has been applied on DSMs that were derived from satellite imagery, it can be applied to any other sourced DSMs.
Merging Digital Surface Models Implementing Bayesian Approaches
Sadeq, H.; Drummond, J.; Li, Z.
2016-06-01
In this research different DSMs from different sources have been merged. The merging is based on a probabilistic model using a Bayesian Approach. The implemented data have been sourced from very high resolution satellite imagery sensors (e.g. WorldView-1 and Pleiades). It is deemed preferable to use a Bayesian Approach when the data obtained from the sensors are limited and it is difficult to obtain many measurements or it would be very costly, thus the problem of the lack of data can be solved by introducing a priori estimations of data. To infer the prior data, it is assumed that the roofs of the buildings are specified as smooth, and for that purpose local entropy has been implemented. In addition to the a priori estimations, GNSS RTK measurements have been collected in the field which are used as check points to assess the quality of the DSMs and to validate the merging result. The model has been applied in the West-End of Glasgow containing different kinds of buildings, such as flat roofed and hipped roofed buildings. Both quantitative and qualitative methods have been employed to validate the merged DSM. The validation results have shown that the model was successfully able to improve the quality of the DSMs and improving some characteristics such as the roof surfaces, which consequently led to better representations. In addition to that, the developed model has been compared with the well established Maximum Likelihood model and showed similar quantitative statistical results and better qualitative results. Although the proposed model has been applied on DSMs that were derived from satellite imagery, it can be applied to any other sourced DSMs.
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.
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 ...
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.
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.
Recent Advances in the Control of Piezoelectric Actuators
Directory of Open Access Journals (Sweden)
Ziqiang Chi
2014-11-01
Full Text Available The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable efforts have been made to compensate for the nonlinearity of piezoelectric actuation through the mathematical modelling and control approaches. This paper provides a review of recent advances on the control of piezoelectric actuators. After a brief introduction of basic components of typical piezoelectric micro/nano positioning platforms, the working principle and modelling of piezoelectric actuators are outlined in this paper. This is followed with the major control method and recent progress is presented in detail. Finally, some open issues and future work on the control of piezoelectric actuators are extensively discussed.
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.
Fluidic Actuation and Control of Munition Aerodynamics
2009-08-31
compute the vorticity and turbulent kinetic energy. Hot wire anemometry measurements were taken in the wake of the model, for the model with control at...constructed of strain gages. A temperature compensation algorithm, much like the temperature compensation procedure for hot - wire anemometry , is...is characterized by the PIV and hot - wire anemometry . IV.1 Actuation by a Single Jet The variation of the magnitude of the normal force coefficient
Howland, Michael; Bossuyt, Juliaan; Kang, Justin; Meyers, Johan; Meneveau, Charles
2016-11-01
Reducing wake losses in wind farms by deflecting the wakes through turbine yawing has been shown to be a feasible wind farm control approach. In this work, the deflection and morphology of wakes behind a wind turbine operating in yawed conditions are studied using wind tunnel experiments of a wind turbine modeled as a porous disk in a uniform inflow. First, by measuring velocity distributions at various downstream positions and comparing with prior studies, we confirm that the nonrotating wind turbine model in yaw generates realistic wake deflections. Second, we characterize the wake shape and make observations of what is termed a "curled wake," displaying significant spanwise asymmetry. Through the use of a 100 porous disk micro-wind farm, total wind farm power output is studied for a variety of yaw configurations. Strain gages on the tower of the porous disk models are used to measure the thrust force as a substitute for turbine power. The frequency response of these measurements goes up to the natural frequency of the model and allows studying the spatiotemporal characteristics of the power output under the effects of yawing. This work has been funded by the National Science Foundation (Grants CBET-113380 and IIA-1243482, the WINDINSPIRE project). JB and JM are supported by ERC (ActiveWindFarms, Grant No. 306471).
Robust Force Control of Series Elastic Actuators
Directory of Open Access Journals (Sweden)
Andrea Calanca
2014-07-01
Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.
Filling transitions on rough surfaces: inadequacy of Gaussian surface models
Dufour, Renaud; Herminghaus, Stephan
2015-01-01
We present numerical studies of wetting on various topographic substrates, including random topographies. We find good agreement with recent predictions based on an analytical interface-displacement-type theory \\cite{Herminghaus2012, Herminghaus2012a}. The phase diagrams are qualitatively as predicted, but differently in this study the critical points are found to lie within the physical parameter range (i.e., at positive contact angle) in all cases studied. Notably, it is corroborated that Gaussian random surfaces behave qualitatively different from all non-Gaussian topographies investigated, exhibiting a qualitatively different phase diagram. This shows that Gaussian random surfaces must be used with great care in the context of wetting phenomena.
A novel actuator phasing method for ultrasonic de-icing of aircraft structures
Borigo, Cody J.
Aircraft icing is a critical concern for commercial and military rotorcraft and fixed-wing aircraft. In-flight icing can lead to dramatic decreases in lift and increases in drag that have caused more than a thousand deaths and hundreds of accidents over the past three decades alone. Current ice protection technologies have substantial drawbacks due to weight, power consumption, environmental concerns, or incompatibility with certain structures. In this research, an actuator phasing method for ultrasonic de-icing of aircraft structures was developed and tested using a series of finite element models, 3D scanning laser Doppler vibrometer measurements, and experimental de-icing tests on metallic and composite structures including plates and airfoils. An independent actuator analysis method was developed to allow for practical evaluation of many actuator phasing scenarios using a limited number of finite element models by properly calculating the phased stress fields and electromechanical impedance curves using a complex coupled impedance model. A genetic algorithm was utilized in conjunction with a series of finite element models to demonstrate that phase inversion, in which only in-phase and anti-phase signal components are applied to actuators, can be utilized with a small number of phasing combinations to achieve substantial improvements in de-icing system coverage. Finite element models of a 48"-long airfoil predicted that phase inversion with frequency sweeping can provide an improvement in the shear stress coverage levels of up to 90% compared to frequency sweeping alone. Experimental evaluation of the phasing approach on an icing grid showed a 189% improvement in de-icing coverage compared to frequency sweeping alone at comparable power levels. 3D scanning laser Doppler vibrometer measurements confirmed the increased variation in the surface vibration field induced by actuator phasing compared to unphased frequency sweeping. Additional contributions were made
Serpentine Geometry Plasma Actuators for Flow Control
2013-08-23
electrical power is supplied to them. As a method of introducing perturbations for low speed flow control, dielectric barrier discharge ( DBD ) actuators...SERPENTINE GEOMETRY DBD ACTUATORS DBD actuators are devices consisting of two asymmetri- cally placed actuators separated by a dielectric material and exposed...parameters can be found in Table I. The effects of plasma actuation are FIG. 1. (a) Schematic of DBD plasma actuator and the generated body force. (b
A surface hydrology model for regional vector borne disease models
Tompkins, Adrian; Asare, Ernest; Bomblies, Arne; Amekudzi, Leonard
2016-04-01
Small, sun-lit temporary pools that form during the rainy season are important breeding sites for many key mosquito vectors responsible for the transmission of malaria and other diseases. The representation of this surface hydrology in mathematical disease models is challenging, due to their small-scale, dependence on the terrain and the difficulty of setting soil parameters. Here we introduce a model that represents the temporal evolution of the aggregate statistics of breeding sites in a single pond fractional coverage parameter. The model is based on a simple, geometrical assumption concerning the terrain, and accounts for the processes of surface runoff, pond overflow, infiltration and evaporation. Soil moisture, soil properties and large-scale terrain slope are accounted for using a calibration parameter that sets the equivalent catchment fraction. The model is calibrated and then evaluated using in situ pond measurements in Ghana and ultra-high (10m) resolution explicit simulations for a village in Niger. Despite the model's simplicity, it is shown to reproduce the variability and mean of the pond aggregate water coverage well for both locations and validation techniques. Example malaria simulations for Uganda will be shown using this new scheme with a generic calibration setting, evaluated using district malaria case data. Possible methods for implementing regional calibration will be briefly discussed.
Vibration analysis of composite laminate plate excited by piezoelectric actuators.
Her, Shiuh-Chuan; Lin, Chi-Sheng
2013-01-01
Piezoelectric materials can be used as actuators for the active vibration control of smart structural systems. In this work, piezoelectric patches are surface bonded to a composite laminate plate and used as vibration actuators. A static analysis based on the piezoelectricity and elasticity is conducted to evaluate the loads induced by the piezoelectric actuators to the host structure. The loads are then employed to develop the vibration response of a simply supported laminate rectangular plate excited by piezoelectric patches subjected to time harmonic voltages. An analytical solution of the vibration response of a simply supported laminate rectangular plate under time harmonic electrical loading is obtained and compared with finite element results to validate the present approach. The effects of location and exciting frequency of piezoelectric actuators on the vibration response of the laminate plate are investigated through a parametric study. Numerical results show that modes can be selectively excited, leading to structural vibration control.
Considerations for Contractile Electroactive Materials and Actuators
Energy Technology Data Exchange (ETDEWEB)
Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta
2010-02-19
Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes 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.
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.
Electro-mechanical behavior of a shape memory alloy actuator
Pausley, Matthew E.; Furst, Stephen J.; Talla, Vamsi; Seelecke, Stefan
2009-03-01
This paper presents experimental study and numerical simulation of the electro-thermo-mechanical behavior of a commercially available Flexinol shape memory alloy (SMA) wire [1]. Recently, a novel driver device has been presented [2], which simultaneously controls electric power and measures resistance of an SMA wire actuator. This application of a single wire as both actuator and sensor will fully exploit the multifunctional nature of SMA materials and minimize system complexity by avoiding extra sensors. Though the subject is not new [3-6], comprehensive resistance data under controlled conditions for time-resolved and hysteresis-based experiments is not readily available from the literature. A simple experimental setup consisting of a Flexinol wire mounted in series with the tip of a compliant cantilever beam is used to systematically study the SMA behavior. A Labview-based data acquisition system measures actuator displacement and SMA wire stress and resistance and controls the power passed through the SMA actuator wire. The experimental setup is carefully insulated from ambient conditions, as the thermal response of a 50-micron diameter Flexinol wire is extremely sensitive to temperature fluctuation due to convective heat transfer. Actuator performance is reported for a range of actuation frequencies and input power levels. The effect of varying actuator pre-stress is reported as well. All of the experimental data is compared with simulated behavior that is derived from a numerical model for SMA material [7-10].
Adaptive and controllable compliant systems with embedded actuators and sensors
Trease, Brian; Kota, Sridhar
2007-04-01
We present a framework for the design of a compliant system; i.e. the concurrent design of a compliant mechanism with embedded actuators and embedded sensors. Our methods simultaneously synthesize optimal structural topology and placement of actuators and sensors for maximum energy efficiency and adaptive performance, while satisfying various weight and performance constraints. The goal of this research is to lay an algorithmic framework for distributed actuation and sensing within a compliant active structure. Key features of the methodology include (1) the simultaneous optimization of the location, orientation, and size of actuators concurrent with the compliant transmission topology and (2) the concepts of controllability and observability that arise from the consideration of control, and their implementation in compliant systems design. The methods used include genetic algorithms, graph searches for connectivity, and multiple load cases implemented with linear finite element analysis. Actuators, modeled as both force generators and structural compliant elements, are included as topology variables in the optimization. Results are provided for several studies, including: (1) concurrent actuator placement and topology design for a compliant amplifier and (2) a shape-morphing aircraft wing demonstration with three controlled output nodes. Central to this method is the concept of structural orthogonality, which refers to the unique system response for each actuator it contains. Finally, the results from the controllability problem are used to motivate and describe the analogous extension to observability for sensing.
Smart actuators: a novel technique for active damping
Muth, Michael; Moldovan, Klaus; Goetz, Bernt
1995-05-01
Sensors are important components for any automatic process. Their function is to measure physical variables, and thus to allow automatic actions in a technical process, for example in a manufacturing sequence or a measurement. Selecting a sensor for a process, it is mostly overlooked that actuators used in a process also have sensory properties. The reactions of actuators to the state of a process give the possibility to extract relevant information out of the process with actuators. In using the sensory properties of actuators the costs for additional sensors can be saved. Even more important, under some circumstances it may not even be possible to place a special sensor directly at the location of interest: In that case the information about the physical variable is only accessible by analyzing the return signal of the actuator. An example of such a smart actuator combining active and sensory properties is demonstrated in a simple experiment. This experiment shows a steel ball supported as a pendulum. The steel ball can be pushed off, and on swinging back it can be caught in a single pass without any bounce. The actuator uses the piezoelectric effect which shows the underlying principle most clearly: Application of the reversibility of physical effects. In this case mechanical energy can either be produced or absorbed. This experiment is means as a demonstration model for students. It is also used for preliminary investigations developing a fast, actively damped tipping mechanism (optical scanner).
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.
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.
The Lower Extremities Exoskeleton Actuator Dynamics Research Taking into Account Support Reaction
Directory of Open Access Journals (Sweden)
A. A. Vereikin
2014-01-01
Full Text Available The article shows high relevance of research, aimed at the robotic exoskeleton creation. It defines some problems related to the process of their designing; including a lack of power supply to provide enough autonomy, and difficulties of man-machine complex control. There is a review of literature on the walking robots with tree-like kinematic structure development. This work reflects the continuing investigations, currently conducted by the authors, and relies heavily on the results of previous works, devoted to this subject.The article presents the exoskeleton dynamics equation, taking into account the impact of external forces and torques, as well as external relations imposed. Using a model of lower extremities exoskeleton developed in SolidWorks software complex, baricentric parameters of the actuator links were found. The different types of movements, committed due to harmonic changes of generalized coordinates in exoskeleton degrees of mobility, equipped with electrohydraulic actuators, were analyzed. The laws of generalized coordinate changes in time, corresponding to the worst case loading, were found. All the necessary input data for the exoskeleton dynamics equation solution were determined.The numerical values of all components of the dynamics equation were obtained as result of the dynamics equation simulation. In this case, the exoskeleton actuator load capacity was assumed to be 50 kg. The article shows dependences of torque and power in the actuator degrees of mobility on the time, as well as a curve of total capacity of all drives both, ignoring and taking into consideration the support surface reactions. Obtained dependences are the initial data for the calculation of the drive system.The proposed method for determination of exoskeleton energy parameters allows developer to perform a prompt evaluation of various options for the actuator design in accordance with the selected criteria. As a main evaluation criterion, a minimum
Smith, Norman F.; Eaton, William P.; Tanner, Danelle M.; Allen, James J.
1999-08-01
Characterization tools have been developed to study the performance characteristics and reliability of surface micromachined actuators. These tools include: (1) the ability to electrically stimulate or stress the actuator, (2) the capability to visually inspect the devices in operation, (3) a method for capturing operational information, and (4) a method to extract performance characteristics from the operational information. Additionally, a novel test structure has been developed to measure electrostatic forces developed by a comb drive actuator.
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.
Design Optimization for an Electro-Thermally Actuated Polymeric Microgripper
Voicu, R; Eftime, L
2008-01-01
Thermal micro-actuators are a promising solution to the need for large-displacement, gentle handling force, low-power MEMS actuators. Potential applications of these devices are micro-relays, assembling and miniature medical instrumentation. In this paper the development of thermal microactuators based on SU-8 polymer is described. The paper presents the development of a new microgripper which can realize a movement of the gripping arms with possibility for positioning and manipulating of the gripped object. Two models of polymeric microgripper electrothermo- mechanical actuated, using low actuation voltages, designed for SU-8 polymer fabrication were presented. The electro-thermal microgrippers were designed and optimized using finite element simulations. Electro-thermo-mechanical simulations based on finite element method were performed for each of the model in order to compare the results. Preliminary experimental tests were carried out.
A two-surface plasticity model for stiff clay
2015-01-01
This paper presents a constitutive model for describing some important features of the behavior of natural stiff clay evidenced experimentally such as the limited elastic zone, the presence of strain hardening and softening, and the smooth transition from elastic behavior to a plastic one. The model, namely ACC-2, is an adapted Modified Cam Clay model with two yield surfaces: similarly to bounding surface plasticity theory, an additional yield surface?namely Inner yield surface?was adopted to...
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.
Soft pneumatic actuator skin with piezoelectric sensors for vibrotactile feedback
Directory of Open Access Journals (Sweden)
Harshal Arun Sonar
2016-01-01
Full Text Available The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid surfaces. Although there has been various research efforts in creating tactile feedback to improve various haptic interfaces and master-slave manipulators, we are yet to see a comprehensive device that can both supply vibratory actuation and tactile sensing. This paper describes a soft pneumatic actuator (SPA based, SPA-skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. We describe the design and fabrication of a 1.4 mm-thick vibratory SPA - skin that is integrated with piezoelectric sensors. We examine in detail the mechanical performance compared to the SPA model and the sensitivity of the sensors for the application in vibrotactile feedback. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop.
Aerodynamic Control of a Pitching Airfoil by Distributed Bleed Actuation
Kearney, John; Glezer, Ari
2013-11-01
The aerodynamic forces and moments on a dynamically pitching 2-D airfoil model are controlled in wind tunnel experiments using distributed active bleed. Bleed flow on the suction surface downstream of the leading edge is driven by pressure differences across the airfoil and is regulated by low-power louver actuators. The bleed interacts with cross flows to effect time-dependent variations of the vorticity flux and thereby alters the local flow attachment, resulting in significant changes in pre- and post-stall lift and pitching moment (over 50% increase in baseline post-stall lift). The flow field over the airfoil is measured using high-speed (2000 fps) PIV, resolving the dynamics and characteristic time-scales of production and advection of vorticity concentrations that are associated with transient variations in the aerodynamic forces and moments. In particular, it is shown that the actuation improves the lift hysteresis and pitch stability during the oscillatory pitching by altering the evolution of the dynamic stall vortex and the ensuing flow attachment during the downstroke. Supported by the Rotorcraft Center (VLRCOE) at Georgia Tech.
Modular Architecture of a Non-Contact Pinch Actuation Micropump
Directory of Open Access Journals (Sweden)
Ruzairi Abdul Rahim
2012-09-01
Full Text Available 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 analysis (FEA. The micropump was evaluated against two frequency ranges, which comprised a low driving frequency range (0–5 Hz, with 0.5 Hz step increments and a nominal frequency range (0–80 Hz, with 10 Hz per step increments. The low range frequency features a linear relationship of flow rate with the operating frequency function, while two magnitude peaks were captured in the flow rate and back pressure characteristic in the nominal frequency range. Repeatability and reliability tests conducted suggest the pump performed at a maximum flow rate of 5.78 mL/min at 65 Hz and a backpressure of 1.35 kPa at 60 Hz.
Eckert, Paulo Roberto; Goltz, Evandro Claiton; Flores Filho, Aly Ferreira
2014-07-21
This work analyses the effects of segmentation followed by parallel magnetization of ring-shaped NdFeB permanent magnets used in slotless cylindrical linear actuators. The main purpose of the work is to evaluate the effects of that segmentation on the performance of the actuator and to present a general overview of the influence of parallel magnetization by varying the number of segments and comparing the results with ideal radially magnetized rings. The analysis is first performed by modelling mathematically the radial and circumferential components of magnetization for both radial and parallel magnetizations, followed by an analysis carried out by means of the 3D finite element method. Results obtained from the models are validated by measuring radial and tangential components of magnetic flux distribution in the air gap on a prototype which employs magnet rings with eight segments each with parallel magnetization. The axial force produced by the actuator was also measured and compared with the results obtained from numerical models. Although this analysis focused on a specific topology of cylindrical actuator, the observed effects on the topology could be extended to others in which surface-mounted permanent magnets are employed, including rotating electrical machines.
Directory of Open Access Journals (Sweden)
Paulo Roberto Eckert
2014-07-01
Full Text Available This work analyses the effects of segmentation followed by parallel magnetization of ring-shaped NdFeB permanent magnets used in slotless cylindrical linear actuators. The main purpose of the work is to evaluate the effects of that segmentation on the performance of the actuator and to present a general overview of the influence of parallel magnetization by varying the number of segments and comparing the results with ideal radially magnetized rings. The analysis is first performed by modelling mathematically the radial and circumferential components of magnetization for both radial and parallel magnetizations, followed by an analysis carried out by means of the 3D finite element method. Results obtained from the models are validated by measuring radial and tangential components of magnetic flux distribution in the air gap on a prototype which employs magnet rings with eight segments each with parallel magnetization. The axial force produced by the actuator was also measured and compared with the results obtained from numerical models. Although this analysis focused on a specific topology of cylindrical actuator, the observed effects on the topology could be extended to others in which surface-mounted permanent magnets are employed, including rotating electrical machines.
Modeling of laser induced periodic surface structures
Skolski, J.Z.P.; Römer, G.R.B.E.; Huis in 't Veld, A.J.; Mitko, V.S.; Obona, J.V.; Ocelik, V.; Hosson, J.T.M. de
2010-01-01
In surfaces irradiated by short laser pulses, Laser Induced Periodic Surface Structures (LIPSS) have been observed on all kind of materials for over forty years. These LIPSS, also referred to as ripples, consist of wavy surfaces with periodicity equal or smaller than the wavelength of the laser radi
Natural frequency of beams with embedded piezoelectric sensors and actuators
Della, Christian N.; Shu, Dongwei
2007-01-01
A mathematical model is developed to study the natural frequency of beams with embedded piezoelectric sensors and actuators. The piezoelectric sensors/actuators in a non-piezoelectric matrix (host beam) are analyzed as two inhomogeneity problems by using Eshelby’s equivalent inclusion method. The natural frequency of the beam is determined from the variational principle in Rayleigh quotient form, which is expressed as functions of the elastic strain energy and dielectric energy of the piezoel...
High Performance Piezoelectric Actuators and Wings for Nano Air Vehicles
2012-08-26
beam bending actuators[88] cite Ballas’s book too. Unimorph. bimorph, and multilayer beam bending actuators have been studied extensively. Models of the...Scalable Design of Flapping Micro-Air Vehicles Inspired by Insect Flight, Springer - Verlag Berlin Heidelberg. URL http://dx.doi.org/10.1007/978-3-540...RSJ International Conference on, IEEE, pp. 1107–1114. [39] Dudley, R. (2002) The biomechanics of insect flight: form, function, evo- lution
Grasp Assist Device with Shared Tendon Actuator Assembly
Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)
2015-01-01
A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.
Real-Time Sensor-Actuator Networks
Sastry, Shivakumar; S. S. Iyengar
2005-01-01
Emerging technologies offer new paradigms for computation, control, collaboration, and communication. To realize the full potential of these technologies in industry, defense, and homeland security applications, it is necessary to exploit the real-time distributed computing capabilities of sensor-actuator networks. To reliably design and develop such networks, it is necessary to develop deeper insight into the underlying model for real-time computation and the infrastructure at the node level...
Energy Technology Data Exchange (ETDEWEB)
Singh, R A; Satyanarayana, N; Sinha, S K [Department of Mechanical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576 (Singapore); Kustandi, T S, E-mail: mpesks@nus.edu.sg [Institute of Materials Research and Engineering, A-STAR, 3 Research Link, Singapore 117602 (Singapore)
2011-01-12
Micro/nano-electro-mechanical-systems (MEMS/NEMS) are miniaturized devices built at micro/nanoscales. At these scales, the surface/interfacial forces are extremely strong and they adversely affect the smooth operation and the useful operating lifetimes of such devices. When these forces manifest in severe forms, they lead to material removal and thereby reduce the wear durability of the devices. In this paper, we present a simple, yet robust, two-step surface modification method to significantly enhance the tribological performance of MEMS/NEMS materials. The two-step method involves oxygen plasma treatment of polymeric films and the application of a nanolubricant, namely perfluoropolyether. We apply the two-step method to the two most important MEMS/NEMS structural materials, namely silicon and SU8 polymer. On applying surface modification to these materials, their initial coefficient of friction reduces by {approx}4-7 times and the steady-state coefficient of friction reduces by {approx}2.5-3.5 times. Simultaneously, the wear durability of both the materials increases by >1000 times. The two-step method is time effective as each of the steps takes the time duration of approximately 1 min. It is also cost effective as the oxygen plasma treatment is a part of the MEMS/NEMS fabrication process. The two-step method can be readily and easily integrated into MEMS/NEMS fabrication processes. It is anticipated that this method will work for any kind of structural material from which MEMS/NEMS are or can be made.
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.
Magnetic actuation and transition shapes of a bistable spherical cap
Directory of Open Access Journals (Sweden)
E.G. Loukaides
2014-10-01
Full Text Available Multistable shells have been proposed for a variety of applications; however, their actuation is almost exclusively addressed through embedded piezoelectric patches. Additional actuation techniques are needed for applications requiring high strains or where remote actuation is desirable. Part of the reason for the lack of research in this area is the absence of appropriate models describing the detailed deformation and energetics of such shells. This work presents a bistable spherical cap made of iron carbonyl-infused polydimethylsiloxane. The magnetizable structure can be actuated remotely through permanent magnets while the transition is recorded with a high-speed camera. Moreover, the experiment is reproduced in a finite element (FE dynamic model for comparison with the physical observations. High-speed footage of the physical cap inversion together with the FE modeling gives valuable insight on preferable intermediate geometries. Both methods return similar values for the magnetic field strength required for the snap-through. High-strain multistable spherical cap transformation is demonstrated, based on informed material selection. We discover that non-axisymmetric transition shapes are preferred in intermediate geometries by bistable spherical caps. We develop the methods for design and analysis of such actuators, including the feasibility of remote actuation methods for multistable shells.
Directory of Open Access Journals (Sweden)
Gustavo L.C.M. Abreu
2003-01-01
Full Text Available In this paper, a digital regulator is designed and experimentally implemented for a flexible beam type structure containing piezoelectric sensors and actuators by using optimal control design techniques. The controller consists of a linear quadratic regulator with a state estimator, namely a Kalman observer. The structure is a cantilever beam containing a set of sensor/actuator PVDF/PZT ceramic piezoelectric patches bonded to the beam surface at the optimal location obtained for the first three vibration modes. The equations of motion of the beam are developed by using the assumed modes technique for flexible structures in infinite-dimensional models. This paper uses a method of minimizing the effect of the removed higher order modes on the low frequency dynamics of the truncated model by adding a zero frequency term to the low order model of the system. A measure of the controllability and observability of the system based on the modal cost function for flexible structures containing piezoelectric elements (intelligent structures is used. The observability and controllability measures are determined especially to guide the placement of sensors and actuators, respectively. The experimental and numerical transfer functions are adjusted by using an optimization procedure. Experimental results illustrate the optimal control design of a cantilever beam structure.
Surface CUrrents from a Diagnostic model (SCUD): Pacific
National Oceanic and Atmospheric Administration, Department of Commerce — The SCUD data product is an estimate of upper-ocean velocities computed from a diagnostic model (Surface CUrrents from a Diagnostic model). This model makes daily...
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.
Climbing robot actuated by meso-hydraulic artificial muscles
Bryant, Matthew; Fitzgerald, Jason; Miller, Samuel; Saltzman, Jonah; Kim, Sangkyu; Lin, Yong; Garcia, Ephrahim
2014-03-01
This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.
More Insight of Piezoelectric-based Synthetic Jet Actuators
Housley, Kevin; Amitay, Michael
2016-11-01
Increased understanding of the internal flow of piezoelectric-based synthetic jet actuators is needed for the development of specialized actuator cavity geometries to increase jet momentum coefficients and tailor acoustic resonant frequencies. Synthetic jet actuators can benefit from tuning of the structural resonant frequency of the piezoelectric diaphragm(s) and the acoustic resonant frequency of the actuator cavity such that they experience constructive coupling. The resulting coupled behavior produces increased jet velocities. The ability to design synthetic jet actuators to operate with this behavior at select driving frequencies allows for them to be better used in flow control applications, which sometimes require specific jet frequencies in order to utilize the natural instabilities of a given flow field. A parametric study of varying actuator diameters was conducted to this end. Phase-locked data were collected on the jet velocity, the cavity pressure at various locations, and the three-dimensional deformation of the surface of the diaphragm. These results were compared to previous analytical work on the interaction between the structural resonance of the diaphragm and the acoustic resonance of the cavity. Funded by the Boeing Company.
Gear-Driven Turnbuckle Actuator
Rivera, Ricky N.
2010-01-01
This actuator design allows the extension and contraction of turnbuckle assemblies. It can be operated manually or remotely, and is extremely compact. It is ideal for turnbuckles that are hard to reach by conventional tools. The tool assembly design solves the problem of making accurate adjustments to the variable geometry guide vanes without having to remove and reinstall the actuator system back on the engine. The actuator does this easily by adjusting the length of the turnbuckles while they are still attached to the engine.
Electrowetting Actuation of Polydisperse Nanofluid Droplets
Directory of Open Access Journals (Sweden)
Crismar Patacsil
2017-01-01
Full Text Available We present results of electrowetting experiments employing droplets formed from aqueous suspensions of Au nanoparticles. A planar electrowetting system, consisting of a Pt wire electrode and a bottom Cu electrode with an insulating silicone layer, is used to observe changes in droplet contact angle when an external electric field is applied. The equilibrium contact angle at 0 V decreases with increasing nanoparticle concentration, dropping from 100.4° for pure deionized water to 94.7° for a 0.5 μM nanofluid. Increasing the nanoparticle content also lowers the required voltage for effective actuation. With actuation at 15 V, contact angle decreases by 9% and 35% for droplets formed from pure water and a 0.5 μM nanoparticle suspension, respectively. Contact angle saturation is observed with nanofluid droplets, with the threshold voltage decreasing as nanoparticle concentration rises. Maximum droplet actuation before contact angle saturation is achieved at only 10 V for a concentration of 0.5 μM. A proposed mechanism for the enhanced electrowetting response of a nanofluid droplet involves a reduction in surface tension of the droplet as nanoparticles accumulate at the liquid-vapor interface.
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
Mathematical Model of the Identical Slope Surface
Institute of Scientific and Technical Information of China (English)
无
2002-01-01
The formation of the identical slope surface and the method of construction are discussed. Onthe basement of building the parameter equation of variable-radius circle family envelope, the frequentlyused parameter equation of the identical slope surface of the top of taper moving along column helix,horizental arc and line is built. The equation can be used to construct the identical slope surface's con-tours, gradient lines and three dimensional figures correctly.
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
Multiwalled Carbon Nanotube Deposition on Model Environmental Surfaces
Deposition of multiwalled carbon nanotubes (MWNTs) on model environmental surfaces was investigated using a quartz crystal microbalance with dissipation monitoring (QCM-D). Deposition behaviors of MWNTs on positively and negatively charged surfaces were in good agreement with Der...
Development of an acoustic actuator for launch vehicle noise reduction.
Henderson, Benjamin K; Lane, Steven A; Gussy, Joel; Griffin, Steve; Farinholt, Kevin M
2002-01-01
In many active noise control applications, it is necessary that acoustic actuators be mounted in small enclosures due to volume constraints and in order to remain unobtrusive. However, the air spring of the enclosure is detrimental to the low-frequency performance of the actuator. For launch vehicle noise control applications, mass and volume constraints are very limiting, but the low-frequency performance of the actuator is critical. This work presents a novel approach that uses a nonlinear buckling suspension system and partial evacuation of the air within the enclosure to yield a compact, sealed acoustic driver that exhibits a very low natural frequency. Linear models of the device are presented and numerical simulations are given to illustrate the advantages of this design concept. An experimental prototype was built and measurements indicate that this design can significantly improve the low-frequency response of compact acoustic actuators.
Simulation Tool for Dielectric Barrier Discharge Plasma Actuators
Likhanskii, Alexander
2014-01-01
Traditional approaches for active flow separation control using dielectric barrier discharge (DBD) plasma actuators are limited to relatively low speed flows and atmospheric conditions. This results in low feasibility of the DBDs for aerospace applications. For active flow control at turbine blades, fixed wings, and rotary wings and on hypersonic vehicles, DBD plasma actuators must perform at a wide range of conditions, including rarified flows and combustion mixtures. An efficient, comprehensive, physically based DBD simulation tool can optimize DBD plasma actuators for different operation conditions. Researchers are developing a DBD plasma actuator simulation tool for a wide range of ambient gas pressures. The tool will treat DBD using either kinetic, fluid, or hybrid models, depending on the DBD operational condition.
Characteristics Analysis and Testing of SMA Spring Actuator
Directory of Open Access Journals (Sweden)
Jianzuo Ma
2013-01-01
Full Text Available The biasing form two-way shape memory alloy (SMA actuator composed of SMA spring and steel spring is analyzed. Based on the force equilibrium equation, the relationship between load capacity of SMA spring and geometric parameters is established. In order to obtain the characteristics of SMA spring actuator, the output force and output displacement of SMA spring under different temperatures are analyzed by the theoretical model and the experimental method. Based on the shape memory effect of SMA, the relationship of the SMA spring actuator's output displacement with the temperature, the stress and strain, the material parameters, and the size parameters is established. The results indicate that the trend of theoretical results is basically consistent with the experimental data. The output displacement of SMA spring actuator is increased with the increasing temperature.
An amphibious vibration-driven microrobot with a piezoelectric actuator
Becker, Felix; Zimmermann, Klaus; Volkova, Tatiana; Minchenya, Vladimir T.
2013-01-01
This article concerns microrobots for solid and liquid environments. A short overview of microrobotics, suitable actuators and energy systems is given. The principles of terrestrial and aquatic locomotion are discussed and illustrated with examples from the literature on robotics. The state of the art with a focus on piezo microrobots for solid and liquid environments is presented. Furthermore, we report an amphibious prototype, which can move on flat solid ground and on the free surface of water. The design, characteristic parameters and experiments on locomotion are described. The robot is characterized by a light and simple design and can perform twodimensional locomotion in different environments with a speed up to 30 mm/s. An analytical model to predict the maximum carrying capacity of the robot on water is solved numerically.
2D Electrostatic Actuation of Microshutter Arrays
Burns, Devin E.; Oh, Lance H.; Li, Mary J.; Jones, Justin S.; Kelly, Daniel P.; Zheng, Yun; Kutyrev, Alexander S.; Moseley, Samuel H.
2015-01-01
An electrostatically actuated microshutter array consisting of rotational microshutters (shutters that rotate about a torsion bar) were designed and fabricated through the use of models and experiments. Design iterations focused on minimizing the torsional stiffness of the microshutters, while maintaining their structural integrity. Mechanical and electromechanical test systems were constructed to measure the static and dynamic behavior of the microshutters. The torsional stiffness was reduced by a factor of four over initial designs without sacrificing durability. Analysis of the resonant behavior of the microshutter arrays demonstrates that the first resonant mode is a torsional mode occurring around 3000 Hz. At low vacuum pressures, this resonant mode can be used to significantly reduce the drive voltage necessary for actuation requiring as little as 25V. 2D electrostatic latching and addressing was demonstrated using both a resonant and pulsed addressing scheme.
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.
Modelling and control of laser surface treatment
Römer, Gerardus Richardus Benardus Engelina
1999-01-01
The results of laser surface treatment may vary significantly during laser surface processing. These variations arise from the sensitivity of the process to disturbances, such as varying absorptivity and the small dimensions of the work piece. To increase the reproducibility of the process, a real-t