Sample records for actuator surface model


    Directory of Open Access Journals (Sweden)

    V. N. Akimov


    Full Text Available One of the important problems of the designing of maneuverable unmanned aerial vehicles (UAV is to ensure aeroelastic stability with automatic control system (ACS. One of the possible types of aeroelastic instability of UAV with ACS is loss of stability in the system "surface control – actuator".  A nonlinear model for the study of the stability of the system "surface control – actuator" is designed for solving problems of joint design of airframe and ACS with the requirements of aeroelasticity. The electric actuator is currently the most widely used on highly maneuverable UAV. The wide bandwidth and the availability of frequency characteristic lifts are typical for the modern electric actuator. This exacerbates the problem of providing aeroelastic stability of the UAV with ACS, including the problem of ensuring the stability of the system "surface control – actuator". In proposed model the surface control, performing bending-torsion oscillations in aerodynamic flow, in fact, is the loading for the actuator. Experimental frequency characteristics of the isolated actuator, obtained for different levels of the control signal, are used for the mathematical description of the actuator, then, as dynamic hinge moment, which is determined by aeroelastic vibrations of the surface control in the air flow, is calculated. Investigation of the stability of the system "surface control – actuator" is carried out by frequency method using frequency characteristics of the open-loop system. The undeniable advantage of the proposed model is the simplicity of obtaining the transfer functions of the isolated actuator. The experiment by its definition is a standard method of determining frequency characteristics of the actuator in contrast to time-consuming experiments for determining the dynamic stiffness of the actuator (with the surface control or the transfer function of the actuator using electromechanical simulation of aeroelastic loading of the

  2. Numerical Study of Wind Turbine Wake Modeling Based on a Actuator Surface Model

    DEFF Research Database (Denmark)

    Zhou, Huai-yang; Xu, Chang; Han, Xing Xing


    In the Actuator Surface Model (ALM), the turbine blades are represented by porous surfaces of velocity and pressure discontinuities to model the action of lifting surfaces on the flow. The numerical simulation is implemented on FLUENT platform combined with N-S equations. This model is improved...... and far wake of a Nibe A wind turbine, which combines wake velocity, turbulent intensity and vortex structure. Results show that ASM has better prediction accuracy and verify it's feasibility on numerical simulation of wind turbine wake....

  3. Modeling and analysis of the electromechanical behavior of surface-bonded piezoelectric actuators using finite element method

    CERN Document Server

    Yu, Huangchao


    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.

  4. 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


    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-Stokes...... simulations. The actuator surface technique is evaluated by computing the two-dimensional flow past a NACA 0015 airfoil at a Reynolds number of 10(6) and an angle of attack of 10 deg and by comparing the computed streamlines with the results from a traditional Reynolds-averaged Navier-Stokes computation...

  5. A new class of actuator surface models incorporating wind turbine blade and nacelle geometry effects (United States)

    Yang, Xiaolei; Sotiropoulos, Fotis


    It was shown by Kang, Yang and Sotiropoulos that the nacelle has significant effects on the turbine wake even in the far wake region, which the standard actuator line model is not able to predict. We develop a new class of actuator surface models for the blades and nacelle, which is able to resolve the effects of both tip vortices and nacelle vortex. The new nacelle model, which is based on distributing forces from the actual nacelle geometry as in the diffused interface immersed boundary methods, is first tested by carrying out LES of the flow past a sphere and demonstrating good agreement with available in the literature DNS results. The proposed model is subsequently validated by simulating the flow past the hydrokinetic turbine used in the simulations of Kang et al. and good agreement with the measurements is demonstrated. Finally, the proposed model is applied to utility scale wind turbines to elucidate the role of nacelle vortex dynamics on turbine wake meandering. This work was supported by Department of Energy DOE (DE-EE0002980, DE-EE0005482 and DE-AC04-94AL85000), and Sandia National Laboratories. Computational resources were provided by SNL and MSI.

  6. Numerical investigation of aerodynamic flow actuation produced by surface plasma actuator on 2D oscillating airfoil

    Directory of Open Access Journals (Sweden)

    Minh Khang Phan


    Full Text Available Numerical simulation of unsteady flow control over an oscillating NACA0012 airfoil is investigated. Flow actuation of a turbulent flow over the airfoil is provided by low current DC surface glow discharge plasma actuator which is analytically modeled as an ion pressure force produced in the cathode sheath region. The modeled plasma actuator has an induced pressure force of about 2 kPa under a typical experiment condition and is placed on the airfoil surface at 0% chord length and/or at 10% chord length. The plasma actuator at deep-stall angles (from 5° to 25° is able to slightly delay a dynamic stall and to weaken a pressure fluctuation in down-stroke motion. As a result, the wake region is reduced. The actuation effect varies with different plasma pulse frequencies, actuator locations and reduced frequencies. A lift coefficient can increase up to 70% by a selective operation of the plasma actuator with various plasma frequencies and locations as the angle of attack changes. Active flow control which is a key advantageous feature of the plasma actuator reveals that a dynamic stall phenomenon can be controlled by the surface plasma actuator with less power consumption if a careful control scheme of the plasma actuator is employed with the optimized plasma pulse frequency and actuator location corresponding to a dynamic change in reduced frequency.

  7. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok


    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

  8. Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB (United States)

    Reaves, Mercedes C.; Horta, Lucas G.


    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.

  9. Magnetically actuated microstructured surfaces can actively modify cell migration behaviour. (United States)

    Khademolhosseini, F; Liu, C-C; Lim, C J; Chiao, M


    We present a study on the application of magnetically actuated polymer micropillar surfaces in modifying the migration behaviour of cells. We show that micropillar surfaces actuated at a frequency of 1 Hz can cause more than a 5-fold decrease in cell migration rates compared to controls, whereas non-actuated micropillar surfaces cause no statistically significant alterations in cell migration rates. The effectiveness of the micropillar arrays in impeding cell migration depends on micropillar density and placement patterns, as well as the direction of micropillar actuation with respect to the direction of cell migration. Since the magnetic micropillar surfaces presented can be actuated remotely with small external magnetic fields, their integration with implants could provide new possibilities for in-vivo tissue engineering applications.

  10. Modeling of a Dielectric Elastomer Bender Actuator

    Directory of Open Access Journals (Sweden)

    Paul White


    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.

  11. An improved model for the cantilever NEMS actuator including the surface energy, fringing field and Casimir effects (United States)

    Farrokhabadi, Amin; Mohebshahedin, Abed; Rach, Randolph; Duan, Jun-Sheng


    The influence of the surface energy on the instability of nano-structures under the electrostatic force has been investigated in recent years by different researchers. It appears that in all prior research, the response of all structures becomes softer due to the surface effects. In the present study, the pull-in instability of a NEMS device incorporating the electrostatic force and Casimir intermolecular attraction for different values of the surface parameter is investigated by the Duan-Rach method of determined coefficients (MDC) in order to identify the remarkable effect of the surface energy. Although the obtained results verify the behavior of such structures in presence of the fringing field and the Casimir attraction same as the previous investigations, however the incremental effects of the surface energy cause the aforementioned structures to behave more stiffly in contrast.

  12. Mathematical modeling of a V-stack piezoelectric aileron actuation

    Directory of Open Access Journals (Sweden)

    Ioan URSU


    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.

  13. Application of Sweeping Jet Actuators on the NASA Hump Model and Comparison with CFDVAL2004 Experiments (United States)

    Koklu, Mehti


    Flow separation control over a wall-mounted hump model was studied experimentally to assess the performance of sweeping jet actuators. Results were compared to that of the 2004 CFD validation experiment (CFDVAL2004), which examined flow separation control with steady suction and unsteady zero-net-mass-flow actuators. Comparisons were carried out at low and high amplitude excitations. In addition to the active flow control methods, a passive flow control method (i.e., vortex generator) was used to complement the dataset. Steady/unsteady surface pressure measurements and surface oilflow visualization were used in the performance assessment of the actuators. The results indicated that the sweeping jet actuators are more effective than the steady suction and unsteady zero-net-mass-flow actuators. For the same momentum coefficient, the sweeping jet actuators produced more flow acceleration upstream of separation, more pressure recovery downstream, and consistently a smaller separation bubble.

  14. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation. (United States)

    Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman


    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. © 2011 IEEE

  15. Pneumatic Artificial Muscle Actuation and Modeling (United States)

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.


    A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.

  16. Actuator Line Modeling of Wind Turbine Wakes

    DEFF Research Database (Denmark)

    Troldborg, Niels


    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...

  17. Multiscale modeling and topology optimization of poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole


    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...... microstructure is optimized using topology optimization in order to achieve a better macroscopic performance quantified by vertical or torsional deflections. Constraints are introduced to ensure a certain deflection/extension ratio of the actuator....

  18. Nanoscale actuation of electrokinetic flows on thermoreversible surfaces. (United States)

    Paumier, Guillaume; Sudor, Jan; Gue, Anne-Marie; Vinet, Françoise; Li, Meng; Chabal, Yves J; Estève, Alain; Djafari-Rouhani, Mehdi


    We report on a novel approach for controlling nanohydrodynamic properties at the solid-liquid interfaces through the use of stimuli-responding polymer coatings. The end-tethered polymers undergo a phase separation upon external activation. The reversible change in the thickness and polarity of the grafted polymers yields in a dynamic control of the surface-generated, electrokinetic phenomena. Nonactivated, swollen polymers are thicker than the electrical double layer (EDL) and prohibit the development of an EOF even on charged surfaces. On the other hand, activated polymer chains shrink and become thinner than the EDL and allow for the EOF to build up unimpeded. We show here that, for given experimental conditions, the EOF velocity on the shrunken surface is 35 times greater than the one on the nonactivated surface. Furthermore, we reveal that coupling of such surfaces with dense arrays of thermal actuators developed in our laboratory can lead to novel micro- and nanofluidic devices.

  19. Tip vortices in the actuator line model (United States)

    Martinez, Luis; Meneveau, Charles


    The actuator line model (ALM) is a widely used tool to represent the wind turbine blades in computational fluid dynamics without the need to resolve the full geometry of the blades. The ALM can be optimized to represent the `correct' aerodynamics of the blades by choosing an appropriate smearing length scale ɛ. This appropriate length scale creates a tip vortex which induces a downwash near the tip of the blade. A theoretical frame-work is used to establish a solution to the induced velocity created by a tip vortex as a function of the smearing length scale ɛ. A correction is presented which allows the use of a non-optimal smearing length scale but still provides the downwash which would be induced using the optimal length scale. Thanks to the National Science Foundation (NSF) who provided financial support for this research via Grants IGERT 0801471, IIA-1243482 (the WINDINSPIRE project) and ECCS-1230788.

  20. Numerical modeling of shape memory alloy linear actuator (United States)

    Jani, Jaronie Mohd; Huang, Sunan; Leary, Martin; Subic, Aleksandar


    The demand for shape memory alloy (SMA) actuators in high-technology applications is increasing; however, there exist technical challenges to the commercial application of SMA actuator technologies, especially associated with actuation duration. Excessive activation duration results in actuator damage due to overheating while excessive deactivation duration is not practical for high-frequency applications. Analytical and finite difference equation models were developed in this work to predict the activation and deactivation durations and associated SMA thermomechanical behavior under variable environmental and design conditions. Relevant factors, including latent heat effect, induced stress and material property variability are accommodated. An existing constitutive model was integrated into the proposed models to generate custom SMA stress-strain curves. Strong agreement was achieved between the proposed numerical models and experimental results; confirming their applicability for predicting the behavior of SMA actuators with variable thermomechanical conditions.

  1. Modelling the nonlinearity of piezoelectric actuators in active ...

    African Journals Online (AJOL)

    Piezoelectric actuators have great capabilities as elements of intelligent structures for active vibration cancellation. One problem with this type of actuator is its nonlinear behaviour. In active vibration control systems, it is important to have an accurate model of the control branch. This paper demonstrates the ability of neural ...

  2. modelling the nonlinearity of piezoelectric actuators in active ...

    African Journals Online (AJOL)


    Piezoelectric actuators have great capabilities as elements of intelligent structures for active vibration cancellation. One problem with this type of actuator is its nonlinear behaviour. In active vibration control systems, it is important to have an accurate model of the control branch. This paper demonstrates the ability of neural ...

  3. Creep effect modeling for a core free tubular actuator (United States)

    Sarban, Rahimullah; Oubaek, Jakob; Jones, Richard W.


    Of the range of dielectric EAP-based actuators that currently exist those having a cylindrical configuration are perhaps the most important. Up until now the most popular tubular actuator designs have exploited the exceptional pre-strain performance of the acrylics VHB 2910 and VHB 2905. Unfortunately pre-stained acrylic film rolled tubular actuators with a spring core experience problems concerning reliability and life expectancy. Partly because of these problems research is beginning to be directed towards the design, fabrication and characterisation of core free tubular actuators. This work reviews the Voltage-Strain modeling of core free rolled actuators that are constructed using a dielectric electro active polymer film that employs smart electrode technology. Position response tests, whereby a step input of 1500 V was applied to each actuator, confirmed that time dependent strain influences the Voltage-Strain behaviour of the actuators. To represent the time dependent strain behaviour a creep effect model was combined with Pelrine's electromechanical model to provide a more accurate representation of the Voltage-Strain characteristics of the actuators.

  4. Surface texture change on-demand and microfluidic devices based on thickness mode actuation of dielectric elastomer actuators (DEAs) (United States)

    Ankit, Ankit; Nguyen, Anh Chien; Mathews, Nripan


    Tactile feedback devices and microfluidic devices have huge significance in strengthening the area of robotics, human machine interaction and low cost healthcare. Dielectric Elastomer Actuators (DEAs) are an attractive alternative for both the areas; offering the advantage of low cost and simplistic fabrication in addition to the high actuation strains. The inplane deformations produced by the DEAs can be used to produce out-of-plane deformations by what is known as the thickness mode actuation of DEAs. The thickness mode actuation is achieved by adhering a soft passive layer to the DEA. This enables a wide area of applications in tactile applications without the need of complex systems and multiple actuators. But the thickness mode actuation has not been explored enough to understand how the deformations can be improved without altering the material properties; which is often accompanied with increased cost and a trade off with other closely associated material properties. We have shown the effect of dimensions of active region and non-active region in manipulating the out-of-plane deformation. Making use of this, we have been able to demonstrate large area devices and complex patterns on the passive top layer for the surface texture change on-demand applications. We have also been able to demonstrate on-demand microfluidic channels and micro-chambers without the need of actually fabricating the channels; which is a cost incurring and cumbersome process.

  5. Modeling framework for piezoelectrically actuated MEMS tunable lenses. (United States)

    Farghaly, Mahmoud A; Akram, Muhammad Nadeem; Halvorsen, Einar


    WWe report a modeling framework for evaluating the performance of piezoelectrically actuated MEMS tunable lenses. It models the static opto-electromechanical coupling for symmetric configurations of piezoelectric actuators based on the laminated-plate theory, linear piezoelectricity, and ray tracing. With these assumptions, it helps to find geometrical parameters for actuators on clamped square or circular diaphragms that give a diffraction-limited tunable lens with minimum F-number. The tunable lens' optical performance and its focusing capability, alone and in combination with a paraxial fixed lens, were calculated in terms of object distance and actuation voltage. Using the modeling framework, we confirmed that the modulation transfer function for objects located at different distances remains the same after voltage adjustment.

  6. A Novel Fractional Order Model for the Dynamic Hysteresis of Piezoelectrically Actuated Fast Tool Servo (United States)

    Zhu, Zhiwei; Zhou, Xiaoqin


    The main contribution of this paper is the development of a linearized model for describing the dynamic hysteresis behaviors of piezoelectrically actuated fast tool servo (FTS). A linearized hysteresis force model is proposed and mathematically described by a fractional order differential equation. Combining the dynamic modeling of the FTS mechanism, a linearized fractional order dynamic hysteresis (LFDH) model for the piezoelectrically actuated FTS is established. The unique features of the LFDH model could be summarized as follows: (a) It could well describe the rate-dependent hysteresis due to its intrinsic characteristics of frequency-dependent nonlinear phase shifts and amplitude modulations; (b) The linearization scheme of the LFDH model would make it easier to implement the inverse dynamic control on piezoelectrically actuated micro-systems. To verify the effectiveness of the proposed model, a series of experiments are conducted. The toolpaths of the FTS for creating two typical micro-functional surfaces involving various harmonic components with different frequencies and amplitudes are scaled and employed as command signals for the piezoelectric actuator. The modeling errors in the steady state are less than ±2.5% within the full span range which is much smaller than certain state-of-the-art modeling methods, demonstrating the efficiency and superiority of the proposed model for modeling dynamic hysteresis effects. Moreover, it indicates that the piezoelectrically actuated micro systems would be more suitably described as a fractional order dynamic system.

  7. Electrically controllable twisted-coiled artificial muscle actuators using surface-modified polyester fibers (United States)

    Park, Jungwoo; Yoo, Ji Wang; Seo, Hee Won; Lee, Youngkwan; Suhr, Jonghwan; Moon, Hyungpil; Koo, Ja Choon; Ryeol Choi, Hyouk; Hunt, Robert; Kim, Kwang Jin; Kim, Soo Hyun; Nam, Jae-Do


    As a new class of thermally activated actuators based on polymeric fibers, we investigated polyethylene terephthalate (PET) yarns for the development of a twisted-coiled polymer fiber actuator (TCA). The PET yarn TCA exhibited the maximum linear actuation up to 8.9% by external heating at above the glass transition temperature, 160 °C-180 °C. The payload of the actuator was successfully correlated with the preload and training-load conditions by an empirical equation. Furthermore, the PET-based TCA was electrically driven by Joule heating after the PET surface was metallization with silver. For the fast and precise control of PET yarn TCA, electroless silver plating was conducted to form electrical conductive layers on the PET fiber surface. The silver plated PET-based TCA was tested by Joule heating and the tensile actuation was increased up to 12.1% (6 V) due to the enhanced surface hardness and slippage of PET fibers. Overall, silver plating of the polymeric yarn provided a fast actuation speed and enhanced actuation performance of the TCA actuator by Joule heating, providing a great potential for being used in artificial muscle for biomimetic machines including robots, industrial actuators and powered exoskeletons.

  8. An Adaptive Dynamic Surface Controller for Ultralow Altitude Airdrop Flight Path Angle with Actuator Input Nonlinearity

    Directory of Open Access Journals (Sweden)

    Mao-long Lv


    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.

  9. Numerical Investigation of Scattering from a Surface Dielectric Barrier Discharge Actuator under Atmospheric Pressure

    Directory of Open Access Journals (Sweden)

    Yuna Kim


    Full Text Available Surface dielectric barrier discharge (SDBD, which is widely used to control turbulence in aerodynamics, has a significant effect on the radar cross-section (RCS. A four-way linearly synthesized SDBD air plasma actuator is designed to bolster the plasma effects on electromagnetic waves. The diffraction angle is calculated to predict the RCS because of the periodic structure of staggered electrodes. The simplified plasma modeling is utilized to calculate the inhomogeneous surface plasma distribution. Monostatic RCS shows the diffraction in the plane perpendicular to the electrode array and the notable distortion by plasma. In comparison, the overall pattern is maintained in the parallel plane with minor plasma effects. The trends also appear in the bistatic RCS, which has a significant difference in the observation plane perpendicular to the electrodes. The peaks by Bragg’s diffraction are shown, and the RCS is reduced by 10 dB in a certain range by the plasma effect. The diffraction caused by the actuator and the inhomogeneous air plasma should be considered in designing an SDBD actuator for a wide range of application.

  10. Dynamic modeling of brushless dc motors for aerospace actuation (United States)

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


    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.

  11. Modeling and optimization of IPMC actuator for autonomous jellyfish vehicle (AJV) (United States)

    Joshi, Keyur B.; Akle, Barbar J.; Leo, Donald J.; Priya, Shashank


    Ionomeric Polymer Metal Composite (IPMC) actuators generate high flexural strains at small voltage amplitudes of 2-5V. IPMCs bend toward the anode when a potential drop is applied across its thickness. The actuation mechanism is due to the motion of ions inside it; which requires a form of hydration to dissociate and mobilize the charges. In our group IPMCs are developed either water based or Ionic Liquid based which is also known as the dry IPMCs. This combination of small voltage requirement with operation in both dry and underwater conditions makes the IPMCs a viable alternative for an Autonomous Jellyfish Vehicle (AJV). In this study, we estimate the mechanical properties of IPMC actuator having curved geometry using FEM model to match the experimental deformation. We combine the results from an electric model to estimate charge accumulated on electrode surface with piezoelectric model to estimate stress due to this charge accumulation. In the last step, the results are integrated with a structural model to simulate the actuator deformation. We have designed an AJV with embedded IPMC actuators using these properties to achieve the curvature of relaxed and contracted Jellyfish (Aurelia Aurita). Bio-mimetic deformation profile was achieved by using structural mechanics of beams with large deformation with only application of +/- 0.8V to optimized beam within 8.1% error norm in relaxed state and 21.3% in contracted state, with only -0.24% to 0.26% maximum flexural strain at maximum curvature point in contracted state.

  12. Modeling and optimization of magnetostrictive actuator amplified by compliant mechanism (United States)

    Niu, Muqing; Yang, Bintang; Yang, Yikun; Meng, Guang


    Magnetostrictive actuators are commonly used in precision engineering with the advantages of high resolution and fast response. Their limited strokes are always amplified by compliant mechanisms without wear and backlash. This paper proposes a hybrid model for the actuation system considering the coupling of the actuator and the amplifier. The magnetostrictive model, based on the Jiles-Atherton model, is related to the input stiffness of the amplifier when quantifying the magneto-mechanical effects, including stress-dependent magnetization, stress-dependent magnetostriction and ΔE effect. The compliant mechanism model aims at constructing the flexibility matrix with the amplification ratio and input stiffness related to the spring factor of the load. The deformation and structural stress of the amplifier are also dependent on the output strain of magnetostrictive material. Experiments under both free load and spring load conditions have been done to verify the effectiveness of the hybrid model. The proposed model is suitable for parameter optimization and the performance indicators can be precisely quantified. Optimization based on hybrid model is more preferred than optimizing the actuator and amplifier independently for maximum output displacement. Furthermore, ‘stiffness match principle’ is no longer applicable when considering ΔE effect, and the optimal external stiffness problem can be numerically solved by the hybrid model for maximum output energy of magnetostrictive material.

  13. Analysis of helicopter flight dynamics through modeling and simulation of primary flight control actuation system (United States)

    Nelson, Hunter Barton

    A simplified second-order transfer function actuator model used in most flight dynamics applications cannot easily capture the effects of different actuator parameters. The present work integrates a nonlinear actuator model into a nonlinear state space rotorcraft model to determine the effect of actuator parameters on key flight dynamics. The completed actuator model was integrated with a swashplate kinematics where step responses were generated over a range of key hydraulic parameters. The actuator-swashplate system was then introduced into a nonlinear state space rotorcraft simulation where flight dynamics quantities such as bandwidth and phase delay analyzed. Frequency sweeps were simulated for unique actuator configurations using the coupled nonlinear actuator-rotorcraft system. The software package CIFER was used for system identification and compared directly to the linearized models. As the actuator became rate saturated, the effects on bandwidth and phase delay were apparent on the predicted handling qualities specifications.

  14. Development of piezoelectric-based membranes for synthetic jet actuators: experiments and modeling (United States)

    Housley, Kevin W.; Clingman, Dan J.; Amitay, Michael


    A mathematical model was developed to represent the behavior of circular piezoelectric bimorphs in a synthetic jet actuator. Synthetic jet actuators are popular active flow control devices whose application is being widely explored in aerodynamics. The material properties were matched to those of PZT-5A mounted on a substrate. The actuator's geometry consisted of a cylindrical cavity of low height to diameter aspect ratio. A bimorph formed one of the cylinder's bases. The ingestion/expulsion orifice for the synthetic jet actuator was placed in the edge of the cavity so as to allow for either the present single bimorph or future dual bimorph configurations. Simply supported and rigidly supported boundary conditions were assessed around the circumference of the bimorph. The potential of alternate mode shapes occurring in the bimorphs during operation of the synthetic jet was evaluated. A limited parametric study was conducted varying the thickness of the piezoelectric wafers used in the bimorphs and the geometry of the cavity and orifice. Results were obtained for the displacement of the center of the bimorph's surface and the peak velocity of the air being ingested and expulsed through the orifice. These results were compared to values obtained through a mathematical model. Experimental data present in literature were also compared. The mathematical model was seen to have considerable potential for predicting the performance of synthetic jet actuators and their resonant frequencies but failed to capture the effects of acoustic coupling with the cavity, which is a topic of future research.

  15. Thermal, size and surface effects on the nonlinear pull-in of small-scale piezoelectric actuators (United States)

    SoltanRezaee, Masoud; Ghazavi, Mohammad-Reza


    Electrostatically actuated miniature wires/tubes have many operational applications in the high-tech industries. In this research, the nonlinear pull-in instability of piezoelectric thermal small-scale switches subjected to Coulomb and dissipative forces is analyzed using strain gradient and modified couple stress theories. The discretized governing equation is solved numerically by means of the step-by-step linearization method. The correctness of the formulated model and solution procedure is validated through comparison with experimental and several theoretical results. Herein, the length-scale, surface energy, van der Waals attraction and nonlinear curvature are considered in the present comprehensive model and the thermo-electro-mechanical behavior of cantilever piezo-beams are discussed in detail. It is found that the piezoelectric actuation can be used as a design parameter to control the pull-in phenomenon. The obtained results are applicable in stability analysis, practical design and control of actuated miniature intelligent devices.

  16. A dielectric electroactive polymer generator-actuator model: modeling, identification, and dynamic simulation (United States)

    Ihlefeld, Curtis M.; Qu, Zhihua


    Dielectric electroactive polymer membranes have been shown to have capabilities both as actuators and generators. Recent models of actuators have shown input to output dynamics that link the electrical energy input to the acceleration of a mass. Models such as these are useful for implementing closed loop control systems and will be necessary in the future for the construction of robust and fault tolerant controls. On the other hand, explanations of the generator behavior of dielectric EAP devices tend to ignore full dynamics. In this paper it is demonstrated that an EAP actuator model with full electrical-mechanical dynamics can be used as a generator model with the generator input force equivalent to the actuator disturbance force. Since the generator and actuator models are equivalent, it can be shown how disturbance inputs can cause energy surges back toward the electrical input. Simulations and experimental results are provided of a device model that describes generation and actuation.

  17. Modeling Populations of Thermostatic Loads with Switching Rate Actuation

    DEFF Research Database (Denmark)

    Totu, Luminita Cristiana; Wisniewski, Rafal; Leth, John-Josef


    We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...

  18. Microcantilever actuation generated by redox-induced surface stress (United States)

    Tabard-Cossa, Vincent

    Electrochemically-induced changes in surface stress at the solid-liquid interface are measured using a differential cantilever-based sensor. The simultaneous, in situ measurements of the current (charge) and interfacial stress changes are performed by employing an AFM cantilever as both the working electrode (in a conventional three-probe electrochemical cell configuration) and as the mechanical transducer (bending of the cantilever). The custom-built instrument achieves a surface stress sensitivity of 1x10-4 N/m and a dynamic range of 5x105. Combining electrochemistry with cantilever-based sensing provides the extra surface characterization capability essential for the interpretation of the origin of the surface stress. The objective of the present study is to gain a better understanding of the mechanisms responsible for the nanomechanical motion of cantilever sensors during adsorption and absorption processes. The study of these simple model systems will lead to a general understanding of the cantilever-based sensor's response and provide insights into the physical origin of the measured surface stress. The surface stress generated by the electrochemically-controlled absorption of ions into a thin polypyrrole film is investigated. A compressive change in surface stress of about -2 N/m is measured when the polymer is electrochemically switched between its oxidized and neutral (swollen) state. The volume change of the polymer phase with respect to the gold-coated cantilever is shown to be responsible for the mechanical motion observed. The potential-induced surface stress and surface energy change on an Au(111)-textured cantilever, in a 0.1 M HClO4 electrolyte, are simultaneously measured. These measurements revealed that for solid electrodes these two thermodynamic parameters are significantly different. In the double layer region, a surface stress change of -0.55 +/-0.06 N/m is measured during ClO4- adsorption whereas the surface energy variation is smaller by

  19. Model reference adaptive control based on kp model for magnetically controlled shape memory alloy actuators. (United States)

    Zhou, Miaolei; Zhang, Yannan; Ji, Kun; Zhu, Dong


    Magnetically controlled shape memory alloy (MSMA) actuators take advantages of their large deformation and high controllability. However, the intricate hysteresis nonlinearity often results in low positioning accuracy and slow actuator response. In this paper, a modified Krasnosel'skii-Pokrovskii model was adopted to describe the complicated hysteresis phenomenon in the MSMA actuators. Adaptive recursive algorithm was employed to identify the density parameters of the adopted model. Subsequently, to further eliminate the hysteresis nonlinearity and improve the positioning accuracy, the model reference adaptive control method was proposed to optimize the model and inverse model compensation. The simulation experiments show that the model reference adaptive control adopted in the paper significantly improves the control precision of the actuators, with a maximum tracking error of 0.0072 mm. The results prove that the model reference adaptive control method is efficient to eliminate hysteresis nonlinearity and achieves a higher positioning accuracy of the MSMA actuators.

  20. A study on the effect of surface topography on the actuation performance of stacked-rolled dielectric electro active polymer actuator (United States)

    Sait, Usha; Muthuswamy, Sreekumar


    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.

  1. Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying


    A systematic dynamic modeling methodology is presented to develop the rigid-flexible coupling dynamic model (RFDM) of an emerging flexible parallel manipulator with multiple actuation modes. By virtue of assumed mode method, the general dynamic model of an arbitrary flexible body with any number of lumped parameters is derived in an explicit closed form, which possesses the modular characteristic. Then the completely dynamic model of system is formulated based on the flexible multi-body dynamics (FMD) theory and the augmented Lagrangian multipliers method. An approach of combining the Udwadia-Kalaba formulation with the hybrid TR-BDF2 numerical algorithm is proposed to address the nonlinear RFDM. Two simulation cases are performed to investigate the dynamic performance of the manipulator with different actuation modes. The results indicate that the redundant actuation modes can effectively attenuate vibration and guarantee higher dynamic performance compared to the traditional non-redundant actuation modes. Finally, a virtual prototype model is developed to demonstrate the validity of the presented RFDM. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and controller design of other planar flexible parallel manipulators, especially the emerging ones with multiple actuation modes.

  2. Model and Design of a Power Driver for Piezoelectric Stack Actuators

    Directory of Open Access Journals (Sweden)

    Chiaberge M


    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.

  3. Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    En Lu


    Full Text Available The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.

  4. Piecewise Model and Parameter Obtainment of Governor Actuator in Turbine

    Directory of Open Access Journals (Sweden)

    Jie Zhao


    Full Text Available The governor actuators in some heat-engine plants have nonlinear valves. This nonlinearity of valves may lead to the inaccuracy of the opening and closing time constants calculated based on the whole segment fully open and fully close experimental test curves of the valve. An improved mathematical model of the turbine governor actuator is proposed to reflect the nonlinearity of the valve, in which the main and auxiliary piecewise opening and closing time constants instead of the fixed oil motive opening and closing time constants are adopted to describe the characteristics of the actuator. The main opening and closing time constants are obtained from the linear segments of the whole fully open and close curves. The parameters of proportional integral derivative (PID controller are identified based on the small disturbance experimental tests of the valve. Then the auxiliary opening and closing time constants and the piecewise opening and closing valve points are determined by the fully open/close experimental tests. Several testing functions are selected to compare genetic algorithm and particle swarm optimization algorithm (GA-PSO with other basic intelligence algorithms. The effectiveness of the piecewise linear model and its parameters are validated by practical power plant case studies.

  5. Laser and Surface Processes of NiTi Shape Memory Elements for Micro-actuation (United States)

    Nespoli, Adelaide; Biffi, Carlo Alberto; Previtali, Barbara; Villa, Elena; Tuissi, Ausonio


    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.

  6. Verification and validation of an actuator disc model

    DEFF Research Database (Denmark)

    Réthoré, Pierre-Elouan; Laan, van der, Paul Maarten; Troldborg, Niels


    Wind turbine wake can be studied in computational fluid dynamics with the use of permeable body forces (e.g. actuator disc, line and surface). This paper presents a general flexible method to redistribute wind turbine blade forces as permeable body forces in a computational domain. The method can...... take any kind of shape discretization, determine the intersectional elements with the computational grid and use the size of these elements to redistribute proportionally the forces. This method can potentially reduce the need for mesh refinement in the region surrounding the rotor and, therefore, also...

  7. Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model

    Directory of Open Access Journals (Sweden)

    Miaolei Zhou


    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.

  8. Modeling fluid structure interaction with shape memory alloy actuated morphing aerostructures (United States)

    Oehler, Stephen D.; Hartl, Darren J.; Turner, Travis L.; Lagoudas, Dimitris C.


    The development of efficient and accurate analysis techniques for morphing aerostructures incorporating shape memory alloys (SMAs) continues to garner attention. These active materials have a high actuation energy density, making them an ideal replacement for conventional actuation mechanisms in morphing structures. However, SMA components are often exposed to the same highly variable environments experienced by the aeroelastic assemblies into which they are incorporated. This is motivating design engineers to consider modeling fluidstructure interaction for prescribing dynamic, solution-dependent boundary conditions. This work presents a computational study of a particular morphing aerostructure with embedded, thermally actuating SMA ribbons and demonstrates the effective use of fluid-structure interaction modeling. A cosimulation analysis is utilized to determine the surface deflections and stress distributions of an example aerostructure with embedded SMA ribbons using the Abaqus Finite Element Analysis (FEA) software suite, combined with an Abaqus Computational Fluid Dynamics (CFD) processor. The global FEA solver utilizes a robust user-defined material subroutine which contains an accurate three-dimensional SMA constitutive model. Variations in the ambient fluid environment are computed using the CFD solver, and fluid pressure is mapped into surface distributed loads. Results from the analysis are qualitatively validated with independently obtained data from representative flow tests previously conducted on a physical prototype of the same aerostructure.

  9. Thermodynamic model using experimental loss factors for dielectric elastomer actuator design (United States)

    Lucking Bigué, J.-P.; Chouinard, P.; Denninger, M.; Proulx, S.; Plante, J.-S.


    Dielectric Elastomer Actuators (DEAs) are a promising actuation technology for mobile robotics due to their high forceto- weight ratio, their potential for high efficiencies, and their low cost. The preliminary design of such actuators requires a quick and precise assessment of actuator energy conversion performance. To do so, this paper proposes a simple thermodynamic model using experimentally acquired loss factors that predict actuator mechanical work, energy consumption, and efficiency when operating under constant voltage and constant charge modes. Mechanical and electrical loss factors for both VHB 4905 (acrylic) and Nusil's CF19-2186 (silicone) are obtained by mapping the performances of cone-shaped DEAs over a broad range of actuator speeds, capacitance ratios, and applied voltages. Extensive experimental results reveal the main performance trends to follow for preliminary actuator design, which are explained by the proposed model. For the tested conditions, the maximum experimental brake efficiencies are ~35% and ~25% for VHB and CF19-2186 respectively.

  10. Finite element and analytical models for twisted and coiled actuator (United States)

    Tang, Xintian; Liu, Yingxiang; Li, Kai; Chen, Weishan; Zhao, Jianguo


    Twisted and coiled actuator (TCA) is a class of recently discovered artificial muscle, which is usually made by twisting and coiling polymer fibers into spring-like structures. It has been widely studied since discovery due to its impressive output characteristics and bright prospects. However, its mathematical models describing the actuation in response to the temperature are still not fully developed. It is known that the large tensile stroke is resulted from the untwisting of the twisted fiber when heated. Thus, the recovered torque during untwisting is a key parameter in the mathematical model. This paper presents a simplified model for the recovered torque of TCA. Finite element method is used for evaluating the thermal stress of the twisted fiber. Based on the results of the finite element analyses, the constitutive equations of twisted fibers are simplified to develop an analytic model of the recovered torque. Finally, the model of the recovered torque is used to predict the deformation of TCA under varying temperatures and validated against experimental results. This work will enhance our understanding of the deformation mechanism of TCAs, which will pave the way for the closed-loop position control.

  11. Analytic model and frequency characteristics of plasma synthetic jet actuator (United States)

    Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min


    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.

  12. Prescribed wind shear modelling with the actuator line technique

    DEFF Research Database (Denmark)

    Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Troldborg, Niels


    A method for prescribing arbitrary steady atmospheric wind shear profiles combined with CFD is presented. The method is furthermore combined with the actuator line technique governing the aerodynamic loads on a wind turbine. Computation are carried out on a wind turbine exposed to a representative...... steady atmospheric wind shear profile with and without wind direction changes up through the atmospheric boundary layer. Results show that the main impact on the turbine is captured by the model. Analysis of the wake behind the wind turbine, reveal the formation of a skewed wake geometry interacting...

  13. A dual loop strategy for the design of a control surface actuation system with nonlinear limitations (United States)

    De Gaspari, Alessandro; Mannarino, Andrea; Mantegazza, Paolo


    A novel frequency-based optimization algorithm, suitable to tune generic controllers involved in the dual loop architectures, is presented. A control scheme, based on standard industrial regulators, is adopted to incorporate nonlinear constraints reproducing technological limitations, in a control surfaces actuation system installed on a wind tunnel aeroelastic demonstrator. An integrated observer for disturbance rejection helps to meet one of the required constraints when aerodynamic loads are present. Numerical and experimental results are presented with the aim to design the actuation system and validate the methodology, considering both standard input signals and realistic command profiles.

  14. Computational Actuator Disc Models for Wind and Tidal Applications

    Directory of Open Access Journals (Sweden)

    B. Johnson


    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.

  15. Preisach model of hysteresis for the Piezoelectric Actuator Drive

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe


    The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from...

  16. 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


    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

  17. Physical model-based internal model control of a DE actuator (United States)

    Sarban, Rahimullah; Jones, Richard W.


    An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer actuator has been developed at University of Southern Denmark. This model has been validated for a range of different periodic input voltage signals as well as for different loading conditions. In this contribution we are interested in seeing how the physical-based electromechanical model can be used directly within a model-based control scheme. The choice of control scheme was dictated by the desire for transparency in both controller design and operation. The Internal Model Control (IMC) approach, which is based on the Internal Model Principle, which states that 'control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled' was chosen. If the IMC approach is implemented based on an exact model of the plant, perfect control is theoretically possible. IMC -based control is investigated for servo control of the dielectric elastomer actuator position as well as its ability to reject disturbances. The approach comprises (a) the use of the DE actuator model in parallel to the real actuator - the difference between the two outputs providing an estimate of any disturbance entering the system, (b) the estimated disturbance being fed back and compared with the reference input and (c) the difference between the reference and the estimated disturbance provides the input to the IMC controller which is based on an inverse model of the DE actuator. In the IMC implementation considered here the full nonlinear electromechanical model of the actuator is used to provide the disturbance estimate. The use of a linearizing gain scheduler, placed in series with the real actuator, allows a linearized inverse of the electromechanical model to be used in the formulation of the IMC controller.

  18. Infrared actuation-induced simultaneous reconfiguration of surface color and morphology for soft robotics. (United States)

    Banisadr, Seyedali; Chen, Jian


    Cephalopods, such as cuttlefish, demonstrate remarkable adaptability to the coloration and texture of their surroundings by modulating their skin color and surface morphology simultaneously, for the purpose of adaptive camouflage and signal communication. Inspired by this unique feature of cuttlefish skins, we present a general approach to remote-controlled, smart films that undergo simultaneous changes of surface color and morphology upon infrared (IR) actuation. The smart film has a reconfigurable laminated structure that comprises an IR-responsive nanocomposite actuator layer and a mechanochromic elastomeric photonic crystal layer. Upon global or localized IR irradiation, the actuator layer exhibits fast, large, and reversible strain in the irradiated region, which causes a synergistically coupled change in the shape of the laminated film and color of the mechanochromic elastomeric photonic crystal layer in the same region. Bending and twisting deformations can be created under IR irradiation, through modulating the strain direction in the actuator layer of the laminated film. Furthermore, the laminated film has been used in a remote-controlled inchworm walker that can directly couple a color-changing skin with the robotic movements. Such remote-controlled, smart films may open up new application possibilities in soft robotics and wearable devices.

  19. 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)


    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.

  20. Surface Absorption Polarization Sensors (SAPS), Final Technical Report, Laser Probing of Immobilized SAPS Actuators Component

    Energy Technology Data Exchange (ETDEWEB)

    Joseph I. Cline


    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

  1. Modeling Piezoceramic Twist Actuation in Single-Cell Anisotropic Torque Box of Low-Observable UAV Wing

    National Research Council Canada - National Science Library

    Cseke, Peter


    .... Actuation of the aerodynamic surfaces is achieved by an electric field applied to PZT actuators embedded in the top and bottom skins, creating differential strain and shear in the host substrate...

  2. Laser-induced novel patterns: As smart strain actuators for new-age dental implant surfaces

    Energy Technology Data Exchange (ETDEWEB)

    Celen, Serap, E-mail: [Ege University, Faculty of Engineering, Mechanical Engineering Department, Izmir, 35100 (Turkey); Oezden, Hueseyin [Ege University, Faculty of Engineering, Mechanical Engineering Department, Izmir, 35100 (Turkey)


    Highlights: Black-Right-Pointing-Pointer It is time for that paradigm shift and for an exploration of novel surfaces. Black-Right-Pointing-Pointer We developed novel 3D smart surfaces as strain actuators by nanosecond laser pulse energies. Black-Right-Pointing-Pointer We analyzed these smart surface morphologies using FEM. Black-Right-Pointing-Pointer We estimated their internal stiffness values which play a great role on stress shielding effect. Black-Right-Pointing-Pointer We gave the optimum operation parameters. - Abstract: Surface morphologies of titanium implants are of crucial importance for long-term mechanical adaptation for following implantation. One major problem is the stress shielding effect which originates from the mismatch of the bone and the implant elasticity. It is time for a paradigm shift and for an exploration of novel smart surfaces to prevent this problem. Several surface treatment methods have traditionally been used to modify the surface morphology of titanium dental implants. The laser micro-machining can be considered as a unique and promising, non-contact, no media, contamination free, and flexible treatment method for modifying surface properties of materials in the biomedical industry. The aim of the present study is two folds; to develop novel 3D smart surfaces which can be acted as strain actuators by nanosecond laser pulse energies and irradiation strategies. And analyze these smart surface morphologies using finite element methods in order to estimate their internal stiffness values which play a great role on stress shielding effect. Novel 3D smart strain actuators were prepared using an ytterbium fiber laser ({lambda} = 1060 nm) with 200-250 ns pulse durations on commercial pure titanium dental implant material specimen surfaces and optimum operation parameters were suggested.

  3. Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation


    Zhang, Zhipeng; Menq, Chia-Hsiang


    This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexapole configuration, six actuating coils, and a magnetic yoke. The magnetic poles concentrate the magnetic flux generated by the coils to the workspace, resulting in a high magnetic field with a large field gradient for magnetic force gener...

  4. A fully dynamic model of a multi-layer piezoelectric actuator incorporating the power amplifier (United States)

    Zhu, Wei; Yang, Fufeng; Rui, Xiaoting


    The dynamic input–output characteristics of the multi-layer piezoelectric actuator (PA) are intrinsically rate-dependent and hysteresis. Meanwhile, aiming at the strong capacitive impedance of multi-layer PA, the power amplifier of the actuator can greatly affect the dynamic performances of the actuator. In this paper, a novel dynamic model that includes a model of the electric circuit providing voltage to the actuator, an inverse piezoelectric effect model describing the hysteresis and creep behavior of the actuator, and a mechanical model, in which the vibration characteristics of the multi-layer PA is described, is put forward. Validation experimental tests are conducted. Experimental results show that the proposed dynamic model can accurately predict the fully dynamic behavior of the multi-layer PA with different driving power.

  5. Modeling of the effects of the electrical dynamics on the electromechanical response of a DEAP circular actuator with a mass-spring load (United States)

    Rizzello, G.; Hodgins, M.; Naso, D.; York, A.; Seelecke, S.


    This paper presents a modeling approach of an actuator system based on a dielectric electro-active polymer (DEAP) circular membrane mechanically loaded with a mass and a linear spring. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A mass and a linear spring are used to pre-load the membrane, allowing stroke in the out-of-plane direction. The development of mathematical models which accurately describe the nonlinear coupling between electrical and mechanical dynamics is a fundamental step in order to design model-based, high-precision position control algorithms operating in high-frequency regimes (up to 150 Hz). The knowledge of the nonlinear electrical dynamics of the actuator driving circuit can be exploited during the control system design in order to achieve desirable features, such as higher modeling accuracy for high-frequency actuation, self-sensing or control energy minimization. This work proposes a physical model of the DEAP actuator system which couples both electrical and mechanical dynamics occurring during the actuation process. By means of numerous experiments, it is shown that the model can be used to predict both actuator current and displacement, and therefore to increase the overall displacement prediction accuracy with respect to actuator models which neglect electrical behavior.

  6. A Millimetre-Sized Robot Realized by a Piezoelectric Impact-Type Rotary Actuator and a Hardware Neuron Model

    Directory of Open Access Journals (Sweden)

    Minami Takato


    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.

  7. Active aeroelastic control aspects of an aircraft wing by using synthetic jet actuators : Modeling, simulations, experiments

    NARCIS (Netherlands)

    Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla, M.; Nicolini, E.; Gürdal, Z.


    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

  8. Wind Farm Large-Eddy Simulations on Very Coarse Grid Resolutions using an Actuator Line Model

    NARCIS (Netherlands)

    Martinez, L.A.; Meneveau, C.; Stevens, Richard Johannes Antonius Maria


    In this work the accuracy of the Actuator Line Model (ALM) in Large Eddy Simula- tions of wind turbine flow is studied under the speci c conditions of very coarse spatial resolutions. For finely-resolved conditions, it is known that ALM provides better accuracy compared to the standard Actuator Disk

  9. Actuator line modeling of vertical-axis turbines

    CERN Document Server

    Bachant, Peter; Wosnik, Martin


    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...

  10. Design and Modeling of Polysilicon Electrothermal Actuators for a MEMS Mirror with Low Power Consumption

    Directory of Open Access Journals (Sweden)

    Miguel Lara-Castro


    Full Text Available Endoscopic optical-coherence tomography (OCT systems require low cost mirrors with small footprint size, out-of-plane deflections and low bias voltage. These requirements can be achieved with electrothermal actuators based on microelectromechanical systems (MEMS. We present the design and modeling of polysilicon electrothermal actuators for a MEMS mirror (100 μm × 100 μm × 2.25 μm. These actuators are composed by two beam types (2.25 μm thickness with different cross-section area, which are separated by 2 μm gap. The mirror and actuators are designed through the Sandia Ultra-planar Multi-level MEMS Technology V (SUMMiT V® process, obtaining a small footprint size (1028 μm × 1028 µm for actuators of 550 µm length. The actuators have out-of-plane displacements caused by low dc voltages and without use material layers with distinct thermal expansion coefficients. The temperature behavior along the actuators is calculated through analytical models that include terms of heat energy generation, heat conduction and heat energy loss. The force method is used to predict the maximum out-of-plane displacements in the actuator tip as function of supplied voltage. Both analytical models, under steady-state conditions, employ the polysilicon resistivity as function of the temperature. The electrothermal-and structural behavior of the actuators is studied considering different beams dimensions (length and width and dc bias voltages from 0.5 to 2.5 V. For 2.5 V, the actuator of 550 µm length reaches a maximum temperature, displacement and electrical power of 115 °C, 10.3 µm and 6.3 mW, respectively. The designed actuation mechanism can be useful for MEMS mirrors of different sizes with potential application in endoscopic OCT systems that require low power consumption.

  11. Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control

    Directory of Open Access Journals (Sweden)

    Bhimashankar Gurav


    Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.

  12. Optical Diagnostics of Air Flows Induced in Surface Dielectric Barrier Discharge Plasma Actuator (United States)

    Kobatake, Takuya; Deguchi, Masanori; Suzuki, Junya; Eriguchi, Koji; Ono, Kouichi


    A surface dielectric barrier discharge (SDBD) plasma actuator has recently been intensively studied for the flow control over airfoils and turbine blades in the fields of aerospace and aeromechanics. It consists of two electrodes placed on both sides of the dielectric, where one is a top powered electrode exposed to the air, and the other is a bottom grounded electrode encapsulated with an insulator. The unidirectional gas flow along the dielectric surfaces is induced by the electrohydrodynamic (EHD) body force. It is known that the thinner the exposed electrode, the greater the momentum transfer to the air is, indicating that the thickness of the plasma is important. To analyze plasma profiles and air flows induced in the SDBD plasma actuator, we performed time-resolved and -integrated optical emission and schlieren imaging of the side view of the SDBD plasma actuator in atmospheric air. We applied a high voltage bipolar pulse (4-8 kV, 1-10 kHz) between electrodes. Experimental results indicated that the spatial extent of the plasma is much smaller than that of the induced flows. Experimental results further indicated that in the positive-going phase, a thin and long plasma is generated, where the optical emission is weak and uniform; on the other hand, in the negative-going phase, a thick and short plasma is generated, where a strong optical emission is observed near the top electrode.

  13. Modeling and Synthesis Methods for Retrofit Design of Submarine Actuation Systems. Energy Storage for Electric Actuators (United States)


    sternplane v - sway w - heave u - surge X Y Z y z x Figure 2: Coordinate frame definitions of submarine vehicular dynamics. 2.1 Six Degree of Freedom...where Mν̇ is the total inertial matrix, C(ν) is the Coriolis/centripetal matrix, D(ν) is the total damping matrix, g(η) are the buoyancy and weight...Natick, MA. Retrofit Design of Submarine Actuation Systems Page 7 q - pitch w - heave u - surge δs Msp Figure 3: Hydrodynamic moment unit definition

  14. Modeling and comparison of superconducting linear actuators for highly dynamic motion

    Directory of Open Access Journals (Sweden)

    Bruyn B.J.H. de


    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.

  15. Modeling and Validation of Moving Coil Actuated Valve for Digital Displacement Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Christensen, Jeppe Haals; Bech, Michael Møller


    power applications and (ii) to formulate and validate a transient numerical model describing the actuator/valve. A coupled simulation model is established to predict the switching performance: transient electro-magnetic finite-element-analysis with dynamic re-meshing is coupled to a set of ordinary......This paper concerns a novel moving coil actuator integrated with a high-performance seat valve for use in Digital Displacement Machines (DDM), which is an emerging fluid power technology that sets strict actuator requirements in order to get a high energy conversion efficiency. Hence......, the mechanical switching time must be in the milli-second range and the actuator power consumption must be in range of few tens of watts. The objectives are two-fold: (i) to establish a proof-of-concept for the integrated actuator/valve that relies on several principles and mechanisms new or uncommon in fluid...

  16. 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)


    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.

  17. From Beetles in Nature to the Laboratory: Actuating Underwater Locomotion on Hydrophobic Surfaces. (United States)

    Pinchasik, Bat-El; Steinkühler, Jan; Wuytens, Pieter; Skirtach, Andre G; Fratzl, Peter; Möhwald, Helmuth


    The controlled wetting and dewetting of surfaces is a primary mechanism used by beetles in nature, such as the ladybird and the leaf beetle for underwater locomotion.1 Their adhesion to surfaces underwater is enabled through the attachment of bubbles trapped in their setae-covered legs. Locomotion, however, is performed by applying mechanical forces in order to move, attach, and detach the bubbles in a controlled manner. Under synthetic conditions, however, when a bubble is bound to a surface, it is nearly impossible to maneuver without the use of external stimuli. Thus, actuated wetting and dewetting of surfaces remain challenges. Here, electrowetting-on-dielectric (EWOD) is used for the manipulation of bubble-particle complexes on unpatterned surfaces. Bubbles nucleate on catalytic Janus disks adjacent to a hydrophobic surface. By changing the wettability of the surface through electrowetting, the bubbles show a variety of reactions, depending on the shape and periodicity of the electrical signal. Time-resolved (μs) imaging of bubble radial oscillations reveals possible mechanisms for the lateral mobility of bubbles on a surface under electrowetting: bubble instability is induced when electric pulses are carefully adjusted. This instability is used to control the surface-bound bubble locomotion and is described in terms of the change in surface energy. It is shown that a deterministic force applied normal can lead to a random walk of micrometer-sized bubbles by exploiting the phenomenon of contact angle hysteresis. Finally, bubble use in nature for underwater locomotion and the actuated bubble locomotion presented in this study are compared.

  18. Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications (United States)

    Kadooka, Kevin; Taya, Minoru; Naito, Keishi; Saito, Makoto


    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.

  19. Temperature dependency of the hysteresis behaviour of PZT actuators using Preisach model

    DEFF Research Database (Denmark)

    Mangeot, Charles; Zsurzsan, Tiberiu-Gabriel


    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....

  20. A novel hp-FEM model for IPMC actuation (United States)

    Pugal, D.; Kim, K. J.; Solin, P.; Aabloo, A.


    The system of Poisson and Nernst-Planck (PNP) equations is used to describe the charge transport in ionic polymer-metal composite (IPMC) materials. This process is a key mechanism for the electromechanical transduction of the material. As the system coupled with elastostatic equations is nonlinear and for a domain with two electrodes, the charge concentration differences occur in a very narrow region near the boundaries, the required computing power for a full scale finite element (FE) model is, especially in 3D, rather significant. Furthermore, it is challenging to find a mesh that would be optimal in terms of calculation time, required computing resources, and calculation accuracy. Most of the commercially available FE software for multi-physics problems has rather strict restrictions in terms of element types, mesh types, and choice of polynomial degrees. In this paper, we explore the option of using hp-FEM modeling to solve the PNP and elastostatic equation system. First, we demonstrate how the multi-meshing and the time dependent adaptivity help to control the error of the solution and also how the problem size is reduced. This is done by studying Poisson-Nernst-Planck system of equations in a 2D domain with different hp-adaptivity types. Both 2D and 3D versions of the model are implemented in Hermes which is a space- and space-time adaptive hp-FEM solver. Full mathematical derivation of the weak formulation of the system of equations is presented. Furthermore, we show how the features of Hermes can be useful in modeling more complicated full scale actuation of IPMC.

  1. Better Actuation Through Chemistry: Using Surface Coatings to Create Uniform Director Fields in Nematic Liquid Crystal Elastomers. (United States)

    Xia, Yu; Lee, Elaine; Hu, Hao; Gharbi, Mohamed Amine; Beller, Daniel A; Fleischmann, Eva-Kristina; Kamien, Randall D; Zentel, Rudolf; Yang, Shu


    Controlling the molecular alignment of liquid crystal monomers (LCMs) within nano- and microstructures is essential in manipulating the actuation behavior of nematic liquid crystal elastomers (NLCEs). Here, we study how to induce uniformly vertical alignment of nematic LCMs within a micropillar array to maximize the macroscopic shape change using surface chemistry. Landau-de Gennes numerical modeling suggests that it is difficult to perfectly align LCMs vertically in every pore within a poly(dimethylsiloxane) (PDMS) mold with porous channels during soft lithography. In an untreated PDMS mold that provides homeotropic anchoring of LCMs, a radially escaped configuration of LCMs is observed. Vertically aligned LCMs, a preferred configuration for actuation, are only observed when using a PDMS mold with planar anchoring. Guided by the numerical modeling, we coat the PDMS mold with a thin layer of poly(2-hydroxyethyl methacrylate) (PHEMA), leading to planar anchoring of LCM. Confirmed by polarized optical microscopy, we observe monodomains of vertically aligned LCMs within the mold, in agreement with modeling. After curing and peeling off the mold, the resulting NLCE micropillars showed a relatively large and reversible radial strain (∼30%) when heated above the nematic to isotropic transition temperature.

  2. The effect of plasma actuator on the depreciation of the aerodynamic drag on box model (United States)

    Harinaldi, Budiarso, Julian, James; Rabbani M., N.


    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.

  3. Computed torque control of an under-actuated service robot platform modeled by natural coordinates (United States)

    Zelei, Ambrus; Kovács, László L.; Stépán, Gábor


    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.

  4. Surface Modification of Anisotropic Dielectric Elastomer Actuators with Uni- and Bi-axially Wrinkled Carbon Electrodes for Wettability Control. (United States)

    Jun, Kiwoo; Kim, Donggyu; Ryu, Seunghwa; Oh, Il-Kwon


    Interest in soft actuators for next-generation electronic devices, such as wearable electronics, haptic feedback systems, rollable flexible displays, and soft robotics, is rapidly growing. However, for more practical applications in diverse electronic devices, soft actuators require multiple functionalities including anisotropic actuation in three-dimensional space, active tactile feedback, and controllable wettability. Herein, we report anisotropic dielectric elastomer actuators with uni- and bi-axially wrinkled carbon black electrodes that are formed through pre-streching and relaxation processes. The wrinkled dielectric elastomer actuator (WDEA) that shows directional actuation under electric fields is used to control the anisotropic wettability. The morphology changes of the electrode surfaces under various electric stimuli are investigated by measuring the contact angles of water droplets, and the results show that the controllable wettability has a broad range from 141° to 161° along the wrinkle direction. The present study successfully demonstrates that the WDEA under electrically controlled inputs can be used to modulate the uni- or bi-axially wrinkled electrode surfaces with continous roughness levels. The controllable wrinkled structures can play an important role in creating adaptable water repellency and tunable anisotropic wettability.

  5. Piezoelectric Composite Actuators : Modelling of the Static and Dynamic Behaviour

    NARCIS (Netherlands)

    Wiwattananon, P.


    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

  6. Linear finite-difference bond graph model of an ionic polymer actuator (United States)

    Bentefrit, M.; Grondel, S.; Soyer, C.; Fannir, A.; Cattan, E.; Madden, J. D.; Nguyen, T. M. G.; Plesse, C.; Vidal, F.


    With the recent growing interest for soft actuation, many new types of ionic polymers working in air have been developed. Due to the interrelated mechanical, electrical, and chemical properties which greatly influence the characteristics of such actuators, their behavior is complex and difficult to understand, predict and optimize. In light of this challenge, an original linear multiphysics finite difference bond graph model was derived to characterize this ionic actuation. This finite difference scheme was divided into two coupled subparts, each related to a specific physical, electrochemical or mechanical domain, and then converted into a bond graph model as this language is particularly suited for systems from multiple energy domains. Simulations were then conducted and a good agreement with the experimental results was obtained. Furthermore, an analysis of the power efficiency of such actuators as a function of space and time was proposed and allowed to evaluate their performance.

  7. Experimental comparison of rate-dependent hysteresis models in characterizing and compensating hysteresis of piezoelectric tube actuators

    Energy Technology Data Exchange (ETDEWEB)

    Aljanaideh, Omar, E-mail: [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)


    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.

  8. Optimal smoothing length scale for actuator line models of wind turbine blades based on Gaussian body force distribution: Wind energy, actuator line model

    Energy Technology Data Exchange (ETDEWEB)

    Martínez-Tossas, L. A. [Department of Mechanical Engineering, Johns Hopkins University, Baltimore 21218 MD USA; Churchfield, M. J. [National Renewable Energy Laboratory, Golden 80401 CO USA; Meneveau, C. [Department of Mechanical Engineering, Johns Hopkins University, Baltimore 21218 MD USA


    The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within large-eddy simulations (LES). In the ALM, the lift and drag forces are replaced by an imposed body force that is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width e. To date, the choice of e has most often been based on numerical considerations related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order of or smaller than the chord length of the blade, the best choice of e is not known. In this work, a theoretical approach is followed to determine the most suitable value of e, based on an analytical solution to the linearized inviscid flow response to a Gaussian force. We find that the optimal smoothing width eopt is on the order of 14%-25% of the chord length of the blade, and the center of force is located at about 13%-26% downstream of the leading edge of the blade for the cases considered. These optimal values do not depend on angle of attack and depend only weakly on the type of lifting surface. It is then shown that an even more realistic velocity field can be induced by a 2-D elliptical Gaussian lift-force kernel. Some results are also provided regarding drag force representation.

  9. Feed-forward control for magnetic shape memory alloy actuators based on the radial basis function neural network model. (United States)

    Zhou, Miaolei; Wang, Yifan; Xu, Rui; Zhang, Qi; Zhu, Dong


    Hysteresis exists in magnetic shape memory alloy (MSMA) actuators, which restricts MSMA actuators' application. To describe hysteresis of the MSMA actuators, a hysteresis model based on the radial basis function neural network (RBFNN) is put forward. Then, an inverse RBFNN model is set up, and it is compared with the inverse model based on the traditional cut-and-try method. Finally, to solve hysteresis of the actuators, an inverse model for MSMA actuators is used to build feed-forward controller. Simulation results show the maximum modeling error for inverse hysteresis model designed by neural network is 0.79% and compared with traditional cut-and-try method, the maximum modeling error decreases by 1.85%. The maximum tracking error rate of feed-forward control is 0.38%. The hysteresis of MSMA actuators is reduced. By using the feed-forward controller, high precision control is achieved.

  10. Design and model for the giant magnetostrictive actuator used on an electronic controlled injector (United States)

    Xue, Guangming; Zhang, Peilin; He, Zhongbo; Li, Ben; Rong, Ce


    Giant magnetostrictive actuator (GMA) may be a promising candidate actuator to drive an electronic controlled injector as giant magnetostrictive material (GMM) has excellent performances as large output, fast response and high operating stability etc. To meet the driving requirement of the injector, the GMA should produce maximal shortening displacement when energized. An unbiased GMA with a ‘T’ shaped output rod is designed to reach the target. Furthermore, an open-hold-fall type driving voltage is exerted on the actuator coil to accelerate the response speed of the coil current. The actuator displacement is modeled from establishing the sub-models of coil current, magnetic field within GMM rod, magnetization and magnetostrictive strain sequentially. Two modifications are done to make the model more accurate. Firstly, consider the model fails to compute the transient-state response precisely, a dead-zone and delay links are embedded into the coil current sub-model. Secondly, as the magnetization and magnetostrictive strain sub-models just influence the change rule of the transient-state response the linear magnetostrictive strain-magnetic field sub-model is introduced. From experimental results, the modified model with linear magnetostrictive stain expression can predict the actuator displacement quite effectively.

  11. 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)


    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.

  12. Modelling and simulation of flight control electromechanical actuators with special focus on model architecting, multidisciplinary effects and power flows

    Directory of Open Access Journals (Sweden)

    Jian Fu


    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.

  13. Industrial approach to static and dynamic finite element modeling of composite structures with embedded actuators (United States)

    Hauch, Randall M.


    A finite element modeling technique has been developed to accurately predict both the static and dynamic response of a structure containing embedded piezoelectric actuators. This process utilizes a commercially available and benchmarked finite element program and can be used with shell or solid elements in any static analysis, time-domain or frequency-domain dynamic analysis. It is possible to apply the piezoelectric loads while simultaneously applying other mechanical or thermal loads even though the induced strain of the piezoelectric actuators is modeled using thermal expansion. The technique uses superelements to apply the thermal loads at any frequency and magnitude and to incorporate a fine mesh near the actuator even if a course mesh is used over the remaining portions of the structure. The technique's generic and modular nature allows a complex actuator superelement to be used multiple times in multiple smart structure models. Experiments conducted on composite coupons with embedded actuators validate the current modeling technique and demonstrate the method's successful prediction of the dynamic response of the specimens. This process is one of several smart structure modeling techniques being developed under the Synthesis and Processing of Intelligent Cost Effective Structures program sponsored by the Advanced Research Projects Agency.

  14. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications. (United States)

    Muniraj, Murali; Arulmozhiyal, Ramaswamy


    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.

  15. Piezoelectric actuator models for active sound and vibration control of cylinders (United States)

    Lester, Harold C.; Lefebvre, Sylvie


    Analytical models for piezoelectric actuators, adapted from flat plate concepts, are developed for noise and vibration control applications associated with vibrating circular cylinders. The loadings applied to the cylinder by the piezoelectric actuators for the bending and in-plane force models are approximated by line moment and line force distributions, respectively, acting on the perimeter of the actuator patch area. Coupling between the cylinder and interior acoustic cavity is examined by studying the modal spectra, particularly for the low-order cylinder modes that couple efficiently with the cavity at low frequencies. Within the scope of this study, the in-plane force model produced a more favorable distribution of low-order modes, necessary for efficient interior noise control, than did the bending model.

  16. Single actuator wave-like robot (SAW): design, modeling, and experiments. (United States)

    Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz


    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.

  17. Aerodynamic modeling of floating vertical axis wind turbines using the actuator cylinder flow method

    DEFF Research Database (Denmark)

    Cheng, Zhengshun; Aagaard Madsen, Helge; Gao, Zhen


    Recently the interest in developing vertical axis wind turbines (VAWTs) for offshore application has been increasing. Among the aerodynamic models of VAWTs, double multi-streamtube (DMST) and actuator cylinder (AC) models are two favorable methods for fully coupled modeling and dynamic analysis...

  18. 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: [Instituto de Fisica del Plasma (CONICET) - Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina)


    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.

  19. Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks. (United States)

    Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei


    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.

  20. Shape memory alloy micro-actuator performance prediction using a hybrid constitutive model (United States)

    Wong, Franklin C.; Boissonneault, Olivier


    The volume and weight budgets in missiles and gun-launched munitions have decreased with the military forces' emphasis on soldier-centric systems and rapid deployability. Reduction in the size of control actuation systems employed in today's aerospace vehicles would enhance overall vehicle performance as long as there is no detrimental impact on flight performance. Functional materials such as shape memory alloys (SMA's) offer the opportunity to create compact, solid-state actuation systems for flight applications. A hybrid SMA model was developed for designing micro-actuated flow effectors. It was based on a combination of concepts originally presented by Likhatchev for microstructural modelling and Brinson for modelling of transformation kinetics. The phase diagram for a 0.1mm SMA wire was created by carrying out tensile tests in a Rheometrics RSA-II solids analyser over a range of temperatures from 30°C to 130°C. The characterization parameters were used in the hybrid model to predict the displacement-time trajectories for the wire. Experimental measurements were made for a SMA wire that was subjected to a constant 150g load and short, intense 4.5 to 10V pulses. Actuation frequency was limited by the cooling rate rather than the heating rate. A second set of experiments studied the performance of SMA wires in an antagonistic micro-actuator set-up. A series of 2 or 3V step inputs were alternately injected into each wire to characterize the peak to peak displacement and the motion time constant. A maximum frequency of 0.25Hz was observed. An antagonistic actuator model based on the hybrid SMA model predicted reasonably well the displacement-time results.

  1. Electrothermal modeling, fabrication and analysis of low-power consumption thermal actuator with buckling arm

    KAUST Repository

    So, Hongyun


    © 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.

  2. A nonlinear scalable model for designing ionic polymer-metal composite actuator systems (United States)

    McDaid, A. J.; Aw, K. C.; Hämmerle, E.; Xie, S. Q.


    This paper proposes a conclusive scalable model for Ionic Polymer Metal Composites (IPMC) actuators and their interactions with mechanical systems and external loads. This dynamic, nonlinear model accurately predicts the displacement and force actuation in air for a large range of input voltages. The model addresses all the requirements of a useful design tool for IPMC actuators and is intended for robotic and bio-mimetic (artificial muscle) applications which operate at low frequencies. The response of the IPMC is modeled in three stages, (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electro-mechanical coupling term, representing the conversion of ion flux to a stress generated in the polymer membrane and (iii) a mechanical beam model which includes an electrically induced torque for the polymer. Mechanical outputs are in the rotational coordinate system, 'tip angle' and 'torque output', to give more practical results for the design and simulation of mechanisms. Model parameters are obtained using the dynamic time response and results are presented demonstrating excellent correspondence between the model and experimental results. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators.

  3. Numerical simulation of the aerodynamic field in complex terrain wind farm based on actuator disk model

    DEFF Research Database (Denmark)

    Xu, Chang; Li, Chen Qi; Han, Xing Xing


    Study on the aerodynamic field in complex terrain is significant to wind farm micro-sitting and wind power prediction. This paper modeled the wind turbine through an actuator disk model, and solved the aerodynamic field by CFD to study the influence of meshing, boundary conditions and turbulence ...

  4. Port-Hamiltonian Modeling of a Nonlinear Timoshenko Beam with Piezo Actuation

    NARCIS (Netherlands)

    Voss, Thomas; Scherpen, Jacquelien M. A.


    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.,

  5. Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators

    CERN Document Server

    Prattico, Flavio; Yamamoto, Shin-ichiroh


    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.

  6. Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

    Directory of Open Access Journals (Sweden)

    Dzahir M.A.M


    Full Text Available A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono- and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human’s muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM and Vastus Lateralis (VL were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF and Bicep Femoris (BF were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle’s model for both mono- and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono- and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb

  7. 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)


    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)

  8. Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-Metal Composite Actuated Robot

    Directory of Open Access Journals (Sweden)

    Qi Shen


    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.

  9. Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

    Directory of Open Access Journals (Sweden)

    Xin Zuo


    Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.

  10. Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation. (United States)

    Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew


    This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance. © 2017 IOP Publishing Ltd.

  11. Actuation of an Inertia-Coupled Rimless Wheel Model across Level Ground (United States)

    Weeks, Seth Caleb

    The inertia-coupled rimless wheel model is a passive dynamic walking device which is theoretically capable of achieving highly efficient motion with no energy losses. Under non-ideal circumstances, energy losses due to air drag require the use of actuation to maintain stable motions. The Actuated Inertia-coupled Rimless Wheel Across Flat Terrain (AIRWAFT) model provides actuation to an inertia-coupled rimless wheel model across level ground to compensate for energy losses by applying hip-torque between the frame and inertia wheel via a motor. Two methods of defining the open-loop actuation are presented. Position control defines the relative position of the drum relative to the frame. Torque control specifies the amount of torque between the frame and the drum. The performance of the model was evaluated with respect to changes in various geometrical and control parameters and initial conditions. This parameter study led to the discovery of a stable, periodic motion with a cost of transport of 0.33.

  12. The design, hysteresis modeling and control of a novel SMA-fishing-line actuator (United States)

    Xiang, Chaoqun; Yang, Hui; Sun, Zhiyong; Xue, Bangcan; Hao, Lina; Asadur Rahoman, M. D.; Davis, Steve


    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.

  13. An electro-mechanically coupled model for the dynamic behavior of a dielectric electro-active polymer actuator (United States)

    Hodgins, M.; Rizzello, G.; Naso, D.; York, A.; Seelecke, S.


    Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments.

  14. Plasma actuators for bluff body flow control (United States)

    Kozlov, Alexey V.

    The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding

  15. Nonlinear dynamic modeling for smart material electro-hydraulic actuator development (United States)

    Larson, John P.; Dapino, Marcelo J.


    Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.

  16. Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters. (United States)

    Greigarn, Tipakorn; Çavuşoğlu, M Cenk


    This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method is unique to the particular design. Hence, a careful study of singularities and manipulability of the model is required. The singularities are studied from the underlying equations of motion with intuitive interpretations. The proposed manipulability measure is a generalization of the inverse condition number manipulability measure of robotic manipulators. While the PRBM is an approximation of the flexible catheter, kinematic studies of the PRBM still provide some insight into feasibility and limitations of the catheter, which is beneficial to the design and motion planning of the catheter.

  17. Verification of operation of the actuator control system using the integration the B&R Automation Studio software with a virtual model of the actuator system (United States)

    Herbuś, K.; Ociepka, P.


    In the work is analysed a sequential control system of a machine for separating and grouping work pieces for processing. Whereas, the area of the considered problem is related with verification of operation of an actuator system of an electro-pneumatic control system equipped with a PLC controller. Wherein to verification is subjected the way of operation of actuators in view of logic relationships assumed in the control system. The actuators of the considered control system were three drives of linear motion (pneumatic cylinders). And the logical structure of the system of operation of the control system is based on the signals flow graph. The tested logical structure of operation of the electro-pneumatic control system was implemented in the Automation Studio software of B&R company. This software is used to create programs for the PLC controllers. Next, in the FluidSIM software was created the model of the actuator system of the control system of a machine. To verify the created program for the PLC controller, simulating the operation of the created model, it was utilized the approach of integration these two programs using the tool for data exchange in the form of the OPC server.

  18. Design, Manufacturing and Test of a High Lift Secondary Flight Control Surface with Shape Memory Alloy Post-Buckled Precompressed Actuators

    Directory of Open Access Journals (Sweden)

    Thomas Sinn


    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

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

    NARCIS (Netherlands)

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


    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

  20. Electrowetting actuated microfluidic transport in surface grooves with triangular cross section. (United States)

    Barman, Jitesh; Swain, Digendranath; Law, Bruce M; Seemann, Ralf; Herminghaus, Stephan; Khare, Krishnacharya


    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.

  1. A study on modelling of a butterfly-type control valve by a pneumatic actuator

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, I Cheol [Dongeui University, Busan (Korea, Republic of); Park, Cheol Jae [Daegu University, Daegu (Korea, Republic of)


    This paper studies on the modelling of a butterfly-type control valve actuating by an on-off pneumatic solenoid valve. The mathematical model is composed of nonlinear differential equations three parts: (i) a solenoid valve, (ii) a pneumatic cylinder, (iii) a rotary-type butterfly valve. The flow characteristics of the butterfly control valve is analysed by a computer simulator, then its simple transfer function is identified from the step responses.

  2. Dynamic surface resistance model of IPMC (United States)

    Pugal, D.; Aabloo, A.; Kim, K. J.


    Studies have shown that electrical parameters such as voltage drop and surface resistance are in correlation with curvature of IPMC. The electrical current in the surface of an IPMC could be calculated from the movement of the counter ions inside the polymer backbone of the IPMC. By using FEM we can calculate voltage drop in the platinum electrodes along the IPMC sheet. To get the relation between the voltage drop and current density, we use Ramo-Shockley theorem. The calculated voltage could again be applied as an input to the base model to calculate the curvature. This results in the Finite Element Model of an IPMC, which could be used for simulating basic actuation of an IPMC and furthermore, dynamic voltage changes on the electrodes. The current paper proposes a dynamical model of an IPMC with surface resistance taken into account. Also the voltage drop along the surface and overall currents are studied.

  3. Predictive Modelling of Pneumatic Actuators in valves Related with security CN Cofrentes; Modelizacion Predictiva de Actuadores Neumaticos en Valvulas Relacionadas con la Seguridad de C. N. Cofrentes

    Energy Technology Data Exchange (ETDEWEB)

    Calduch Cervera, F.; Verdu Rios, M. F.; Villena Rivera, M.; Munoz Guijosa, J. M.


    Once completed the static modeling; pneumatic actuators under analysis, consisting in the development of balance equations Kinematic compatibility forces and each of the internal components of the actuator, regardless of the valve to which it is attached and the effect dynamic conditions of the line has continued to develop the dynamic model of the valve - actuator.

  4. Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates

    KAUST Repository

    Saghir, Shahid


    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

  5. Dynamic modeling of brushless dc motor-power conditioner unit for electromechanical actuator application (United States)

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


    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.

  6. Towards a model-based development approach for wireless sensor-actuator network protocols

    DEFF Research Database (Denmark)

    Kumar S., A. Ajith; Simonsen, Kent Inge


    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...

  7. Reachability and Real-Time Actuation Strategies for the Active SLIP Model (United States)


    proportional controller proposed in [12] could be replaced by a two-part thrust actuation strategy such as ours, preserving the energy efficient hip ...rotate via an applied torque at the hip . The spring-mass system mimics animals that hop at a particular preferred frequency below which the motion requires...time. In gen- eral, animals’ anatomy is far more complex than what the SLIP model captures, due to the presence of joints, ankles, knees, hips , leg

  8. Modelling study, analysis and robust servo control of pneumatic cylinder actuator systems


    Wang, J. (Jihong); Wang, D. J. D.; Moore, Philip R.; Pu, Junsheng


    Paper reports results of modelling, analysis and control implementations of pneumatic servo systems undertaken at our specialist laboratory in DMU, that builds on foundation studies in the DHSM programme “High Speed Servo Pneumatic Actuator Systems”, EPSRC/DTI Programme Grant GR/K/38663 (Collaborators: IMC/Enidine, Mars Confectionary and Baldor-Optimised Control). These techniques have been applied in areas such as packaging machinery in the confectionary industry (jayan.ragavan@btinternet.c...

  9. Using squeeze-film effect to reduce surface friction in electrostatic actuators

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio; Zhang, Zhe


    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...

  10. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications (United States)

    Muniraj, Murali; Arulmozhiyal, Ramaswamy


    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

  11. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications

    Directory of Open Access Journals (Sweden)

    Murali Muniraj


    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.

  12. Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

    Directory of Open Access Journals (Sweden)

    Alaa Al-Ibadi


    Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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

    Lee, Gil-Yong; Choi, Jung-Oh; Kim, Myeungseon; Ahn, Sung-Hoon


    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.

  14. A two-dimensional analytical model and experimental validation of garter stitch knitted shape memory alloy actuator architecture (United States)

    Abel, Julianna; Luntz, Jonathan; Brei, Diann


    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.

  15. 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)


    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.

  16. Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle

    Directory of Open Access Journals (Sweden)

    Vimal Rau Aparow


    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.

  17. Mathematical modeling of the infrastructure of attosecond actuators and femtosecond sensors of nonequilibrium physical media in smart materials (United States)

    Beznosyuk, Sergey A.; Maslova, Olga A.; Zhukovsky, Mark S.; Valeryeva, Ekaterina V.; Terentyeva, Yulia V.


    The task of modeling the multiscale infrastructure of quantum attosecond actuators and femtosecond sensors of nonequilibrium physical media in smart materials is considered. Computer design and calculation of supra-atomic femtosecond sensors of nonequilibrium physical media in materials based on layered graphene-transition metal nanosystems are carried out by vdW-DF and B3LYP methods. It is shown that the molybdenum substrate provides fixation of graphene nanosheets by Van der Waals forces at a considerable distance (5.3 Å) from the metal surface. This minimizes the effect of the electronic and nuclear subsystem of the substrate metal on the sensory properties of "pure" graphene. The conclusion is substantiated that graphene-molybdenum nanosensors are able to accurately orient and position one molecule of carbon monoxide. It is shown that graphene selectively adsorbs CO and fixes the oxygen atom of the molecule at the position of the center of the graphene ring C6.

  18. Hybrid Swarm Algorithms for Parameter Identification of an Actuator Model in an Electrical Machine

    Directory of Open Access Journals (Sweden)

    Ying Wu


    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.

  19. Experimental Data Collection and Modeling for Nominal and Fault Conditions on Electro-Mechanical Actuators (United States)

    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...

  20. Surface complexation modeling (United States)

    Adsorption-desorption reactions are important processes that affect the transport of contaminants in the environment. Surface complexation models are chemical models that can account for the effects of variable chemical conditions, such as pH, on adsorption reactions. These models define specific ...

  1. Hydrological land surface modelling

    DEFF Research Database (Denmark)

    Ridler, Marc-Etienne Francois

    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...

  2. Distributed shell control with a new multi-DOF photostrictive actuator design (United States)

    Yue, H. H.; Sun, G. L.; Deng, Z. Q.; Tzou, H. S.


    With the photovoltaic effect and the converse piezoelectric effect, the lanthanum-modified lead zirconate titanate (PLZT) actuator can transform the narrow-band photonic energy to mechanical strain/stress—the photodeformation effect. This photodeformation process can be further used for non-contact precision actuation and control in various structural, biomedical and electromechanical systems. Although there are a number of design configurations of distributed actuators, e.g., segmentation and shaping, been investigated over the years, this study is to explore a new actuator configuration spatially bonded on the surface of shell structures to enhance the spatial modal controllability. A mathematical model of a new multiple degree-of-freedom (multi-DOF) photostrictive actuator configuration is presented first, followed by the photostrictive/shell coupling equations of a cylindrical shell structure laminated with the newly proposed multi-DOF distributed actuator. Distributed microscopic photostrictive actuation and its contributing components of a one-piece actuator and the multi-DOF actuator are evaluated in the modal domain. Effects of shell's curvature and actuator's size are also evaluated. Parametric analyses suggest that the new multi-DOF distributed actuator, indeed, provides better performance and control effect to shell actuation and control. This multi-DOF configuration can be further applied to actuation and control of various shell and non-shell structures.

  3. Actuator disk modeling of the Mexico rotor with OpenFOAM⋆

    Directory of Open Access Journals (Sweden)

    Jeromin A.


    Full Text Available The implementation of an actuator disk with prescribed constant load for OpenFOAM was first presented by Svenning. In our presentation it was enhanced to compute local loads from local velocities by given aerodynamic lift and drag coefficients. The new model was then verified using the so called MEXICO rotor. Extensive comparisons to the experiments and other simulations were performed. The results for the thrust force was comparable to BEm and measurement wereas torque for the separated case (25 m/s inflow velocity gave rather wide-spreading results.

  4. Finite-Element Modelling of Piezoelectric Actuators: Linear and Nonlinear Analyses (United States)

    Steinkopff, T.

    Because of their excellent properties, piezoelectric actuators have became manifest in different applications like diesel injection, textile machines, and for nano-positioning. They are used in different designs: by means of linear actuators and bending actuators, forces up to several kilo Newtons and displacements up to several millimeters can be realised, respectively.

  5. Soft Robotic Actuators (United States)

    Godfrey, Juleon Taylor

    In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.

  6. Analysis of Foot Slippage Effects on an Actuated Spring-Mass Model of Dynamic Legged Locomotion

    Directory of Open Access Journals (Sweden)

    Yizhar Or


    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.

  7. Validation of the actuator disc approach in PHOENICS using small scale model wind turbines (United States)

    Simisiroglou, N.; Sarmast, S.; Breton, S.-P.; Ivanell, S.


    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.

  8. A Reduced Order Model of the Linearized Incompressible Navier-Strokes Equations for the Sensor/Actuator Placement Problem (United States)

    Allan, Brian G.


    A reduced order modeling approach of the Navier-Stokes equations is presented for the design of a distributed optimal feedback kernel. This approach is based oil a Krylov subspace method where significant modes of the flow are captured in the model This model is then used in all optimal feedback control design where sensing and actuation is performed oil tile entire flow field. This control design approach yields all optimal feedback kernel which provides insight into the placement of sensors and actuators in the flow field. As all evaluation of this approach, a two-dimensional shear layer and driven cavity flow are investigated.

  9. Research of Jiles-Atherton Dynamic Model in Giant Magnetostrictive Actuator

    Directory of Open Access Journals (Sweden)

    Yongguang Liu


    Full Text Available Due to the existence of multicoupled nonlinear factors in the giant magnetostrictive actuator (GMA, building precise mathematical model is highly important to study GMA’s characteristics and control strategies. Minor hysteresis loops near the bias magnetic field would be often applied because of its relatively good linearity. Load, friction, and disc spring stiffness seriously affect the output characteristics of the GMA in high frequency. Therefore, the current-displacement dynamic minor loops mathematical model coupling of electric-magnetic-machine is established according to Jiles-Atherton (J-A dynamic model of hysteresis material, GMA structural dynamic equation, Ampere loop circuit law, and nonlinear piezomagnetic equation and demonstrates its correctness and effectiveness in the experiments. Finally, some laws are achieved between key structural parameters and output characteristics of GMA, which provides important theoretical foundation for structural design.

  10. A model of electrostatically actuated MEMS and carbon nanotubes resonators for biological mass detection

    KAUST Repository

    Bouchaala, Adam M.


    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.

  11. A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle (United States)

    Orr, Jeb S.


    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.

  12. Hydrological land surface modelling

    DEFF Research Database (Denmark)

    Ridler, Marc-Etienne Francois

    Recent advances in integrated hydrological and soil-vegetation-atmosphere transfer (SVAT) modelling have led to improved water resource management practices, greater crop production, and better flood forecasting systems. However, uncertainty is inherent in all numerical models ultimately leading...... 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...... hydrological and tested by assimilating synthetic hydraulic head observations in a catchment in Denmark. Assimilation led to a substantial reduction of model prediction error, and better model forecasts. Also, a new assimilation scheme is developed to downscale and bias-correct coarse satellite derived soil...

  13. Modeling and Investigation of Electromechanical Valve Train Actuator at simulated Pressure conditions

    DEFF Research Database (Denmark)

    Habib, Tufail


    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...

  14. Development of Traveling Wave Actuators Using Waveguides of Different Geometrical Forms

    Directory of Open Access Journals (Sweden)

    Ramutis Bansevicius


    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.

  15. Implementation of a generalized actuator disk wind turbine model into the weather research and forecasting model for large-eddy simulation applications

    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)


    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.

  16. Simulation of a 7.7 MW onshore wind farm with the Actuator Line Model (United States)

    Guggeri, A.; Draper, M.; Usera, G.


    Recently, the Actuator Line Model (ALM) has been evaluated with coarser resolution and larger time steps than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition. The aim of the present paper is to continue these studies, assessing the capability of the ALM to represent the wind turbines’ interactions in an onshore wind farm. The ‘Libertad’ wind farm, which consists of four 1.9MW Vestas V100 wind turbines, was simulated considering different wind directions, and the results were compared with the wind farm SCADA data, finding good agreement between them. A sensitivity analysis was performed to evaluate the influence of the spatial resolution, finding acceptable agreement, although some differences were found. It is believed that these differences are due to the characteristics of the different Atmospheric Boundary Layer (ABL) simulations taken as inflow condition (precursor simulations).

  17. 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


    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....

  18. Modeling and design of a tendon actuated soft robotic exoskeleton for hemiparetic upper limb rehabilitation. (United States)

    Nycz, Christopher J; Delph, Michael A; Fischer, Gregory S


    Robotic technology has recently been explored as a means to rehabilitate and assist individuals suffering from hemiparesis of their upper limbs. Robotic approaches allow for targeted rehabilitation routines which are more personalized and adaptable while providing quantitative measurements of patient outcomes. Development of these technologies into inherently safe and portable devices has the potential to extend the therapy outside of the clinical setting and into the patient's home with benefits to the cost and accessibility of care. To this end, a soft, cable actuated robotic glove and sleeve was designed, modeled, and constructed to provide assistance of finger and elbow movements in a way that mimics the biological function of the tendons. The resulting design increases safety through greater compliance as well as greater tolerance for misalignment with the user's skeletal frame over traditional rigid exoskeletons. Overall this design provides a platform to expand and study the concepts around soft robotic rehabilitation.

  19. Modeling, construction and experimental validation of actuated rolling dynamics of the cylindrical Transforming Roving-Rolling Explorer (TRREx) (United States)

    Edwin, L.; Mazzoleni, A.; Gemmer, T.; Ferguson, S.


    Planetary surface exploration technology over the past few years has seen significant advancements on multiple fronts. Robotic exploration platforms are becoming more sophisticated and capable of embarking on more challenging missions. More unconventional designs, particularly transforming architectures that have multiple modes of locomotion, are being studied. This work explores the capabilities of one such novel transforming rover called the Transforming Roving-Rolling Explorer (TRREx). Biologically inspired by the armadillo and the golden-wheel spider, the TRREx has two modes of locomotion: it can traverse on six wheels like a conventional rover on benign terrain, but can transform into a sphere when necessary to negotiate steep rugged slopes. The ability to self-propel in the spherical configuration, even in the absence of a negative gradient, increases the TRREx's versatility and its concept value. This paper describes construction and testing of a prototype cylindrical TRREx that demonstrates that "actuated rolling" can be achieved, and also presents a dynamic model of this prototype version of the TRREx that can be used to investigate the feasibility and value of such self-propelled locomotion. Finally, we present results that validate our dynamic model by comparing results from computer simulations made using the dynamic model to experimental results acquired from test runs using the prototype.

  20. 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


    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 CO2 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.

  1. Modeling robotic manipulators powered by variable stiffness actuators : A graph-theoretic and port-hamiltonian formalism

    NARCIS (Netherlands)

    Groothuis, Stefan S.; Stramigioli, Stefano; Carloni, Raffaella


    This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a

  2. Modeling robotic manipulators powered by variable stiffness actuators: a graph-theoretic and port-hamiltonian formalism

    NARCIS (Netherlands)

    Groothuis, Stefan; Stramigioli, Stefano; Carloni, Raffaella


    This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a

  3. Implementation of the Actuator Cylinder Flow Model in the HAWC2 code for Aeroelastic Simulations on Vertical Axis Wind Turbines

    DEFF Research Database (Denmark)

    Aagaard Madsen, Helge; Larsen, Torben J.; Schmidt Paulsen, Uwe


    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...

  4. A Modified Comprehensive Model for Piezoelectric Stack Actuators and Corresponding Parameter Identification Method

    Directory of Open Access Journals (Sweden)

    Haigen Yang


    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.

  5. Model-based design and experimental verification of a monitoring concept for an active-active electromechanical aileron actuation system (United States)

    Arriola, David; Thielecke, Frank


    Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.

  6. IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators (United States)

    Boz, Utku; Basdogan, Ipek


    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.

  7. Complete modeling of rotary ultrasonic motors actuated by traveling flexural waves (United States)

    Bao, Xiaoqi; Bar-Cohen, Yoseph


    Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors are being adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and analytical tools for the design of efficient motors are being developed. A hybrid analytical model was developed to address a complete ultrasonic motor as a system. Included in this model is the influence of the rotor dynamics, which was determined experimentally to be important to the motor performance. The analysis employs a 3D finite element model to express the dynamic characteristics of the stator with piezoelectric elements and the rotor. The details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. are included to support practical USM designs. A brush model is used for the interface layer and Coulomb's law for the friction between the stator and the rotor. The theoretical predictions were corroborated experimentally for the motor. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.

  8. A variational size-dependent model for electrostatically actuated NEMS incorporating nonlinearities and Casimir force (United States)

    Liang, Binbin; Zhang, Long; Wang, Binglei; Zhou, Shenjie


    A size-dependent model for the electrostatically actuated Nano-Electro-Mechanical Systems (NEMS) incorporating nonlinearities and Casimir force is presented by using a variational method. The governing equation and boundary conditions are derived with the help of strain gradient elasticity theory and Hamilton principle. Generalized differential quadrature (GDQ) method is employed to solve the problem numerically. The pull-in instability with Casimir force included is then studied. The results reveal that Casimir force, which is a spontaneous force between the two electrodes, can reduce the external applied voltage. With Casimir force incorporated, the pull-in instability occurs without voltage applied when the beam size is in nanoscale. The minimum gap and detachment length can be calculated from the present model for different beam size, which is important for NEMS design. Finally, discussions of size effect induced by the strain gradient terms reveal that the present model is more accurate since size effect play an important role when beam in nanoscale.

  9. Dynamic surface tension measured with an integrated sensor-actuator using electrolytically generated gas bubbles

    NARCIS (Netherlands)

    Olthuis, Wouter; Volanschi, Alex; Volanschi, A.; Bergveld, Piet


    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

  10. Theoretical modeling of the effect of Casimir attraction on the electrostatic instability of nanowire-fabricated actuators (United States)

    Mokhtari, J.; Farrokhabadi, A.; Rach, R.; Abadyan, M.


    The presence of the quantum vacuum fluctuations, i.e. the Casimir attraction, can strongly affect the performance of ultra-small actuators. The strength of the Casimir force is significantly influenced by the geometries of interacting bodies. Previous research has exclusively studied the impact of the vacuum fluctuations on the instability of nanoactuators with planar geometries. However, no work has yet considered this phenomenon in actuators fabricated from nanowires/nanotubes with cylindrical geometries. In our present work, the influence of the Casimir attraction on the electrostatic stability of nanoactuators fabricated from cylindrical conductive nanowire/nanotube is investigated. The Dirichlet mode is considered and an asymptotic solution, based on scattering theory, is applied to consider the effect of vacuum fluctuations in the theoretical model. The size-dependent modified couple stress theory is employed to derive the constitutive equation of the actuator. The governing nonlinear equations are solved by two different approaches, i.e. the finite difference method and modified Adomian-Padé method. Various aspects of the problem, i.e. comparison with the van der Waals force regime, the variation of instability parameters, effect of geometry and coupling between the Casimir force and size dependency are discussed. This work is beneficial to determine the impact of Casimir force on nanowire/nanotube-fabricated actuators.

  11. Equivalent force modeling of macro fiber composite actuators integrated into non-homogeneous composite plates for dynamic applications (United States)

    Dong, ZhongZhe; Faria, Cassio; Hromčík, Martin; Pluymers, Bert; Šebek, Michael; Desmet, Wim


    Smart structures with integrated macro fiber composite (MFC) piezoelectric transducers have been increasingly investigated in engineering. A simple but elaborate system model of such smart structure not only can predict system dynamics, but also can reduce challenges in application. Therefore, the equivalent force (EF) modeling approach is presented to model the plate-type structures with integrated piezoelectric actuators in a semi-analytical fashion: analytical EF is applied to finite element (FE) structural models. The EF is derived from the bending effort balance between the equivalent loads, and the equivalent loads are developed by introducing the spatial distribution into a generalized Hamilton’s principle. The proposed approach is validated by cantilever aluminum beams with integrated MFC actuators and it is consistent with existing alternative approaches from literature. Then, it is validated on a non-homogeneous composite plate for dynamic applications: a laminated composite plate with integrated MFC actuators was manufactured and both an impact test and MFC drive test were elaborately carried out. The modal validation shows the high fidelity of the EF model and the predicted velocity frequency responds functions (FRFs) agree well with experimental measurement. Being applicable to both numerical and analytical modeling approaches, the EF is actually assigned to the out-plane displacement on the structure and distributed along the edges of the actuators. Therefore, it is convenient to use in EF models. The rotational degrees of freedom could also be eliminated in the EF models without losing structure complexity, since they neither link to the electromechanical coupling nor have a significant kinetic contribution to the system.

  12. A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model

    Directory of Open Access Journals (Sweden)

    Labib Omar El-Farouk E.


    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

  13. SMA actuator material model with self-sensing and sliding-mode control; experiment and multibody dynamics model (United States)

    Lambert, Tyler Ross; Gurley, Austin; Beale, David


    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.

  14. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying


    This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

  15. Finite element analysis and validation of dielectric elastomer actuators used for active origami (United States)

    McGough, Kevin; Ahmed, Saad; Frecker, Mary; Ounaies, Zoubeida


    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.

  16. Detection and localization of inclusions in plates using inversion of point actuated surface displacements. (United States)

    Bucaro, J A; Romano, A J; Abraham, P; Dey, S


    A numerical simulation is carried out demonstrating the use of plate surface vibration measurements for detecting and locating inclusions within the structure. A finite element code is used to calculate normal surface displacement for both steel and mortar plates subjected to a monochromatic point force. The data is generated for the homogeneous plate and the identical plate within which exists a small rectangular inclusion. It is observed that when the elastic modulus of the inclusion is orders of magnitude lower than the base material, resonances of the inclusion produce large local displacements that are readily observed in the raw displacement data. For more modest moduli differences, there are no such directly observable effects. In this case, three inverse algorithms are used to process the displacement data. The first two are local inversion techniques that each yield a spatial map of the elastic modulus normalized by density. These algorithms successfully detect and localize the inclusion based on its modulus difference from that of the base plate. The third technique uses a form of the inhomogeneous equation of motion to obtain the induced force distribution connected with the inclusion. The spatial mapping of this force also successfully detects and localizes the inclusion.

  17. Design and testing of an under-actuated surface EMG-driven hand exoskeleton. (United States)

    Lince, A; Celadon, N; Battezzato, A; Favetto, A; Appendino, S; Ariano, P; Paleari, M


    Stroke and other neurological pathologies are an increasing cause of hand impairment, involving expensive rehabilitative therapies. In this scenario, robotics applied to hand rehabilitation and assistance appears particularly promising in order to lower therapy costs and boost its efficacy. This work shows a recently conceived hand exoskeleton, from the design and realization to its preliminary evaluation. A control strategy based on surface electromyography (sEMG) signals is integrated: preliminary tests performed on healthy subjects show the validity of this choice. The testing protocol, applied on healthy subjects, demonstrated the robustness of the whole system, both in terms of mimicking a physiological distribution of finger forces across subjects, and of realizing an effective control strategy based on the user's intention.

  18. Identification of a nonlinear black-box model for a self-sensing polymer metal composite actuator (United States)

    Quang Truong, Dinh; Ahn, Kyoung Kwan; Nam, Doan Ngoc Chi; Yoon, Jong Il


    An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network and vice versa. The aim of this paper is the identification of a novel accurate nonlinear black-box model (NBBM) for IPMC actuators with self-sensing behavior based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). Firstly, an IPMC actuator is investigated. Driving voltage signals are applied to the IPMC in order to identify the IPMC characteristics. Secondly, the advanced NBBM for the IPMC is built with suitable inputs and output to estimate the IPMC tip displacement. Finally, the model parameters are optimized by the collected input/output training data. Modeling results show that the proposed self-sensing methodology based on the optimized NBBM model can well describe the bending behavior of the IPMC actuator corresponding to its applied power without using any measuring sensor.

  19. Model identification of terfenol-D magnetostrictive actuator for precise positioning control (United States)

    Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah


    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.

  20. Multiple Model Adaptive Estimation Applied to the Vista F-16 with Actuator and Sensor Failures. Volume 2 (United States)


    used as determined in ADPCON. cc ecece .. icellecte cc cc. eIelc.... cec. ccc. eec cc. ccc.. cc. cc Cececcec DO 20 J-1,14 XHPSUK(J)-0. DO 10 I-l,ICNT...Control Albuquerque. New Mexico , pp If -1145, Dec. 1980 8 Pogoda, D L., "Multiple Model Adaptive Controller for the STOL r-is with Sensor/Actuator

  1. Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator


    Nansai, Shunsuke; Mohan, Rajesh Elara; Tan, Ning; Rojas, Nicolas; Iwase, Masami


    The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanic...

  2. Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery. (United States)

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


    Recent study shows that tendon-sheath system (TSS) has great potential in the development of surgical robots for endoscopic surgery. It is able to deliver adequate power in a light-weight and compact package. And the flexibility and compliance of the tendon-sheath system make it capable of adapting to the long and winding path in the flexible endoscope. However, the main difficulties in precise control of such system fall on the nonlinearities of the system behavior and absence of necessary sensory feedback at the surgical end-effectors. Since accurate position control of the tool is a prerequisite for efficacy, safety and intuitive user-experience in robotic surgery, in this paper we propose a system modeling approach for motion compensation. Based on a bidirectional actuated system using two separate tendon-sheaths, motion transmission is firstly characterized. Two types of positional errors due to system backlash and environment loading are defined and modeled. Then a model-based feedforward compensation method is proposed for open-loop control, giving the system abilities to adjust according to changes in the transmission route configuration without any information feedback from the distal end. A dedicated experimental platform emulating a bidirectional TSS robotic system for endoscopic surgery is built for testing. Proposed positional errors are identified and verified. The performance of the proposed motion compensation is evaluated by trajectory tracking under different environment loading conditions. And the results demonstrate that accurate position control can be achieved even if the transmission route configuration is updated. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

  3. Nonlinear dynamics of an electrically actuated imperfect microbeam resonator: Experimental investigation and reduced-order modeling

    KAUST Repository

    Ruzziconi, Laura


    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.

  4. Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments. (United States)

    Meller, Michael; Chipka, Jordan; Volkov, Alexander; Bryant, Matthew; Garcia, Ephrahim


    Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.

  5. Parameter Estimation of Actuators for Benchmark Active Control Technology (BACT) Wind Tunnel Model with Analysis of Wear and Aerodynamic Loading Effects (United States)

    Waszak, Martin R.; Fung, Jimmy


    This report describes the development of transfer function models for the trailing-edge and upper and lower spoiler actuators of the Benchmark Active Control Technology (BACT) wind tunnel model for application to control system analysis and design. A simple nonlinear least-squares parameter estimation approach is applied to determine transfer function parameters from frequency response data. Unconstrained quasi-Newton minimization of weighted frequency response error was employed to estimate the transfer function parameters. An analysis of the behavior of the actuators over time to assess the effects of wear and aerodynamic load by using the transfer function models is also presented. The frequency responses indicate consistent actuator behavior throughout the wind tunnel test and only slight degradation in effectiveness due to aerodynamic hinge loading. The resulting actuator models have been used in design, analysis, and simulation of controllers for the BACT to successfully suppress flutter over a wide range of conditions.

  6. Modelling land surface - atmosphere interactions

    DEFF Research Database (Denmark)

    Rasmussen, Søren Højmark

    related to inaccurate land surface modelling, e.g. enhanced warm bias in warm dry summer months. Coupling the regional climate model to a hydrological model shows the potential of improving the surface flux simulations in dry periods and the 2 m air temperature in general. In the dry periods......The study is investigates modelling of land surface – atmosphere interactions in context of fully coupled climatehydrological model. With a special focus of under what condition a fully coupled model system is needed. Regional climate model inter-comparison projects as ENSEMBLES have shown bias...

  7. Modeling of an ionic polymer metal composite actuator based on an extended Kalman filter trained neural network (United States)

    Quang Truong, Dinh; Ahn, Kyoung Kwan


    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.

  8. T-Slide Linear Actuators (United States)

    Vranish, John


    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  9. 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


    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...

  10. Optimal traffic control via smartphone app users: A model for actuator and departure optimisation

    NARCIS (Netherlands)

    D. van Leeuwen (Daphne); R.D. van der Mei (Rob); F. Ottenhof


    htmlabstractFor many years traffic control has been the task of traffic centres. Road congestion is reduced via traffic control based on the sensor information of the current traffic state. Actuators are used to create a better spread and throughput over the network. A powerful means to further

  11. Hydraulically actuated artificial muscles (United States)

    Meller, M. A.; Tiwari, R.; Wajcs, K. B.; Moses, C.; Reveles, I.; Garcia, E.


    Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.

  12. Validation of an Actuator Line Model Coupled to a Dynamic Stall Model for Pitching Motions Characteristic to Vertical Axis Turbines (United States)

    Mendoza, Victor; Bachant, Peter; Wosnik, Martin; Goude, Anders


    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.

  13. Micro-actuators for Turbulent Boundary Layer Control (United States)

    Lee, Conrad; Colmenero, Gerardo; Goldstein, David; Wu, Kevin; Breuer, Kenneth


    We present direct numerical simulations and experiments on micro-jet control of a turbulent channel flow. The simulation code is pseudo-spectral and uses a virtual surface approach (immersed boundaries created with body forces) to model arrays of individually controlled rectangular slots in a doubly-periodic domain. Flush-mounted sensors are positioned either upstream (to detect gradients of streamwise vorticity) or directly over the actuators (to detect wall-normal velocity). The results emphasize the differences between earlier simulations using continuously variable blowing and suction and what is physically attainable using discrete actuators and sensors. Results show small drag reductions occur with the discrete actuators. Comparisons are made with physical experiments designed to closely match the simulations. Here, arrays of flush-mounted actuators force a low-Reynolds number turbulent channel flow in response to upstream-mounted shear sensors. The response of the flow is measured using PIV.

  14. Bimorph-driven synthetic jet actuators optimized for various piezoelectric materials using a low-order model (United States)

    Yu, Tianliang; Lesieutre, George A.; Griffin, Steven F.; Brzozowski, Daniel P.; Sassoon, Aaron M.


    Synthetic jet actuators are of interest for potential applications to active flow control and thermal management. Resonant piezoelectric-diaphragm-type configurations are commonly considered. Modeling of such actuators remains a challenge due to complexities associated with both electro-elastic and fluid-structure coupling, as well as potential non-linearities in both. A key metric for synthetic jet performance is the time-averaged jet momentum. Linear lumped-element modeling is an approach that has demonstrated the ability to predict jet momentum in terms of input frequency and voltage; however, it neglects nonlinearity and increasing losses at high amplitude. Full electro-elastic-fluidic finite element modeling makes the most accurate prediction but is computationally expensive for design and optimization purposes. The assumed-modes method provides an energy-based low-order model which captures electro-elastic and acoustic-structure couplings with adequate accuracy. Tri-laminar circular plates under clamped boundary conditions were modeled using the assumed-modes method. Maximization of jet momentum is considered via the maximization of surrogate device metrics: free volume displacement, effective blocking pressure, strain energy, and device coupling coefficient. The driving frequency of the actuator is treated as a constraint in the optimization which nominally matches the fundamental acoustic natural frequency of the cylindrical cavity. Device configurations were obtained for various polycrystalline and single crystal piezoelectric materials, driven at 10% of their coercive fields in the model. The optimal configurations approximate a simply-supported circular plate with complete piezo coverage. The relative merits of individual materials were also discerned from the optimization results. The low mechanical loss factor of PZT8 enables high output at resonance, while high loss factor and low stiffness limit the utility of PVDF in this application. Due to a

  15. Novel ionic polymeric hydraulic actuators (United States)

    Shahinpoor, Mohsen; Kim, Kwang J.


    It is now well recognized that a strip of ionic polymer- metal composite (IPMC) exhibits a spontaneous bending capability under the influence of an electric potential. A key observation is the appearance and disappearance of water on the expansion and contraction surfaces of the strip, respectively. Such water appearing/disappearing activities occur near the permeable metal electrodes. The imposition of en elctric field causes the mobile cations that are conjugated to the polymeric anions to undergo electrophoretic dynamic migration that can result in local deformation of the material. Such an electrophoretic behavior of the IPMC causes the water to leak out of the permeable electroded boundary so as to lower the actuation performance. This situation is similar to a leaking hydraulic actuator (hydraulic jack), which has the highest force density notwithstanding the compressor unit weight. Herein, a new category of actuators as ionic polymeric hydraulic actuators (IPHA's) is defined. The IPMC is a good example of such ionic polymeric hydraulic actuators. The advantage of ionic polymeric hydraulic actuators is their potential to generate substantially high force densities, theoretically better than current hydraulic actuators. Based upon this ionic polymer hydraulic actuator concept, a certain manufacturing technique was developed to increase the force density of the conventional IPMC's by a factor of two (100% improvement in force). This technology and associated experimental results are presented in this paper.

  16. Dielectric barrier discharge plasma actuator for flow control (United States)

    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

  17. Hysteresis compensation of the Prandtl-Ishlinskii model for piezoelectric actuators using modified particle swarm optimization with chaotic map. (United States)

    Long, Zhili; Wang, Rui; Fang, Jiwen; Dai, Xufei; Li, Zuohua


    Piezoelectric actuators invariably exhibit hysteresis nonlinearities that tend to become significant under the open-loop condition and could cause oscillations and errors in nanometer-positioning tasks. Chaotic map modified particle swarm optimization (MPSO) is proposed and implemented to identify the Prandtl-Ishlinskii model for piezoelectric actuators. Hysteresis compensation is attained through application of an inverse Prandtl-Ishlinskii model, in which the parameters are formulated based on the original model with chaotic map MPSO. To strengthen the diversity and improve the searching ergodicity of the swarm, an initial method of adaptive inertia weight based on a chaotic map is proposed. To compare and prove that the swarm's convergence occurs before stochastic initialization and to attain an optimal particle swarm optimization algorithm, the parameters of a proportional-integral-derivative controller are searched using self-tuning, and the simulated results are used to verify the search effectiveness of chaotic map MPSO. The results show that chaotic map MPSO is superior to its competitors for identifying the Prandtl-Ishlinskii model and that the inverse Prandtl-Ishlinskii model can provide hysteresis compensation under different conditions in a simple and effective manner.

  18. Hysteresis compensation of the Prandtl-Ishlinskii model for piezoelectric actuators using modified particle swarm optimization with chaotic map (United States)

    Long, Zhili; Wang, Rui; Fang, Jiwen; Dai, Xufei; Li, Zuohua


    Piezoelectric actuators invariably exhibit hysteresis nonlinearities that tend to become significant under the open-loop condition and could cause oscillations and errors in nanometer-positioning tasks. Chaotic map modified particle swarm optimization (MPSO) is proposed and implemented to identify the Prandtl-Ishlinskii model for piezoelectric actuators. Hysteresis compensation is attained through application of an inverse Prandtl-Ishlinskii model, in which the parameters are formulated based on the original model with chaotic map MPSO. To strengthen the diversity and improve the searching ergodicity of the swarm, an initial method of adaptive inertia weight based on a chaotic map is proposed. To compare and prove that the swarm's convergence occurs before stochastic initialization and to attain an optimal particle swarm optimization algorithm, the parameters of a proportional-integral-derivative controller are searched using self-tuning, and the simulated results are used to verify the search effectiveness of chaotic map MPSO. The results show that chaotic map MPSO is superior to its competitors for identifying the Prandtl-Ishlinskii model and that the inverse Prandtl-Ishlinskii model can provide hysteresis compensation under different conditions in a simple and effective manner.

  19. Comparison Between DNS Data and Resolvent Model Prediction of Opposition Control with a Phase Shift Between Sensor and Actuator (United States)

    Toedtli, Simon; Luhar, Mitul; McKeon, Beverley


    In a recent study, Luhar et al. analyzed the opposition control scheme within the resolvent analysis framework and demonstrated that their low-order model is able to qualitatively reproduce results from previous direct numerical simulation (DNS) studies. The model further predicts that introducing a phase shift between the sensor measurement and the actuator response strongly affects the attainable drag reduction and has the potential to improve the control effectiveness. The present study validates these predictions by means of a parametric DNS study and demonstrates that the response of the full nonlinear system to opposition control with various phase shifts between sensor and actuator very closely follows the low-order model. The good agreement between model prediction and DNS demonstrates for the first time the predictive capabilities of the resolvent analysis framework and suggests that it is a suitable low-order model to systematically design and optimize flow control schemes. This work is made possible by the Air Force Office of Scientific Research through AFOSR Grant Number FA 9550-16-1-0361.

  20. Comparison of the Actuator Line Model with Fully Resolved Simulations in Complex Environmental Conditions (United States)

    Weihing, Pascal; Schulz, Christoph; Lutz, Thorsten; Krämer, Ewald


    In the present paper the actuator line method is compared with fully resolved wind turbine simulations in offshore and complex terrain applications. In such flow fields, which are characterized by non-homogeneous and unsteady velocity distributions in the rotor plane, unsteady aerodynamic effects are likely and it is unclear how these characterize the wake development and load behavior of the wind turbine. The wake properties and loads are therefore compared for the case of a 5 MW wind turbine operating in a typical maritime atmosphere and a 2.4 MW onshore turbine located at a complex terrain site downstream of an escarpment. It was found that the actuator line predicts the wake structure, wake deflection and wake deficit in good agreement with the fully resolved simulation. However, an overestimation of velocity fluctuations was observed.

  1. Accuracy of State-of-the-Art Actuator-Line Modeling for Wind Turbine Wakes

    Energy Technology Data Exchange (ETDEWEB)

    Jha, Pankaj; Churchfield, Matthew; Moriarty, Patrick; Schmitz, Sven


    The current actuator line method (ALM) within an OpenFOAM computational fluid dynamics (CFD) solver was used to perform simulations of the NREL Phase VI rotor under rotating and parked conditions, two fixed-wing designs both with an elliptic spanwise loading, and the NREL 5-MW turbine. The objective of this work is to assess and improve the accuracy of the state-of-the-art ALM in predicting rotor blade loads, particularly by focusing on the method used to project the actuator forces onto the flow field as body forces. Results obtained for sectional normal and tangential force coefficients were compared to available experimental data and to the in-house performance code XTurb-PSU. It was observed that the ALM results agree well with measured data and results obtained from XTurb-PSU except in the root and tip regions if a three-dimensional Gaussian of width, ε, constant along the blade span is used to project the actuator force onto the flow field. A new method is proposed where the Gaussian width, ε, varies along the blade span following an elliptic distribution. A general criterion is derived that applies to any planform shape. It is found that the new criterion for ε leads to improved prediction of blade tip loads for a variety of blade planforms and rotor conditions considered.

  2. Mars Radiation Surface Model (United States)

    Alzate, N.; Grande, M.; Matthiae, D.


    Planetary Space Weather Services (PSWS) within the Europlanet H2020 Research Infrastructure have been developed following protocols and standards available in Astrophysical, Solar Physics and Planetary Science Virtual Observatories. Several VO-compliant functionalities have been implemented in various tools. The PSWS extends the concepts of space weather and space situational awareness to other planets in our Solar System and in particular to spacecraft that voyage through it. One of the five toolkits developed as part of these services is a model dedicated to the Mars environment. This model has been developed at Aberystwyth University and the Institut fur Luft- und Raumfahrtmedizin (DLR Cologne) using modeled average conditions available from Planetocosmics. It is available for tracing propagation of solar events through the Solar System and modeling the response of the Mars environment. The results have been synthesized into look-up tables parameterized to variable solar wind conditions at Mars.

  3. NiTi Alloy Negator Springs for Long-Stroke Constant-Force Shape Memory Actuators: Modeling, Simulation and Testing (United States)

    Spaggiari, Andrea; Dragoni, Eugenio; Tuissi, Ausonio


    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.

  4. Design, modeling, analysis and testing of a novel piezo-actuated XY compliant mechanism for large workspace nano-positioning (United States)

    Zhu, Wu-Le; Zhu, Zhiwei; Shi, Yi; Wang, Xinwei; Guan, Kaimin; Ju, Bing-Feng


    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.

  5. The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation?

    Energy Technology Data Exchange (ETDEWEB)

    Kofod, Guggi [University of Potsdam, Institute of Physics, Advanced Condensed-Matter Physics, 14476 Potsdam (Germany)], E-mail:


    It has previously been shown that providing dielectric elastomer actuators with a level of pre-stretch can improve properties such as breakdown strength, actuation strain and efficiency. The actuation in such actuators depends on an interplay between the highly nonlinear hyperelastic stress-strain behaviour with the electrostatic Maxwell's stress; however, the direct effects of pre-stretch on the electromechanical coupling have still not been investigated in detail. We compare several experimental results found in the literature on the hyperelastic parameters of the Ogden model for the commonly used material VHB 4910, and introduce a more detailed and thus more accurate fit to a previous uniaxial stress-strain experiment. Electrostatic actuation models for a pure shear cuboid dielectric elastomer actuator with pre-stretch are introduced, for both intensive and extensive variables. For both intensive and extensive variables the constant strain (blocked stress or force) as well as the actuation strain is presented. It is shown how in the particular case of isotropic amorphous elastomers the pre-stretch does not affect the electromechanical coupling directly, and that the enhancement in actuation strain due to pre-stretch occurs through the alteration of the geometrical dimensions of the actuator. Also, the presence of the optimum load is explained as being due to the plateau region in the force-stretch curve, and it is shown that pre-stretch is not able to affect its position. Finally, it is shown how the simplified Ogden fit leads to entirely different conclusions for actuation strain in terms of extensive variables as does the detailed fit, emphasizing the importance of employing accurate hyperelastic models for the stress-stretch behaviour of the elastomer.

  6. The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation? (United States)

    Kofod, Guggi


    It has previously been shown that providing dielectric elastomer actuators with a level of pre-stretch can improve properties such as breakdown strength, actuation strain and efficiency. The actuation in such actuators depends on an interplay between the highly nonlinear hyperelastic stress-strain behaviour with the electrostatic Maxwell's stress; however, the direct effects of pre-stretch on the electromechanical coupling have still not been investigated in detail. We compare several experimental results found in the literature on the hyperelastic parameters of the Ogden model for the commonly used material VHB 4910, and introduce a more detailed and thus more accurate fit to a previous uniaxial stress-strain experiment. Electrostatic actuation models for a pure shear cuboid dielectric elastomer actuator with pre-stretch are introduced, for both intensive and extensive variables. For both intensive and extensive variables the constant strain (blocked stress or force) as well as the actuation strain is presented. It is shown how in the particular case of isotropic amorphous elastomers the pre-stretch does not affect the electromechanical coupling directly, and that the enhancement in actuation strain due to pre-stretch occurs through the alteration of the geometrical dimensions of the actuator. Also, the presence of the optimum load is explained as being due to the plateau region in the force-stretch curve, and it is shown that pre-stretch is not able to affect its position. Finally, it is shown how the simplified Ogden fit leads to entirely different conclusions for actuation strain in terms of extensive variables as does the detailed fit, emphasizing the importance of employing accurate hyperelastic models for the stress-stretch behaviour of the elastomer.

  7. Pavement Aging Model by Response Surface Modeling

    Directory of Open Access Journals (Sweden)

    Manzano-Ramírez A.


    Full Text Available In this work, surface course aging was modeled by Response Surface Methodology (RSM. The Marshall specimens were placed in a conventional oven for time and temperature conditions established on the basis of the environment factors of the region where the surface course is constructed by AC-20 from the Ing. Antonio M. Amor refinery. Volatilized material (VM, load resistance increment (ΔL and flow resistance increment (ΔF models were developed by the RSM. Cylindrical specimens with real aging were extracted from the surface course pilot to evaluate the error of the models. The VM model was adequate, in contrast (ΔL and (ΔF models were almost adequate with an error of 20 %, that was associated with the other environmental factors, which were not considered at the beginning of the research.

  8. Grasping force hysteresis compensation of a piezoelectric-actuated wire clamp with a modified inverse Prandtl-Ishlinskii model (United States)

    Liang, Cunman; Wang, Fujun; Tian, Yanling; Zhao, Xingyu; Zhang, Dawei


    This paper presents the grasping force hysteresis compensation of a piezoelectric-actuated wire clamp with a modified hysteresis model. Considering dynamic characteristics of the wire clamp, a modified inverse Prandtl-Ishlinskii (MIPI) hysteresis model is developed to improve the hysteresis modeling accuracy. The proposed MIPI model is composed of a P-I model and a dynamic model which are connected in parallel. The proposed hysteresis model has the advantage of high modeling accuracy with a concise identification process, which means the step by step identification is not needed here. Experiments on grasping force hysteresis compensation with a feedforward controller are carried out based on the developed MIPI model. The grasping force error in steady state lies in ±8.17 mN, while the maximum percentage and root mean square percentage of the grasping force error are 2.93% and 0.92%, respectively. The results show that the proposed hysteresis model is efficient and the wire clamp exhibits good performance with the feedforward controller. Therefore high frequency grasping operations can be realized based on the proposed MIPI hysteresis model.

  9. Structure-property relations of gold and graphene nanoporous actuators

    NARCIS (Netherlands)

    Saane, Siva Shankar Reddy


    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

  10. Space Shuttle Rudder Speed Brake Actuator-A Case Study Probabilistic Fatigue Life and Reliability Analysis (United States)

    Oswald, Fred B.; Savage, Michael; Zaretsky, Erwin V.


    The U.S. Space Shuttle fleet was originally intended to have a life of 100 flights for each vehicle, lasting over a 10-year period, with minimal scheduled maintenance or inspection. The first space shuttle flight was that of the Space Shuttle Columbia (OV-102), launched April 12, 1981. The disaster that destroyed Columbia occurred on its 28th flight, February 1, 2003, nearly 22 years after its first launch. In order to minimize risk of losing another Space Shuttle, a probabilistic life and reliability analysis was conducted for the Space Shuttle rudder/speed brake actuators to determine the number of flights the actuators could sustain. A life and reliability assessment of the actuator gears was performed in two stages: a contact stress fatigue model and a gear tooth bending fatigue model. For the contact stress analysis, the Lundberg-Palmgren bearing life theory was expanded to include gear-surface pitting for the actuator as a system. The mission spectrum of the Space Shuttle rudder/speed brake actuator was combined into equivalent effective hinge moment loads including an actuator input preload for the contact stress fatigue and tooth bending fatigue models. Gear system reliabilities are reported for both models and their combination. Reliability of the actuator bearings was analyzed separately, based on data provided by the actuator manufacturer. As a result of the analysis, the reliability of one half of a single actuator was calculated to be 98.6 percent for 12 flights. Accordingly, each actuator was subsequently limited to 12 flights before removal from service in the Space Shuttle.

  11. Active Vibration Control of a Flexible Structure Using Piezoceramic Actuators

    Directory of Open Access Journals (Sweden)

    J. Fei


    Full Text Available Considerable attention has been devoted recently to active vibration control using intelligent materials as actuators. This paper presents results on active control schemes for vibration suppression of flexible steel cantilever beam with bonded piezoelectric actuators. The PZT patches are surface bonded near the fixed end of flexible steel cantilever beam. The dynamic model of the flexible steel cantilever beam is derived. Active vibration control methods, strain rate feedback control (SRF, positive position feedback control (PPF are investigated and implemented using xPC Target real-time system. Experimental results demonstrate that the SRF control and PPF control achieve effective vibration suppression results of steel cantilever beam.

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

    Directory of Open Access Journals (Sweden)

    XU, F.


    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.

  13. Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

    Directory of Open Access Journals (Sweden)

    Shunsuke Nansai


    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.

  14. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guido Belforte


    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

  15. Implementation and application of the actuator line model by OpenFOAM for a vertical axis wind turbine (United States)

    Riva, L.; Giljarhus, K.-E.; Hjertager, B.; Kalvig, S. M.


    University of Stavanger has started The Smart Sustainable Campus & Energy Lab project, to gain knowledge and facilitate project based education in the field of renewable and sustainable energy and increase the research effort in the same area. This project includes the future installation of a vertical axis wind turbine on the campus roof. A newly developed Computational Fluid Dynamics (CFD) model by OpenFOAM have been implemented to study the wind behavior over the building and the turbine performance. The online available wind turbine model case from Bachant, Goude and Wosnik from 2016 is used as the starting point. This is a Reynolds-Averaged Navier-Stokes equations (RANS) case set up that uses the Actuator Line Model. The available test case considers a water tank with controlled external parameters. Bachant et al.’s model has been modified to study a VAWT in the atmospheric boundary layer. Various simulations have been performed trying to verify the models use and suitability. Simulation outcomes help to understand the impact of the surroundings on the turbine as well as its reaction to parameters changes. The developed model can be used for wind energy and flow simulations for both onshore and offshore applications.

  16. A coupling model to simulate the dynamic process of blister-actuated nanosecond laser-induced forward transfer (United States)

    Hu, Yongxiang; Cheng, Han; Xu, Jiaxi; Yao, Zhenqiang


    The modeling of laser-induced forward transfer process (LIFT) is helpful to understand and optimize its complex transfer process. In this work, a coupling model is developed to investigate the dynamic response of a thin polymer layer used as the release layer in the blister-actuated LIFT. In this model, the vapor pressure generated by nanosecond laser irradiation is computed through coupling with the transient vapor volume obtained from different step durations to simulate the dynamic blister formation. And the model is validated by experiments on polyimide film irradiated with different laser fluences, which is found to be capable of providing a consistent prediction of blister profiles under several laser conditions. The calibrated energy conversion ratios imply that laser pulse energy is mainly allocated for the heating and vaporizing of polymers, but increasing laser fluence can make this expense gradually saturated to allow more pulse energy to increase the vapor pressure. Transient pressure development from the coupling model is observed to increase rapidly within the pulse duration, but then to decrease because of vapor expansion. Forward velocity in axial direction is also observed to increase with laser fluence. The maximum velocity is possible to exceed the sound velocity under a high laser fluence. And the thin polymer layer is more preferred to obtain a high transfer velocity.

  17. Study on the graphene-based actuator (United States)

    Xu, Liang; Oh, Il Kwon


    Bilayer actuators comprising of MWCNT (Multi-walled carbon nanotubes) and Graphene oxide (GO) were studied for their actuation performance by using induction heating system. A simple fabrication method namely, filtration of the colloidal suspensions of MWCNT and GO through an Anodisc membrane was used to fabricate the actuators. In case of bilayer actuators, sequential filtration of MWCNTs and Graphene oxide dispersions through a membrane filter membrane was used. Morphological studies by SEM showed that the bilayer paper did not delaminate at the macro-scale and a certain degree of adhesion between MWCNT and GO can be achieved even without any functionalization of either of the constituents of bilayer actuators. Actuation was tested by using the induction heating system, operated at different current densities. Substantial degree of deformation, as much as 0.128 mm-1 at 300 A was measured. The degree of actuation was defined in terms of bending curvature, because the deformation was too large to be detected by conventional displacement laser sensors. An attempt has been made to explain the basic mechanism of bilayer actuator in terms of the differential thermal expansion rates and eddy current which was confirmed from images obtained from thermal camera wherein the variation in bilayer actuator's surface temperature were monitored. Finally the deformation trend under different pulses is also examined.

  18. CFD and Experimental Studies on Wind Turbines in Complex Terrain by Improved Actuator Disk Method (United States)

    Liu, Xin; Yan, Shu; Mu, Yanfei; Chen, Xinming; Shi, Shaoping


    In this paper, an onshore wind farm in mountainous area of southwest China was investigated through numerical and experimental methods. An improved actuator disk method, taking rotor data (i.e. blade geometry information, attack angle, blade pitch angle) into account, was carried out to investigate the flow characteristic of the wind farm, especially the wake developing behind the wind turbines. Comparing to the classic AD method and the situ measurements, the improved AD shows better agreements with the measurements. The turbine power was automatically predicted in CFD by blade element method, which agreed well with the measurement results. The study proved that the steady CFD simulation with improved actuator disk method was able to evaluate wind resource well and give good balance between computing efficiency and accuracy, in contrary to much more expensive computation methods such as actuator-line/actuator-surface transient model, or less accurate methods such as linear velocity reduction wake model.

  19. On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors (United States)

    Svinin, Mikhail; Morinaga, Akihiro; Yamamoto, Motoji


    The paper deals with the dynamics of a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits nonholonomic constraints to propel the rolling carrier. A full mathematical model as well as its reduced version are derived, and the inverse dynamics are addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two rotors the conditions of controllability and dynamic realizability are established. It is shown that in moving the robot by tracing straight lines and circles in the contact plane the dynamically realizable trajectories are not represented by the circles on the sphere, which is a feature of the kinematic model of pure rolling. The implication of this fact to motion planning is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere the dynamically realizable trajectories are essentially different from those resulted from kinematic models. The dynamic motion planning problem is then formulated in the optimal control settings, and properties of the optimal trajectories are illustrated under simulation.

  20. Validation of four LES and a vortex model against stereo-PIV measurements in the near wake of an actuator disc and a wind turbine

    DEFF Research Database (Denmark)

    Lignarolo, Lorenzo E.M.; Mehta, Dhruv; Stevens, Richard J.A.M.


    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...... of an actuator disc, a case that is highly relevant for full wind farm applications. The comparison has shown that, despite its extreme simplicity, the vortex model is capable of reproducing the wake expansion and the centre line velocity with very high accuracy. Also all tested LES models are able to predict...... 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...

  1. Modeling surface imperfections in thin films and nanostructured surfaces

    DEFF Research Database (Denmark)

    Hansen, Poul-Erik; Madsen, J. S.; Jensen, S. A.


    Accurate scatterometry and ellipsometry characterization of non-perfect thin films and nanostructured surfaces are challenging. Imperfections like surface roughness make the associated modelling and inverse problem solution difficult due to the lack of knowledge about the imperfection...

  2. A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

    Directory of Open Access Journals (Sweden)

    Seungmun Jeon


    Full Text Available This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions. Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM.

  3. Supporting scalable Bayesian networks using configurable discretizer actuators

    CSIR Research Space (South Africa)

    Osunmakinde, I


    Full Text Available The authors propose a generalized model with configurable discretizer actuators as a solution to the problem of the discretization of massive numerical datasets. Their solution is based on a concurrent distribution of the actuators and uses dynamic...

  4. Schlieren visualization of flow-field modification over an airfoil by near-surface gas-density perturbations generated by a nanosecond-pulse-driven plasma actuator (United States)

    Komuro, Atsushi; Takashima, Keisuke; Konno, Kaiki; Tanaka, Naoki; Nonomura, Taku; Kaneko, Toshiro; Ando, Akira; Asai, Keisuke


    Gas-density perturbations near an airfoil surface generated by a nanosecond dielectric-barrier-discharge plasma actuator (ns-DBDPA) are visualized using a high-speed Schlieren imaging method. Wind-tunnel experiments are conducted for a wind speed of 20 m s-1 with an NACA0015 airfoil whose chord length is 100 mm. The results show that the ns-DBDPA first generates a pressure wave and then stochastic perturbations of the gas density near the leading edge of the airfoil. Two structures with different characteristics are observed in the stochastic perturbations. One structure propagates along the boundary between the shear layer and the main flow at a speed close to that of the main flow. The other propagates more slowly on the surface of the airfoil and causes mixing between the main and shear flows. It is observed that these two heated structures interact with each other, resulting in a recovery in the negative pressure coefficient at the leading edge of the airfoil.

  5. Atomistic modeling of the stiffness, strength and charge-induced actuation of graphene nanofoams

    NARCIS (Netherlands)

    Saane, S. S R; Onck, P. R.


    To exploit the excellent electrical and mechanical properties of graphene, three-dimensional nanoporous graphene architectures have appeared recently. These graphene nanofoams are conductive and have very large internal surface areas, making them attractive for application as low-voltage

  6. Improved analytical modelling and finite element verification of stressed GaN microbeam resonators by piezoelectric actuation (United States)

    Zhang, Victor; Faucher, Marc; Theron, Didier; Morelle, Christophe; Buchaillot, Lionel


    The characteristics of piezoelectric micro-resonators based on vibrating beams essentially depend on two basic physical coefficients, an effective Young’s modulus (Y e) and a piezoelectric coupling factor (e 31e). An improved analytic model is proposed with newly derived expressions of Y e and e 31e that account for the anisotropic properties of the III-nitride materials and beam width, W. The analytic model applicable to the only axial stress is completed by finite element (FE) simulations that allow any spatial patterns of pre-stress in wafers to be studied. The value of e 31e for wider beams is analytically demonstrated to be much higher than the usual e 31, and a strong dependence of e 31e on W is also confirmed by FE simulations. Resonance frequency (f r) and actuation efficiency (η) are numerically studied for several pre-stress patterns and beam dimensions. The f r is found to be sensitive to the beam width only for resonators under 2D pre-stress while the η to the stress magnitude regardless of stress pattern. Compared with measurements published for some fabricated resonators, both analytic and FE approaches agree well quantitatively for the resonance frequency and qualitatively for the dynamic amplitude. The results of this study can help design optimization, such as appropriate electrode length and suitable beam width, to gain better performance for this type of resonators.

  7. Performance Characterization of HT Actuator for Venus (United States)

    Rehnmark, F.; Bailey, J.; Cloninger, E.; Zacny, K.; Hall, J.; Sherrill, K.; Melko, J.; Kriechbaum, K.; Wilcox, B.


    A high temperature (HT) actuator capable of operating in the harsh environment found on the surface of Venus has been built and tested in rock drilling trials at JPL’s Venus Materials Test Facility.

  8. A model framework for actuation and sensing of ionic polymer-metal composites: prospective on frequency and shear response through simulation tools (United States)

    Stalbaum, Tyler; Shen, Qi; Kim, Kwang J.


    Ionic polymer-metal composite (IPMC) is a promising material for soft-robotic actuator and sensor applications. This material system offers large deformation response for low input voltage and has an aptitude for operation in hydrated environments. Researchers have been developing IPMC actuators and sensors for applications with examples of self-sensing actuators, artificial fish fins and biomimicry of other aquatic lifeforms, and in medical operations such as in guided catheter devices. IPMCs have been developed in a range of geometric configurations, with tube or cylindrical and flat-plate rectangular as the most common shapes. Several mathematical and physics-based models have been developed for describing the transduction effects of IPMCs. In this work, the underlying theories of electromechanical and mechanoelectrical transduction in IPMCs are discussed, and simulated results of frequency response and shear response are presented. A model backbone is utilized which is primarily based on ion-transport and charge dynamics within the polymer membrane. The electromechanical model, that is with an IPMC as an actuator, is caused when an electric field is applied across the membrane causing ionic migration and swelling in the polymer membrane, which is based on the Poisson-Nernst-Planck equations and solid mechanics models. The mechanoelectric model is similar in underlying physics; however, the primary mechanisms of transduction are of different significance, where anion concentrations are as important as cations. COMSOL Multiphysics is utilized for simulations. Example applications of the modeling framework are presented. The simulated results provide additional support for the underlying physics theories discussed.

  9. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee


    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.

  10. AMSD Cryo Actuator Testing (United States)

    Mullette, Mark; Matthews, Gary; Russell, Kevin (Technical Monitor)


    The actuator technology required for AMSD and subsequently NGST are critical in the successful development for future cryogenic systems. Kodak has undertaken an extensive test plan to determine the performance of the force actuators developed under the AMSD program. These actuators are currently in testing at MSFC and are expected to finish this test cycle in early June 2002.

  11. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao


    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...

  12. Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD (United States)

    Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.


    Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

  13. Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD (United States)

    Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.


    Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

  14. Microfabrication of stacked dielectric elastomer actuator fibers (United States)

    Corbaci, Mert; Walter, Wayne; Lamkin-Kennard, Kathleen


    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.

  15. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators (United States)

    National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....

  16. Characterization, fabrication, and analysis of soft dielectric elastomer actuators capable of complex 3D deformation (United States)

    Lai, William

    Inspired by nature, the development of soft actuators has drawn large attention to provide higher flexibility and allow adaptation to more complex environment. This thesis is focused on utilizing electroactive polymers as active materials to develop soft planar dielectric elastomer actuators capable of complex 3D deformation. The potential applications of such soft actuators are in flexible robotic arms and grippers, morphing structures and flapping wings for micro aerial vehicles. The embraces design for a freestanding actuator utilizes the constrained deformation imposed by surface stiffeners on an electroactive membrane to avert the requirement of membrane pre-stretch and the supporting frames. The proposed design increases the overall actuator flexibility and degrees-of-freedom. Actuator design, fabrication, and performance are presented for different arrangement of stiffeners. Digital images correlation technique were utilized to evaluate the in-plane finite strain components, in order to elucidate the role of the stiffeners in controlling the three dimensional deformation. It was found that a key controlling factor was the localized deformation near the stiffeners, while the rest of the membrane would follow through. A detailed finite element modeling framework was developed with a user-material subroutine, built into the ABAQUS commercial finite element package. An experimentally calibrated Neo-Hookean based material model that coupled the applied electrical field to the actuator mechanical deformation was employed. The numerical model was used to optimize different geometrical features, electrode layup and stacking sequence of actuators. It was found that by splitting the stiffeners into finer segments, the force-stroke characteristics of actuator were able to be adjusted with stiffener configuration, while keeping the overall bending stiffness. The efficacy of actuators could also be greatly improved by increasing the stiffener periodicity. The developed

  17. Active vibration control using DEAP actuators (United States)

    Sarban, Rahimullah; Jones, Richard W.


    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.

  18. Evaluation of encapsulating coatings on the performance of polypyrrole actuators (United States)

    Naficy, Sina; Stoboi, Nicholas; Whitten, Philip G.; Spinks, Geoffrey M.; Wallace, Gordon G.


    Conjugated polymer actuators are electroactive materials capable of generating force and movement in response to an applied external voltage. Many potential biomedical and industrial applications require these actuators to operate in a liquid environment. However, immersion of uncoated conducting polymer actuators in non-electrolyte liquids greatly reduces their operating lifetime. Here, we demonstrate the use of spray coating as an effective and simple method to encapsulate polypyrrole (PPy) tri-layer bending actuators. Poly(styrene-b-isobutylene-b-styrene) (SIBS) was used as an encapsulating, compliant spray coating on PPy actuators. A significant enhancement in actuator lifetime in both air and water was observed by encapsulating the actuators. The change in stiffness and reduction in bending amplitude for coatings of different thickness was studied. A simple beam mechanics model describes the experimental results and highlights the importance of coating compliance for actuator coatings. The model may be used to evaluate other possible encapsulating materials.

  19. 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....

  20. Inverse grey-box model-based control of a dielectric elastomer actuator

    DEFF Research Database (Denmark)

    Jones, Richard William; Sarban, Rahimullah


    of control scheme was dictated by the desire for transparency in both controller design and operation. The internal model control (IMC) approach was chosen. In this particular application, the inverse of the linearized form of the grey-box model is used to formulate the IMC controller. To ensure consistent...

  1. Cylindrical dielectric elastomer actuators reinforced with inextensible fibers (United States)

    Goulbourne, Nakhiah C. S.


    Novel actuator configurations for various applications can be obtained using cylindrical dielectric elastomer actuators. A new configuration for a contractile electro-elastomer is presented here for the first time. A cylindrical or tubular configuration is used to realize simultaneous axial shortening and radial expansion when a voltage is applied across the thickness of the hollow cylinder. In this configuration, the inner and outer surfaces of a cylindrical dielectric elastomer are coated with compliant electrodes. The outer cylindrical surface is then enclosed by a network of helical fibers that are very thin, very flexible and inextensible. Fiber networks or cord families are commonly used in many different materials and for a variety of applications. The primary purpose of these networks is structural, that is to say, for reinforcement. The composite active structure proposed here is reminiscent of the McKibben actuator, a pneumatically actuated cylindrical construct consisting of a flexible rubber bladder sheathed in a fiber network, which garners its impressive contracting force from the inextensible fibers that prevent axial extension when an inflation pressure is applied to the internal bladder [1]. The system is modeled using an electro- elastic formulation derived from the large deformation theory of reinforced cylinders [2]. The model combines Maxwell-Faraday electrostatics and nonlinear elasticity theory [3]. Illustratively, solutions are obtained assuming a Mooney-Rivlin material model for a silicone actuator. The results indicate that the relationship between the axial contraction force and the axial shortening is linear for the voltage range considered. The importance of other system parameters such as the fiber angle and the applied constant pressure is also reported.

  2. Robust Quasi–LPV Model Reference FTC of a Quadrotor Uav Subject to Actuator Faults

    Directory of Open Access Journals (Sweden)

    Rotondo Damiano


    Full Text Available A solution for fault tolerant control (FTC of a quadrotor unmanned aerial vehicle (UAV is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.

  3. Minimally Actuated Serial Robot


    Mann, Moshe P.; Damti, Lior; Zarrouk, David


    In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until one of the actuators moves them again. This actuation can be applied to any serial robot with two o...

  4. 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


    Due to difficulty of estimating the reference wind speed for wake modeling in wind farm, this paper proposes a new method to calculate the momentum source based on the rotor average wind speed. The proposed model applies volume correction factor to reduce the influence of the mesh recognition...... of disk regions. The coefficient C4ε of the turbulent source term is also discussed and modified to improve the simulation accuracy. To validate the model, results are presented for the Nibe-B wind turbine and Horns Rev I offshore wind farm and show a good agreement with the measurements....

  5. Electroactive polymers as a novel actuator technology for lighter-than-air vehicles (United States)

    Michel, Silvain; Dürager, Christian; Zobel, Martin; Fink, Erich


    In this paper the worldwide first EAP actuated blimp will be presented. It consists of a slightly pressurized Helium filled body of a biologically inspired form with Dielectric Elastomer (DE) actuators driving a classical cross tail with two vertical and horizontal rudders for flight control. Two versions of actuators will be discussed: The first version consisted of "spring-roll" type of cylindrical actuators placed together with the electrical supply and control unit in the pay load gondola. The second version consisted of a configuration, where the actuators are placed between the control surfaces and the rudders. This novel type of EAP actuator named "active hinge" was developed and characterized first in the laboratory and afterwards optimized for minimum weight and finally integrated in the blimp structure. In the design phase a numerical simulation tool for the prediction of the DE actuators was developed based on a material model calibrated with the test results from cylindrical actuators. The electrical supply and control system was developed and optimized for minimum of weight. Special attention was paid to the electromagnetic systems compatibility of the high voltage electrical supply system of the DE actuators and the radio flight control system. The design and production of this 3.5 meter long Lighter-than-Air vehicle was collaboration between Empa Duebendorf Switzerland and the Technical University of Berlin. The first version of this EAP blimp first flew at an RC airship regatta hold on 24 th of June 2006 in Dresden Germany, while the second version had his maiden flight on 8 th of January 2007 in Duebendorf Switzerland. In both cases satisfactory flight control performances were demonstrated.

  6. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert


    This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... are physical instruments that have been endowed with virtual qualities controlled by a computer in real-time but which are nevertheless tangible. These instruments provide intuitive and engaging new forms of interaction. They are different from traditional (acoustic) and fully automated (robotic) instruments...... in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new...

  7. Electro-Active Polymer (EAP) Actuators for Planetary Applications (United States)

    Bar-Cohen, Y.; Leary, S.; Shahinpoor, M.; Harrison, J. O.; Smith, J.


    NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper. Keywords: Miniature Robotics, Electroactive Polymers, Electroactive Actuators, EAP

  8. Comparison of the near-wake between actuator-line simulations and a simplified vortex model of a horizontal-axis wind turbine

    DEFF Research Database (Denmark)

    Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming


    good, validating the analytical method for more general conditions. The present results show that a simple vortex code is able to provide an estimation of the flow around the wind turbine similar to the actuator-line approach but with a negligible computational effort. Copyright © 2015 John Wiley......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...

  9. Hybrid Multi-Physics Modeling of an Ultra-Fast Electro-Mechanical Actuator

    Directory of Open Access Journals (Sweden)

    Ara Bissal


    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.

  10. On electrostatically actuated NEMS/MEMS circular plates (United States)

    Caruntu, Dumitru I.; Alvarado, Iris


    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.

  11. Electrowetting dynamics of microfluidic actuation. (United States)

    Wang, K-L; Jones, T B


    When voltage is suddenly applied to vertical, parallel dielectric-coated electrodes dipped into a liquid with finite conductivity, the liquid responds by rising up to reach a new hydrostatic equilibrium height. On the microfluidic scale, the dominating mechanism impeding this electromechanically induced actuation appears to be a dynamic friction force that is directly proportional to the velocity of the contact line moving along the solid surface. This mechanism has its origin in the molecular dynamics of the liquid coming into contact with the solid surface. A simple reduced-order model for the rising column of liquid is used to quantify the magnitude of this frictional effect by providing estimates for the contact line friction coefficient. Above some critical threshold of voltage, the electromechanical force is clamped, presumably by the same mechanism responsible for contact angle saturation and previously reported static height-of-rise limits. The important distinction for the dynamic case is that the onset of the saturation effect is delayed in time until the column has risen more than about halfway to its static equilibrium height.

  12. 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.


    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...

  13. Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model

    DEFF Research Database (Denmark)

    Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca


    coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum...

  14. Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model

    DEFF Research Database (Denmark)

    Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca


    coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum...

  15. Dielectric Barrier Discharge Plasma Actuator for Flow Control (United States)

    Opaits, Dmitry, F.


    This report is Part II of the final report of NASA Cooperative Agreement contract no. NNX07AC02A. It includes a Ph.D. dissertation. The period of performance was January 1, 2007 to December 31, 2010. Part I of the final report is the overview published as NASA/CR-2012- 217654. Asymmetric dielectric barrier discharge (DBD) plasma actuators driven by nanosecond pulses superimposed on dc bias voltage are studied experimentally. This produces 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 parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. The approach consisted 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 voltages. In view of practical applications certain questions have been also addressed, such as electrodynamic effects which accompany scaling of the actuators to real size models, and environmental effects of ozone production by the plasma actuators.

  16. Finite element analysis of electroactive polymer and magnetoactive elastomer based actuation for origami folding (United States)

    Zhang, Wei; Ahmed, Saad; Masters, Sarah; Ounaies, Zoubeida; Frecker, Mary


    The incorporation of smart materials such as electroactive polymers and magnetoactive elastomers in origami structures can result in active folding using external electric and magnetic stimuli, showing promise in many origami-inspired engineering applications. In this study, 3D finite element analysis (FEA) models are developed using COMSOL Multiphysics software for three configurations that incorporate a combination of active and passive material layers, namely: (1) a single-notch unimorph folding configuration actuated using only external electric field, (2) a double-notch unimorph folding configuration actuated using only external electric field, and (3) a bifold configuration which is actuated using multi-field (electric and magnetic) stimuli. The objectives of the study are to verify the effectiveness of the FEA models to simulate folding behavior and to investigate the influence of geometric parameters on folding quality. Equivalent mechanical pressure and surface stress are used as external loads in the FEA to simulate electric and magnetic fields, respectively. Compared quantitatively with experimental data, FEA captured the folding performance of electric actuation well for notched configurations and magnetic actuation for a bifold structure, but underestimated electric actuation for the bifold structure. By investigating the impact of geometric parameters and locations to place smart materials, FEA can be used in design, avoiding trial-and-error iterations of experiments.

  17. Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM

    Directory of Open Access Journals (Sweden)

    Behrouz Najjari


    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.

  18. A centrifugally actuated point-of-care testing system for the surface acoustic wave immunosensing of cardiac troponin I. (United States)

    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


    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.

  19. Numerical study on flow fields and aerodynamics of tilt rotor aircraft in conversion mode based on embedded grid and actuator model

    Directory of Open Access Journals (Sweden)

    Ying Zhang


    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.

  20. Numerical modeling of electrical-mechanical-acoustical behavior of a lumped acoustic source driven by a piezoelectric stack actuator

    NARCIS (Netherlands)

    Tajdari, Farnaz; Berkhoff, Arthur P.; de Boer, Andries; Sas, P


    The present work describes the electrical, mechanical and acoustical behavior of a thin honey-comb structure as an acoustic source. The acoustic source has to operate in the low frequency, quasi-static regime and is driven by a piezoelectric stack actuator. In addition, a two-way energy flow between

  1. Mathematical Modelling and Parameter Identification of an Electro-Magneto-Mechanical Actuator for Vibration Control

    DEFF Research Database (Denmark)

    Darula, Radoslav; Stein, George Juraj; Kallesøe, Carsten Skovmose


    Electromechanical systems for vibration control exhibit complex non-linear behaviour. Therefore advanced mathematical tools and appropriate simplifications are required for their modelling. To properly understand the dynamics of such a non-linear system, it is necessary to identify the parameters...... of the electromagnetic circuit in its various operational regimes. The parametric identification supplements mathematical derivations. The analyzed mechanical system is essentially a Single Degree-Of-Freedom (SDOF) oscillatory system augmented by magnetic force influence. The additional magnetic force is generated...... by an electromagnet with armature. The electromagnet is energized by a constant voltage source. The SDOF system is excited by a harmonic force causing vibration of the armature. Due to the reluctance variation of the air gap of the magnetic circuit alternating voltage is generated across the coil terminals...

  2. Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF (United States)

    Lu, Jun; Kim, Sang-Gyun; Lee, Sunwoo; Oh, Il-Kwon


    In this study, an ionic networking membrane (INM) of poly(styrene-alt-maleimide) (PSMI)-incorporated poly(vinylidene fluoride) (PVDF) was applied to fabricate electro-active polymer. Based on the same original membrane of PSMI-incorporated PVDF, various samples of INM actuator were prepared for different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performances were compared to those of the widely used traditional Nafion actuator. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic responses were observed for the newly developed INM actuators, they were found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after the optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage. The PSMI-incorporated PVDF actuator can become a promising smart material to be used in the fields of biomimetic robots, biomedical devices, sensors and actuator, haptic interfaces, energy harvesting and so on.

  3. Soft buckling actuators

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.


    A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.

  4. Discrete Surface Modelling Using Partial Differential Equations. (United States)

    Xu, Guoliang; Pan, Qing; Bajaj, Chandrajit L


    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.

  5. An experimental study of icing control using DBD plasma actuator (United States)

    Cai, Jinsheng; Tian, Yongqiang; Meng, Xuanshi; Han, Xuzhao; Zhang, Duo; Hu, Haiyang


    Ice accretion on aircraft or wind turbine has been widely recognized as a big safety threat in the past decades. This study aims to develop a new approach for icing control using an AC-DBD plasma actuator. The experiments of icing control (i.e., anti-/de-icing) on a cylinder model were conducted in an icing wind tunnel with controlled wind speed (i.e., 15 m/s) and temperature (i.e., -10°C). A digital camera was used to record the dynamic processes of plasma anti-icing and de-icing whilst an infrared imaging system was utilized to map the surface temperature variations during the anti-/de-icing processes. It was found that the AC-DBD plasma actuator is very effective in both anti-icing and de-icing operations. While no ice formation was observed when the plasma actuator served as an anti-icing device, a complete removal of the ice layer with a thickness of 5 mm was achieved by activating the plasma actuator for ˜150 s. Such information demonstrated the feasibility of plasma anti-/de-icing, which could potentially provide more effective and safer icing mitigation strategies.

  6. Modeling for Standoff Surface Detection (United States)


    spectrum of the scattered radiation is characteristic of the contaminant or the surface it impacts. If this latter energy has sufficient intensity and...interest in determining the surface energy of the evaporated aluminum film on EMF Corporation (Ithaca, NY) microscope slides. An average value was

  7. Magnetic actuators and sensors

    CERN Document Server

    Brauer, John R


    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

  8. Remote switch actuator (United States)

    Haas, Edwin Gerard; Beauman, Ronald; Palo, Jr., Stefan


    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.

  9. Surface Flux Modeling for Air Quality Applications

    Directory of Open Access Journals (Sweden)

    Limei Ran


    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.

  10. Spherically Actuated Motor (United States)

    Peeples, Steven


    A three degree of freedom (DOF) spherical actuator is proposed that will replace functions requiring three single DOF actuators in robotic manipulators providing space and weight savings while reducing the overall failure rate. Exploration satellites, Space Station payload manipulators, and rovers requiring pan, tilt, and rotate movements need an actuator for each function. Not only does each actuator introduce additional failure modes and require bulky mechanical gimbals, each contains many moving parts, decreasing mean time to failure. A conventional robotic manipulator is shown in figure 1. Spherical motors perform all three actuation functions, i.e., three DOF, with only one moving part. Given a standard three actuator system whose actuators have a given failure rate compared to a spherical motor with an equal failure rate, the three actuator system is three times as likely to fail over the latter. The Jet Propulsion Laboratory reliability studies of NASA robotic spacecraft have shown that mechanical hardware/mechanism failures are more frequent and more likely to significantly affect mission success than are electronic failures. Unfortunately, previously designed spherical motors have been unable to provide the performance needed by space missions. This inadequacy is also why they are unavailable commercially. An improved patentable spherically actuated motor (SAM) is proposed to provide the performance and versatility required by NASA missions.

  11. Parametric Investigation of Nanosecond Pulse Driven Dielectric Barrier Discharge Plasma Actuators for Aerodynamic Flow Control (United States)

    Dawson, Robert; Little, Jesse


    Nanosecond pulse driven dielectric barrier discharge plasma actuators are studied experimentally in quiescent atmosphere. Per unit length peak energy and instantaneous peak power are calculated using simultaneous voltage and current measurements. Electrical characteristics are evaluated as a function of peak voltage, pulse frequency, discharge length and dielectric thickness. Schlieren imaging of compression waves is used to provide a relative measure of discharge energy that is coupled to the near surface gas as heat for the same parameters. Characteristics of the DBD load have a substantial effect on voltage and current traces which are reflected in the peak energy and peak power. Both peak energy and compression wave strength depend primarily on dielectric thickness and secondarily on actuator length although this is not universal in the case of energy necessitating examination of alternative calculation strategies. Peak power is mainly dependent on actuator length which is inconsistent with schlieren data as expected. Higher pulse frequency produces higher pulse energy, but is primarily attributed to heating of the actuator and power supply components. This effect is mainly observed for short actuators. Pulse energy increases as peak voltage to the power 3.5. This behavior is similar to observations of energy and thrust for ac-DBD plasma actuators suggesting that aspects of lumped-element circuit models may be applicable for optimizing ns-DBD performance.

  12. Actuators Using Piezoelectric Stacks and Displacement Enhancers (United States)

    Bar-Cohen, Yoseph; Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Lee, Hyeong Jae; Walkenmeyer, Phillip; Lih, Shyh-Shiuh


    Actuators are used to drive all active mechanisms including machines, robots, and manipulators to name a few. The actuators are responsible for moving, manipulating, displacing, pushing and executing any action that is needed by the mechanism. There are many types and principles of actuation that are responsible for these movements ranging from electromagnetic, electroactive, thermo-mechanic, piezoelectric, electrostrictive etc. Actuators are readily available from commercial producers but there is a great need for reducing their size, increasing their efficiency and reducing their weight. Studies at JPL’s Non Destructive Evaluation and Advanced Actuators (NDEAA) Laboratory have been focused on the use of piezoelectric stacks and novel designs taking advantage of piezoelectric’s potential to provide high torque/force density actuation and high electromechanical conversion efficiency. The actuators/motors that have been developed and reviewed in this paper are operated by various horn configurations as well as the use of pre-stress flexures that make them thermally stable and increases their coupling efficiency. The use of monolithic designs that pre-stress the piezoelectric stack eliminates the use of compression stress bolt. These designs enable the embedding of developed solid-state motors/actuators in any structure with the only macroscopically moving parts are the rotor or the linear translator. Finite element modeling and design tools were used to determine the requirements and operation parameters and the results were used to simulate, design and fabricate novel actuators/motors. The developed actuators and performance will be described and discussed in this paper.

  13. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

    Salah, M; McIntyre, M; Dawson, D; Wagner, J


    In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

  14. Micro magnetic-actuators; Micro jiki actuator

    Energy Technology Data Exchange (ETDEWEB)

    Arai, K. [Tohoku University, Sendai (Japan). Research Institute of Electrical Communication; Honda, T. [Tokin Corporation, Tokyo (Japan)


    As the micromachine technology has attracted higher attention, the research and development of the technology is increasing. This paper describes the typical trial production samples of the electromagnetic type and magnetostrictive type actuators. The development of electromagnetic motors of the order of millimeters using the mechanical working technology is actively progressing. A report announced the axial gap motor 0.8 mm in outside diameter and 1.2 mm in height. The semiconductor micro machining technology was used to fabricate the reluctance motor (with the rotor 285 {mu}m in diameter). In this case, the LIGA process through the X-ray lithography was adopted. Some other types of micro magnetic-actuators were produced by using magnetic field gradient and magnetic torque. The magnetostrictive actuator is emerging to the market, drawing attention of the industry. This type of actuator utilizes the phenomenon that the dimensions vary when a magnetic field is applied to a magnetic substance. Samples applying high magnetic thin film include the cantilever type actuator and the travelling machine. 19 refs., 9 figs.

  15. Coupling the Weather Research and Forecasting (WRF) model and Large Eddy Simulations with Actuator Disk Model: predictions of wind farm power production (United States)

    Garcia Cartagena, Edgardo Javier; Santoni, Christian; Ciri, Umberto; Iungo, Giacomo Valerio; Leonardi, Stefano


    A large-scale wind farm operating under realistic atmospheric conditions is studied by coupling a meso-scale and micro-scale models. For this purpose, the Weather Research and Forecasting model (WRF) is coupled with an in-house LES solver for wind farms. The code is based on a finite difference scheme, with a Runge-Kutta, fractional step and the Actuator Disk Model. The WRF model has been configured using seven one-way nested domains where the child domain has a mesh size one third of its parent domain. A horizontal resolution of 70 m is used in the innermost domain. A section from the smallest and finest nested domain, 7.5 diameters upwind of the wind farm is used as inlet boundary condition for the LES code. The wind farm consists in six-turbines aligned with the mean wind direction and streamwise spacing of 10 rotor diameters, (D), and 2.75D in the spanwise direction. Three simulations were performed by varying the velocity fluctuations at the inlet: random perturbations, precursor simulation, and recycling perturbation method. Results are compared with a simulation on the same wind farm with an ideal uniform wind speed to assess the importance of the time varying incoming wind velocity. Numerical simulations were performed at TACC (Grant CTS070066). This work was supported by NSF, (Grant IIA-1243482 WINDINSPIRE).

  16. Dynamical Modeling of Surface Tension (United States)

    Brackbill, Jeremiah U.; Kothe, Douglas B.


    In a recent review it is said that free-surface flows 'represent some of the difficult remaining challenges in computational fluid dynamics'. There has been progress with the development of new approaches to treating interfaces, such as the level-set method and the improvement of older methods such as the VOF method. A common theme of many of the new developments has been the regularization of discontinuities at the interface. One example of this approach is the continuum surface force (CSF) formulation for surface tension, which replaces the surface stress given by Laplace's equation by an equivalent volume force. Here, we describe how CSF formulation might be made more useful. Specifically, we consider a derivation of the CSF equations from a minimization of surface energy as outlined by Jacqmin (1996). This reformulation suggests that if one eliminates the computation of curvature in terms of a unit normal vector, parasitic currents may be eliminated. For this reformulation to work, it is necessary that transition region thickness be controlled. Various means for this, in addition to the one discussed by Jacqmin (1996), are discussed.

  17. Electrochemical micro actuator

    NARCIS (Netherlands)

    Hamberg, M.W.; Hamberg, M.W.; Rusu, C.R.; Gardeniers, Johannes G.E.; Ijntema, D.J.; IJntema, D.J.; Elwenspoek, Michael Curt


    In this paper an investigation of the feasibility of a new electrochemical micro actuator is presented. The actuator is fabricated using silicon micro-machining techniques. A gas pressure is generated by electrolysis of an aqueous electrolyte solution. The build up pressure is used to change the

  18. Sensors and actuators, Twente

    NARCIS (Netherlands)

    Bergveld, Piet


    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,

  19. Pneumatically actuated hand tool

    NARCIS (Netherlands)

    Cool, J.C.; Rijnsaardt, K.A.


    Abstract of NL 9401195 (A) Pneumatically actuated hand tool for carrying out a mechanical operation, provided with an exchangeable gas cartridge in which the gas which is required for pneumatic actuation is stored. More particularly, the hand tool is provided with at least one pneumatic motor, at

  20. Active vibration reduction by optimally placed sensors and actuators with application to stiffened plates by beams (United States)

    Daraji, A. H.; Hale, J. M.


    This study concerns new investigation of active vibration reduction of a stiffened plate bonded with discrete sensor/actuator pairs located optimally using genetic algorithms based on a developed finite element modeling. An isotropic plate element stiffened by a number of beam elements on its edges and having a piezoelectric sensor and actuator pair bonded to its surfaces is modeled using the finite element method and Hamilton’s principle, taking into account the effects of piezoelectric mass, stiffness and electromechanical coupling. The modeling is based on the first order shear deformation theory taking into account the effects of bending, membrane and shear deformation for the plate, the stiffening beam and the piezoelectric patches. A Matlab finite element program has been built for the stiffened plate model and verified with ANSYS and also experimentally. Optimal placement of ten piezoelectric sensor/actuator pairs and optimal feedback gain for active vibration reduction are investigated for a plate stiffened by two beams arranged in the form of a cross. The genetic algorithm was set up for optimization of sensor/actuator placement and feedback gain based on the minimization of the optimal linear quadratic index as an objective function to suppress the first six modes of vibration. Comparison study is presented for active vibration reduction of a square cantilever plate stiffened by crossed beams with two sensor/actuator configurations: firstly, ten piezoelectric sensor/actuator pairs are located in optimal positions; secondly, a piezoelectric layer of single sensor/actuator pair covering the whole of the stiffened plate as a SISO system.

  1. Efficient active actuation to imitate locomotion of gecko's toes using an ionic polymer-metal composite actuator enhanced by carbon nanotubes (United States)

    Yu, Min; He, Qingsong; Yu, Dingshan; Zhang, Xiaoqing; Ji, Aihong; Zhang, Hao; Guo, Ce; Dai, Zhendong


    Active actuation of the adhesive pads is important for a gecko-robot climbing on walls. We demonstrate the fabrication of an ionic polymer-metal composite (IPMC) actuator enhanced with carbon nanotubes (CNTs) and its use for actively actuating an adhesive array to imitate the locomotion of gecko's toes. The as-fabricated IPMC actuator doped with CNTs exhibits a maximum blocking force of 3.59 gf driven at a low voltage of 3 V. It can be easily controlled by voltage signals to actuate an artificial gecko's toe to attach and detach from a surface. This will allow active, distributed actuation in a gecko robot.

  2. Another Lesson from Plants: The Forward Osmosis-Based Actuator (United States)

    Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara


    Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2–5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems. PMID:25020043

  3. 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....... This work discusses their relative merits and possible areas of application....

  4. 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....... This work discusses their relative merits and possible areas of application....

  5. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons


    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.

  6. The Energy Amplification Characteristic Research of a Multimodal Actuator

    Directory of Open Access Journals (Sweden)

    Han Yali


    Full Text Available A multimodal actuator is proposed to fulfil the different walking patterns of a power-assisted knee exoskeleton. With this actuator, the exoskeleton leg can realize several modes of operation, including series elastic actuation, stiff position control and energy storage and release. The energy amplification characteristics of the multimodal actuator in the series elastic mode are analysed. A dynamics model was established to study how series elasticity and the equivalent mass of transmission influence a power source, such as an electric motor. The results, in both simulation and experiment, show that series elasticity can amplify actuator power output, and the power output of a multimodal actuator is greater when the equivalent mass of the transmission mechanism is smaller. This research into multimodal actuator energy amplification supplies important insights into the design of artificial systems that can more closely approximate the performance of biological systems.

  7. Optimal Control Surface Layout for an Aeroservoelastic Wingbox (United States)

    Stanford, Bret K.


    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.

  8. Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification. (United States)

    Bagherpoor, H M; Salmasi, Farzad R


    In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. A low-power-consumption out-of-Plane electrothermal actuator


    Girbau Sala, David; Llamas Morote, Marco Antonio; Casals Terré, Jasmina; Simó Selvas, Francisco Javier; Pradell i Cara, Lluís; Lázaro Guillén, Antoni


    This paper proposes a new vertical electrothermal actuator. It can be considered as a hybrid between the traditional in-plane buckle-beam actuator and the vertical hot-cold actuator. It is here referred to as vertical buckle beam. At identical dimensional and bias conditions, it features a displacement larger than that of other vertical electrothermal actuators proposed so far in the literature. The actuator performance is demonstrated by means of an analytical model along with finite-element...

  10. Digital Modeling Phenomenon Of Surface Ground Movement

    Directory of Open Access Journals (Sweden)

    Ioan Voina


    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.



    R. Boesch; C. Ginzler


    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 photogram...

  12. Cryogenic Piezoelectric Actuator (United States)

    Jiang, Xiaoning; Cook, William B.; Hackenberger, Wesley S.


    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.

  13. Wind tunnel tests for a flapping wing model with a changeable camber using macro-fiber composite actuators (United States)

    Kim, Dae-Kwan; Han, Jae-Hung; Kwon, Ki-Jung


    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.

  14. Land-surface modelling in hydrological perspective

    DEFF Research Database (Denmark)

    Overgaard, Jesper; Rosbjerg, Dan; Butts, M.B.


    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......, because in comparison to the traditional potential evapotranspiration models, these approaches allow for a stronger link to remote sensing and atmospheric modelling. New opportunities for evaluation of distributed land-surface models through application of remote sensing are discussed in detail...

  15. 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


    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.

  16. An Improved MUSIC Model for Gibbsite Surfaces

    Energy Technology Data Exchange (ETDEWEB)

    Mitchell, Scott C.; Bickmore, Barry R.; Tadanier, Christopher J.; Rosso, Kevin M.


    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.

  17. Enzyme actuated bioresponsive hydrogels (United States)

    Wilson, Andrew Nolan

    Bioresponsive hydrogels are emerging with technological significance in targeted drug delivery, biosensors and regenerative medicine. Conferred with the ability to respond to specific biologically derived stimuli, the design challenge is in effectively linking the conferred biospecificity with an engineered response tailored to the needs of a particular application. Moreover, the fundamental phenomena governing the response must support an appropriate dynamic range and limit of detection. The design of these systems is inherently complicated due to the high interdependency of the governing phenomena that guide the sensing, transduction, and the actuation response of hydrogels. To investigate the dynamics of these materials, model systems may be used which seek to interrogate the system dynamics by uni-variable experimentation and limit confounding phenomena such as: polymer-solute interactions, polymer swelling dynamics and biomolecular reaction-diffusion concerns. To this end, a model system, alpha-chymotrypsin (Cht) (a protease) and a cleavable peptide-chromogen (pro-drug) covalently incorporated into a hydrogel, was investigated to understand the mechanisms of covalent loading and release by enzymatic cleavage in bio-responsive delivery systems. Using EDC and Sulfo-NHS, terminal carboxyl groups of N-succinyl-Ala-Ala-Pro-Phe p-nitroanilide, a cleavable chromogen, were conjugated to primary amines of a hydrated poly(HEMA)-based hydrogel. Hydrogel discs were incubated in buffered Cht causing enzyme-mediated cleavage of the peptide and concomitant release of the chromophore for monitoring. To investigate substrate loading and the effects of hydrogel morphology on the system, the concentration of the amino groups (5, 10, 20, and 30 mol%) and the cross-linked density (1, 5, 7, 9 and 12 mol%) were independently varied. Loading-Release Efficiency of the chromogen was shown to exhibit a positive relation to increasing amino groups (AEMA). The release rates demonstrated a

  18. Actuator characterization of a man-portable precision maneuver concept

    Directory of Open Access Journals (Sweden)

    Ilmars Celmins


    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.

  19. Magnetically Actuated Seal Project (United States)

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  20. Magnetically Actuated Seal (United States)

    Pinera, Alex


    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.

  1. Rotary Series Elastic Actuator (United States)

    Ihrke, Chris A. (Inventor); Mehling, Joshua S. (Inventor); Parsons, Adam H. (Inventor); Griffith, Bryan Kristian (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Davis, Donald R. (Inventor); Ambrose, Robert O. (Inventor); Junkin, Lucien Q. (Inventor)


    A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

  2. Environmentally responsive optical microstructured hybrid actuator assemblies and applications thereof (United States)

    Aizenberg, Joanna; Aizenberg, Michael; Kim, Philseok


    Microstructured hybrid actuator assemblies in which microactuators carrying designed surface properties to be revealed upon actuation are embedded in a layer of responsive materials. The microactuators in a microactuator array reversibly change their configuration in response to a change in the environment without requiring an external power source to switch their optical properties.

  3. Tendon Driven Finger Actuation System (United States)

    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); hide


    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.

  4. Automated stopcock actuator


    Vandehey, N. T.; O\\'Neil, J. P.


    Introduction We have developed a low-cost stopcock valve actuator for radiochemistry automation built using a stepper motor and an Arduino, an open-source single-board microcontroller. The con-troller hardware can be programmed to run by serial communication or via two 5–24 V digital lines for simple integration into any automation control system. This valve actuator allows for automated use of a single, disposable stopcock, providing a number of advantages over stopcock manifold systems ...

  5. Laser Initiated Actuator study

    Energy Technology Data Exchange (ETDEWEB)

    Watson, B.


    The program task was to design and study a laser initiated actuator. The design of the actuator is described, it being comprised of the fiber and body subassemblies. The energy source for all experiments was a Spectra Diode 2200-H2 laser diode. The diode is directly coupled to a 100 micron core, 0.3 numerical aperture fiber optic terminated with an SMA connector. The successful testing results are described and recommendations are made.

  6. Soft actuators and soft actuating devices

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.


    A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.

  7. Variable Valve Actuation

    Energy Technology Data Exchange (ETDEWEB)

    Jeffrey Gutterman; A. J. Lasley


    Many approaches exist to enable advanced mode, low temperature combustion systems for diesel engines - such as premixed charge compression ignition (PCCI), Homogeneous Charge Compression Ignition (HCCI) or other HCCI-like combustion modes. The fuel properties and the quantity, distribution and temperature profile of air, fuel and residual fraction in the cylinder can have a marked effect on the heat release rate and combustion phasing. Figure 1 shows that a systems approach is required for HCCI-like combustion. While the exact requirements remain unclear (and will vary depending on fuel, engine size and application), some form of substantially variable valve actuation is a likely element in such a system. Variable valve actuation, for both intake and exhaust valve events, is a potent tool for controlling the parameters that are critical to HCCI-like combustion and expanding its operational range. Additionally, VVA can be used to optimize the combustion process as well as exhaust temperatures and impact the after treatment system requirements and its associated cost. Delphi Corporation has major manufacturing and product development and applied R&D expertise in the valve train area. Historical R&D experience includes the development of fully variable electro-hydraulic valve train on research engines as well as several generations of mechanical VVA for gasoline systems. This experience has enabled us to evaluate various implementations and determine the strengths and weaknesses of each. While a fully variable electro-hydraulic valve train system might be the 'ideal' solution technically for maximum flexibility in the timing and control of the valve events, its complexity, associated costs, and high power consumption make its implementation on low cost high volume applications unlikely. Conversely, a simple mechanical system might be a low cost solution but not deliver the flexibility required for HCCI operation. After modeling more than 200 variations of

  8. Mass and charge transport in IPMC actuators with fractal interfaces (United States)

    Chang, Longfei; Wu, Yucheng; Zhu, Zicai; Li, Heng


    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.

  9. Minimal model for spoof acoustoelastic surface states

    DEFF Research Database (Denmark)

    Christensen, Johan; Liang, Z.; Willatzen, Morten


    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...... such as resonant transmissions and waveguiding to show a few examples of many where spoof elastic surface waves are useful....

  10. Actuators of 3-element unimorph deformable mirror (United States)

    Fu, Tianyang; Ning, Yu; Du, Shaojun


    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.

  11. A saw-tooth plasma actuator for film cooling efficiency enhancement of a shaped hole (United States)

    Li, Guozhan; Yu, Jianyang; Liu, Huaping; Chen, Fu; Song, Yanping


    This paper reports the large eddy simulations of the effects of a saw-tooth plasma actuator and the laidback fan-shaped hole on the film cooling flow characteristics, and the numerical results are compared with a corresponding standard configuration (cylindrical hole without the saw-tooth plasma actuator). For this numerical research, the saw-tooth plasma actuator is installed just downstream of the cooling hole and a phenomenological plasma model is employed to provide the 3D plasma force vectors. The results show that thanks to the downward force and the momentum injection effect of the saw-tooth plasma actuator, the cold jet comes closer to the wall surface and extends further downstream. The saw-tooth plasma actuator also induces a new pair of vortex which weakens the strength of the counter-rotating vortex pair (CRVP) and entrains the coolant towards the wall, and thus the diffusion of the cold jet in the crossflow is suppressed. Furthermore, the laidback fan-shaped hole reduces the vertical jet velocity causing the disappearance of downstream spiral separation node vortices, this compensates for the deficiency of the saw-tooth plasma actuator. Both effects of the laidback fan-shaped hole and the saw-tooth plasma actuator effectively control the development of the CRVP whose size and strength are smaller than those of the anti-counter rotating vortex pair in the far field, thus the centerline and the spanwise-averaged film cooling efficiency are enhanced. The average film cooling efficiency is the biggest in the Fan-Dc = 1 case, which is 80% bigger than that in the Fan-Dc = 0 case and 288% bigger than that in the Cyl-Dc = 0 case.

  12. Foundations of elastoplasticity subloading surface model

    CERN Document Server

    Hashiguchi, Koichi


    This book is the standard text book of elastoplasticity in which the elastoplasticity theory is comprehensively described from the conventional theory for the monotonic loading to the unconventional theory for the cyclic loading behavior. Explanations of vector-tensor analysis and continuum mechanics are provided first as a foundation for elastoplasticity theory, covering various strain and stress measures and their rates with their objectivities. Elastoplasticity has been highly developed by the creation and formulation of the subloading surface model which is the unified fundamental law for irreversible mechanical phenomena in solids. The assumption that the interior of the yield surface is an elastic domain is excluded in order to describe the plastic strain rate due to the rate of stress inside the yield surface in this model aiming at the prediction of cyclic loading behavior, although the yield surface enclosing the elastic domain is assumed in all the elastoplastic models other than the subloading surf...

  13. Design and fabrication of a hybrid actuator (United States)

    Fu, Yao; Ghantasala, Muralidhar K.; Harvey, Erol; Qin, Lijiang


    The necessity to reduce the size of actuators and at the same time increase the force and the air gap has placed severe constraints on the suitability of current microactuator technology for various applications. This has led to the development of new actuator technologies based on novel materials or modifying existing systems. As an effort in this direction, we are reporting on the design and fabrication of a hybrid actuator employing a combination of electromagnetic and piezoelectric actuation methods for the first time. This actuator was designed and optimized by using the piezoelectric and electromagnetic solvers of commercially available FEM software packages (CoventorWare and ANSYS). The device consists of a shaped piezoelectric composite cantilever on the top and a copper coil wound around a permalloy core assembled on a silicon substrate with a permanent magnet at the bottom. The composite cantilever consists of polarized piezoelectric polymer polyvinylidene fluoride (PVDF) with an electroplated permalloy layer on one side. Microstructures in the required shape are introduced using novel methodologies including laser micromachining and microembossing. The hybrid actuator has been fabricated and tested using standard testing procedures. The experimental data are compared with the simulation results from both the finite element methods and the analytical model. There is excellent agreement between the results obtained in simulation and by experiment. A maximum total deflection of 400 µm with a typical contact force of 200 µN has been achieved.

  14. Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators

    Directory of Open Access Journals (Sweden)

    Janno Torop


    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.

  15. Constraint surface model for large amplitude sloshing of the spacecraft with multiple tanks (United States)

    Zhou, Zhicheng; Huang, Hua


    The large amplitude sloshing problem of a spacecraft with multiple tanks is studied by using a three-dimensional constraint surface model. The mechanical model portrays the liquid as a point mass moving inside the constraint surface, which is the locus of liquid center of mass locations prescribed by slowly rotating the tank in one-g field. Sloshing forces of liquid in propellant tank are calculated with different actuated accelerations and different filling ratios. The simulation results are in good agreement with the computational fluid dynamics simulation results, which confirm the accuracy of the three-dimensional constraint surface model for solving large amplitude sloshing problems. The coupled problem between liquid sloshing and spacecraft body motion is also calculated using the mechanical model, and the comparison between simulation results and the in-orbit experimental results of the Sloshsat FLEVO satellite is discussed. Develop a new constraint surface model for large amplitude liquid sloshing problems. The accuracy of the model is confirmed by comparison with CFD simulation. Coupled slosh dynamics simulation of the model and compared with in-orbit test data.

  16. Development of novel textile and yarn actuators using plasticized PVC gel (United States)

    Furuse, A.; Hashimoto, M.


    Soft actuators based on polymers are expected to be used for power sources to drive wearable robots which required in a wide range of fields such as medical, care and welfare, because they are light weight, flexible and quiet. Plasticized PVC gel which has a large deformation by applying a voltage and high driving stability in the atmosphere is considered as a suitable candidate material for development of soft actuator. Then, we proposed two kinds of novel flexible actuators constructed like yarn and textile by using plasticized PVC gel to develop soft actuator to realize a higher flexibility and low-voltage driving. In this study, we prepared prototypes of these actuators and clarify their characteristic. In addition, we considered the deformation model from its characteristics and geometric calculation. When a voltage was applied to their actuators, textile type actuator was contracted, while the twisted yarn type actuator was expanded. The deformation behavior of the proposed actuators could be found at a low voltage of 200V, the contraction strain of the textile actuator was about 27 %, and the expanding ratio of the yarn actuator was 0.4 %. Maximum contraction strain of textile actuator and expansion ratio of yarn actuator was 53% and 1.4% at 600 V, respectively. The calculation results from the proposed model were in roughly agreement with the experimental values. It indicated that deformation behavior of these actuators could estimate from models.

  17. Surface Adsorption in Nonpolarizable Atomic Models

    Energy Technology Data Exchange (ETDEWEB)

    Whitmer, Jonathan K.; Joshi, Abhijeet A.; Carlton, Rebecca J.; Abbott, Nicholas L.; de Pablo, Juan J.


    Many ionic solutions exhibit species dependent properties, including surface tension and the salting out of proteins. These effects may be loosely quantified in terms of the Hofmeister series, first identified in the context of protein solubility. Here, our interest is to develop atomistic models capable of capturing Hofmeister effects rigorously. Importantly, we aim to capture this dependence in computationally cheap “hard” ionic models, which do not exhibit dynamic polarization. To do this, we have performed an investigation detailing the effects of the water model on these properties. Though incredibly important, the role of water models in simulation of ionic solutions and biological systems is essentially unexplored. We quantify this via the ion-dependent surface attraction of the halide series (Cl, Br, I) and, in so doing, determine the relative importance of various hypothesized contributions to ionic surface free energies. Importantly, we demonstrate surface adsorption can result in hard ionic models combined with a thermodynamically accurate reprsenation of the water molecule (TIP4Q). The effect observed in simulations of iodide is commensurate with previous calculations of the surface potential of mean force in rigid molecular dynamics and polarizable density- functional models. Our calculations are direct simulation evidence of the subtle but sensitive role of water thermodynamics in atomistic simulations.

  18. Surface Adsorption in Nonpolarizable Atomic Models. (United States)

    Whitmer, Jonathan K; Joshi, Abhijeet A; Carlton, Rebecca J; Abbott, Nicholas L; de Pablo, Juan J


    Many ionic solutions exhibit species-dependent properties, including surface tension and the salting-out of proteins. These effects may be loosely quantified in terms of the Hofmeister series, first identified in the context of protein solubility. Here, our interest is to develop atomistic models capable of capturing Hofmeister effects rigorously. Importantly, we aim to capture this dependence in computationally cheap "hard" ionic models, which do not exhibit dynamic polarization. To do this, we have performed an investigation detailing the effects of the water model on these properties. Though incredibly important, the role of water models in simulation of ionic solutions and biological systems is essentially unexplored. We quantify this via the ion-dependent surface attraction of the halide series (Cl, Br, I) and, in so doing, determine the relative importance of various hypothesized contributions to ionic surface free energies. Importantly, we demonstrate surface adsorption can result in hard ionic models combined with a thermodynamically accurate representation of the water molecule (TIP4Q). The effect observed in simulations of iodide is commensurate with previous calculations of the surface potential of mean force in rigid molecular dynamics and polarizable density-functional models. Our calculations are direct simulation evidence of the subtle but sensitive role of water thermodynamics in atomistic simulations.

  19. Design, modeling and optimization of poly-air gap actuators with global coils: application to multi-rod linear structures; Conception, modelisation et optimisation des actionneurs polyentrefers a bobinages globaux: application aux structures lineaires multi-tiges

    Energy Technology Data Exchange (ETDEWEB)

    Cavarec, P.E.


    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)

  20. Modeling and Inversion of Scattered Surface waves

    NARCIS (Netherlands)

    Riyanti, C.D.


    In this thesis, we present a modeling method based on a domain-type integral representation for waves propagating along the surface of the Earth which have been scattered in the vicinity of the source or the receivers. Using this model as starting point, we formulate an inversion scheme to estimate

  1. Controlling flexible structures with second order actuator dynamics (United States)

    Inman, Daniel J.; Umland, Jeffrey W.; Bellos, John


    The control of flexible structures for those systems with actuators that are modeled by second order dynamics is examined. Two modeling approaches are investigated. First a stability and performance analysis is performed using a low order finite dimensional model of the structure. Secondly, a continuum model of the flexible structure to be controlled, coupled with lumped parameter second order dynamic models of the actuators performing the control is used. This model is appropriate in the modeling of the control of a flexible panel by proof-mass actuators as well as other beam, plate and shell like structural numbers. The model is verified with experimental measurements.

  2. Advanced high performance horizontal piezoelectric hybrid synthetic jet actuator (United States)

    Xu, Tian-Bing (Inventor); Jiang, Xiaoning (Inventor); Su, Ji (Inventor)


    The present invention comprises a high performance, horizontal, zero-net mass-flux, synthetic jet actuator for active control of viscous, separated flow on subsonic and supersonic vehicles. The present invention is a horizontal piezoelectric hybrid zero-net mass-flux actuator, in which all the walls of the chamber are electrically controlled synergistically to reduce or enlarge the volume of the synthetic jet actuator chamber in three dimensions simultaneously and to reduce or enlarge the diameter of orifice of the synthetic jet actuator simultaneously with the reduction or enlargement of the volume of the chamber. The present invention is capable of installation in the wing surface as well as embedding in the wetted surfaces of a supersonic inlet. The jet velocity and mass flow rate for the SJA-H will be several times higher than conventional piezoelectric actuators.

  3. Macro Fiber Composite Actuated Unmanned Air Vehicles: Design, Development, and Testing


    Bilgen, Onur


    The design and implementation of a morphing unmanned aircraft using smart materials is presented. Articulated lifting surfaces and articulated wing sections actuated by servos are difficult to instrument and fabricate in a repeatable fashion on thin, composite-wing micro-air-vehicles. Assembly is complex and time consuming. A type of piezoceramic composite actuator commonly known as Macro Fiber Composite (MFC) is used for wing morphing. The actuation capability of this actuator on fiberglas...

  4. Surface Acoustic Wave Strain Sensor Model


    Wilson, William; Gary ATKINSON


    NASA Langley Research Center is investigating Surface Acoustic Wave (SAW) sensor technology for harsh environments aimed at aerospace applications. To aid in development of sensors a model of a SAW strain sensor has been developed. The new model extends the modified matrix method to include the response of Orthogonal Frequency Coded (OFC) reflectors and the response of SAW devices to strain. These results show that the model accurately captures the strain response of a SAW sensor on a Langasi...

  5. Investigation on electromechanical properties of a muscle-like linear actuator fabricated by bi-film ionic polymer metal composites (United States)

    Sun, Zhuangzhi; Zhao, Gang; Qiao, Dongpan; Song, Wenlong


    Artificial muscles have attracted great attention for their potentials in intelligent robots, biomimetic devices, and micro-electromechanical system. However, there are many performance bottlenecks restricting the development of artificial muscles in engineering applications, e.g., the little blocking force and short working life. Focused on the larger requirements of the output force and the lack characteristics of the linear motion, an innovative muscle-like linear actuator based on two segmented IPMC strips was developed to imitate linear motion of artificial muscles. The structures of the segmented IPMC strip of muscle-like linear actuator were developed and the established mathematical model was to determine the appropriate segmented proportion as 1:2:1. The muscle-like linear actuator with two segmented IPMC strips assemble by two supporting link blocks was manufactured for the study of electromechanical properties. Electromechanical properties of muscle-like linear actuator under the different technological factors were obtained to experiment, and the corresponding changing rules of muscle-like linear actuators were presented to research. Results showed that factors of redistributed resistance and surface strain on both end-sides were two main reasons affecting the emergence of different electromechanical properties of muscle-like linear actuators.

  6. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst


    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

  7. A continuum method for modeling surface tension (United States)

    Brackbill, J. U.; Kothe, D. B.; Zemach, C.


    In the novel method presented for modeling the effects of surface tension on fluid motion, the interfaces between fluids with different, color-represented properties are finite-thickness transition regions across which the color varies continuously. A force density proportional to the surface curvature of constant color is defined at each point in the transition region; this force-density is normalized in such a way that the conventional description of surface tension on an interface is recovered when the ratio of local transition-reion thickness to local curvature radius approaches zero. The properties of the method are illustrated by computational results for 2D flows.

  8. The dielectric breakdown limit of silicone dielectric elastomer actuators (United States)

    Gatti, Davide; Haus, Henry; Matysek, Marc; Frohnapfel, Bettina; Tropea, Cameron; Schlaak, Helmut F.


    Soft silicone elastomers are used in a generation of dielectric elastomer actuators (DEAs) with improved actuation speed and durability compared to the commonly used, highly viscoelastic polyacrylate 3M VHB™ films. The maximum voltage-induced stretch of DEAs is ultimately limited by their dielectric breakdown field strength. We measure the dependence of dielectric breakdown field strength on thickness and stretch for a silicone elastomer, when voltage-induced deformation is prevented. The experimental results are combined with an analytic model of equi-biaxial actuation to show that accounting for variable dielectric field strength results in different values of optimal pre-stretch and thickness that maximize the DEA actuation.

  9. Coordination Protocols for a Reliable Sensor, Actuator, and Device Network (SADN

    Directory of Open Access Journals (Sweden)

    Keiji Ozaki


    Full Text Available A sensor, actuator, and device network (SADN is composed of three types of nodes, which are sensor, actuator, and actuation device nodes. Sensor nodes and actuator nodes are interconnected in wireless networks as discussed in wireless sensor and actuator networks (WSANs. Actuator nodes and device nodes are interconnected in types of networks, i.e. wireless and wired network. Sensor nodes sense an physical event and send sensed values of the event to actuator nodes. An actuator node makes a decision on proper actions on receipt of sensed values and then issue the action requests to the device nodes. A device node really acts to the physical world. For example, moves a robot arms by performing the action on receipt of the action request. Messages may be lost and nodes may be faulty. Especially, messages are lost due to noise and collision in a wireless network. We propose a fully redundant model for an SADN where each of sensor, actuator, and device functions is replicated in multiple nodes and each of sensor-actuator and actuator-device communication is realized in many-to-many type of communication protocols. Even if some number of nodes are faulty, the other nodes can perform requested tasks. Here, each sensor node sends sensed values to multiple actuator nodes and each actuator node receives sensed values from multiple sensor nodes. While multiple actuator nodes communicate with multiple replica nodes of a device. Even if messages are lost and some number of nodes are faulty, device nodes can surely receive action requests required for sensed values and the actions are performed. In this paper, we discuss a type of semi-passive coordination (SPC protocol of multiple actuator nodes for multiple sensor nodes. We discuss a type of active coordination protocol for multiple actuator nodes and multiple actuation device nodes. We evaluate the SPC protocol for the sensor-actuator coordination in terms of the number of messages exchanged among

  10. Two-stage actuation system using DC motors and piezoelectric actuators for controllable industrial and automotive brakes and clutches (United States)

    Neelakantan, Vijay A.; Washington, Gregory N.; Bucknor, Norman K.


    High bandwidth actuation systems that are capable of simultaneously producing relatively large forces and displacements are required for use in automobiles and other industrial applications. Conventional hydraulic actuation mechanisms used in automotive brakes and clutches are complex, inefficient and have poor control robustness. These lead to reduced fuel economy, controllability issues and other disadvantages. This paper involves the design, development, testing and control of a two-stage hybrid actuation mechanism by combining classical actuators like DC motors and advanced smart material actuators like piezoelectric actuators. The paper also discusses the development of a robust control methodology using the Internal Model Control (IMC) principle and emphasizes the robustness property of this control methodology by comparing and studying simulation and experimental results.

  11. Characterization of a 3D multi-mechanism SMA material model for the prediction of the cyclic "evolutionary" response of NiTi for use in actuations (United States)

    Dhakal, Binod

    The intermetallic NiTi-based alloys are known as Shape Memory material. They exhibit unique ability to remember a shape after large deformation. They are desirable in various engineering applications, such as actuators, biomedical devices, vibration damping, etc, as they can absorb and dissipate mechanical/thermal energies by undergoing a reversible hysteretic shape change under the applied mechanical/thermal cyclic loadings. This reflects the effect of micro-structural changes occurring during phase transformation between Austenite(A) and Martensite(M), as well as differently-oriented M-variants. As typically utilized in applications, a particular shape memory alloy (SMA) device or component operates under a large number of thermo-mechanical cycles, hence, the importance of accounting for the cyclic behavior characteristics in modeling and characterization of these systems. A detailed study of the multi-mechanism-based, comprehensive, thus complex modeling framework (by Saleeb et al) and the determination of its material parameters responsible for the physical significance of the shape memory effect are made. This formulation utilizes multiple, inelastic mechanisms to regulate the partitioning of energy dissipation and storage governing the evolutionary thermo-mechanical behavior. Equipped with the understanding of the physical significance of the model parameters and utilizing the SMA modeling strategy effectively, a comprehensive characterization of the evolutionary, cyclic response of the complex real SMA, known as 55NiTi (Ni49.9Ti50.1) is carried out. The detailed comparisons between the SMA model and experimental results provided the necessary validation of the modeling capabilities of the framework to calibrate the complex alloys like 55NiTi. In addition, the details of interplays between the internal mechanisms to describe the material behavior within all the important response characteristic regions provides a convenient means to compliment the theoretical

  12. Impact-Actuated Digging Tool for Lunar Excavation Project (United States)

    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...

  13. Aerodynamic Optimization for Distributed Electro Mechanical Actuators Project (United States)

    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,...

  14. Surface Acoustic Wave Strain Sensor Model

    Directory of Open Access Journals (Sweden)

    William WILSON


    Full Text Available NASA Langley Research Center is investigating Surface Acoustic Wave (SAW sensor technology for harsh environments aimed at aerospace applications. To aid in development of sensors a model of a SAW strain sensor has been developed. The new model extends the modified matrix method to include the response of Orthogonal Frequency Coded (OFC reflectors and the response of SAW devices to strain. These results show that the model accurately captures the strain response of a SAW sensor on a Langasite substrate. The results of the model of a SAW Strain Sensor on Langasite are presented.

  15. Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator. (United States)

    Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil


    Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

  16. Quantitative Modeling of Earth Surface Processes (United States)

    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 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...

  17. Numerical simulation of mechatronic sensors and actuators

    CERN Document Server

    Kaltenbacher, Manfred


    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.

  18. Catalytic Reactions on Model Gold Surfaces: Effect of Surface Steps and of Surface Doping

    Directory of Open Access Journals (Sweden)

    Maria Natália D. S. Cordeiro


    Full Text Available The adsorption energies and the activation energy barriers for a series of reactions catalyzed by gold surfaces and obtained theoretically through density functional theory (DFT based calculations were considered to clarify the role of the low coordinated gold atoms and the role of doping in the catalytic activity of gold. The effect of the surface steps was introduced by comparison of the activation energy barriers and of the adsorption energies on flat gold surfaces such as the Au(111 surface with those on stepped surfaces such as the Au(321 or the Au(110 surfaces. It is concluded that the presence of low coordinated atoms on the latter surfaces increases the adsorption energies of the reactants and decreases the activation energy barriers. Furthermore, the increasing of the adsorption energy of the reaction products can lead to lower overall reaction rates in the presence of low gold coordinated atoms due to desorption limitations. On the other hand, the effect of doping gold surfaces with other transition metal atoms was analyzed using the dissociation reaction of molecular oxygen as a test case. The calculations showed that increasing the silver content in some gold surfaces was related to a considerable increment of the reactivity of bimetallic systems toward the oxygen dissociation. Importantly, that increment in the reactivity was enhanced by the presence of low coordinated atoms in the catalytic surface models considered.

  19. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Directory of Open Access Journals (Sweden)

    Maziar Ahmad Sharbafi


    Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

  20. Optimization of Moving Coil Actuators for Digital Displacement Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Bech, Michael Møller; Roemer, Daniel Beck


    This paper focuses on deriving an optimal moving coil actuator design, used as force pro-ducing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetiza-tion direction) are optimized for actu......This paper focuses on deriving an optimal moving coil actuator design, used as force pro-ducing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetiza-tion direction) are optimized...... for actuating annular seat valves in a digital displacement machine. The optimization objectives are to the minimize the actuator power, the valve flow losses and the height of the actuator. Evaluation of the objective function involves static finite element simulation and simulation of an entire operation...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...

  1. Global modelling of Cryptosporidium in surface water (United States)

    Vermeulen, Lucie; Hofstra, Nynke


    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 ( 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 ( 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

  2. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh


    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....

  3. Size dependent droplet actuation in digital microfluidic systems (United States)

    Bhattacharjee, Biddut; Najjaran, Homayoun


    Digital microfluidic systems (DMFS) manipulate liquid droplets with volumes in submicroliter range in two dimensional arrays of cells. Among possible droplet actuation mechanisms, Electrowetting-on-dielectric (EWOD) actuation has been found to be most feasible and advantageous because of low power consumption, ease of signal generation and basic device fabrication. In EWOD based DMFS, droplets are actuated by applying an electric field and thus increasing the wettability on one side of the droplet. In this paper, we show that the EWOD actuation of a droplet can be modeled as a closed loop system having unity feedback of position. Electrode, dielectric and droplet are modeled as a capacitor with variable area as the droplet, considered as a conductor, moves over the dielectric layer. The EWOD force depends on the rate of change of droplet area over the actuated electrode, which in turn depends on the direction of motion and the position of the droplet between the actuated and previous electrode. Thus, EWOD actuation intrinsically utilizes the droplet position to generate sufficient force to accelerate the droplet. When the droplet approaches the final position, the magnitude of force reduces automatically so the droplet decelerates. In case the droplet has sufficient momentum to exceed the final position, the EWOD force, according to the model, will act on the opposite side of the droplet in order to bring it back to the desired position. The dynamic response has been characterized using the proposed model for different droplet sizes, actuation voltages, dielectric thicknesses and electrode sizes.

  4. Missile flight control using active flexspar actuators (United States)

    Barrett, Ronald M.; Gross, R. Steven; Brozoski, Fred


    A new type of subsonic missile flight control surface using piezoelectric flexspar actuators is presented. The flexspar design uses an aerodynamic shell which is pivoted at the quarter-chord about a graphite main spar. The shell is pitched up and down by a piezoelectric bender element which is rigidly attached to a base mount and allowed to rotate freely at the tip. The element curvature, shell pitch deflection and torsional stiffness are modeled using laminated plate theory. A one-third scale TOW 2B missile model was used as a demonstration platform. A static wing of the missile was replaced with an active flexspar wing. The 1' X 2.7' active flight control surface was powered by a bi-morph bender with 5-mil PZT-5H sheets. Bench and wind tunnel testing showed good correlation between theory and experiment and static pitch deflections in excess of +/- 14 degree(s). A natural frequency of 78.5 rad/s with a break frequency of 157 rad/s was measured. Wind tunnel tests revealed no flutter or divergence tendencies. Maximum changes in lift coefficient were measured at (Delta) CL equals +/- .73 which indicates that terminal and initial missile load factors may be increased by approximately 3.1 and 12.6 g's respectively, leading to a greatly reduced turn radius of only 2,400 ft.

  5. A Magnetic Bead Actuator

    NARCIS (Netherlands)

    Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.


    Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume

  6. The Actuated Guitar

    DEFF Research Database (Denmark)

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


    Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand...

  7. Bistable microelectromechanical actuator (United States)

    Fleming, J.G.


    A bistable microelectromechanical (MEM) actuator is formed on a substrate and includes a stressed membrane of generally rectangular shape that upon release assumes a curvilinear cross-sectional shape due to attachment at a midpoint to a resilient member and at opposing edges to a pair of elongate supports. The stressed membrane can be electrostatically switched between a pair of mechanical states having mirror-image symmetry, with the MEM actuator remaining in a quiescent state after a programming voltage is removed. The bistable MEM actuator according to various embodiments of the present invention can be used to form a nonvolatile memory element, an optical modulator (with a pair of mirrors supported above the membrane and moving in synchronism as the membrane is switched), a switchable mirror (with a single mirror supported above the membrane at the midpoint thereof) and a latching relay (with a pair of contacts that open and close as the membrane is switched). Arrays of bistable MEM actuators can be formed for applications including nonvolatile memories, optical displays and optical computing. 49 figs.

  8. Hydrogen scattering from a cesiated surface model (United States)

    Rutigliano, Maria; Palma, Amedeo; Sanna, Nico


    A cesiated surface model was considered to study the dynamics of hydrogen atom scattering using a semiclassical collisional method. Using dipole correction method, the work function of the considered surface, is calculated to be 1.81 eV (± 0.02) eV. The Potential Energy Surface for the interaction of H atoms with the surface was determined via first principle electronic structure calculations including the interaction with both Cs and Mo atoms of the surface. We found the scattered H atoms to have a negative partial charge of nearly 0.4 with the backscattered flux arising mainly from H atoms impinging directly (or very close) to Cs atoms on the surface. On the contrary, H atoms impinging in the voids between the Cs atoms propagate through the first Cs layer and remain adsorbed. The propagation occurs mainly in the vertical direction. The scattering probability after a very quick increase remains almost constant around an average value of 0.35.

  9. Thermally Actuated Hydraulic Pumps (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi


    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

  10. Grain Surface Models and Data for Astrochemistry (United States)

    Cuppen, H. M.; Walsh, C.; Lamberts, T.; Semenov, D.; Garrod, R. T.; Penteado, E. M.; Ioppolo, S.


    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.

  11. An Approach to the Prototyping of an Optimized Limited Stroke Actuator to Drive a Low Pressure Exhaust Gas Recirculation Valve

    Directory of Open Access Journals (Sweden)

    Christophe Gutfrind


    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.

  12. Dielectric elastomer actuator with variable stiffness based on interlaminar electrostatic chucking (United States)

    Imamura, Hiroya; Kadooka, Kevin; Taya, Minoru


    In recent years, dielectric elastomer actuators (DEA) have been investigated as artificial muscle for soft robots, thanks to their light weight, high energy density, and silent operation. Moreover, the low stiffness of the dielectric elastomer (DE) material allows DEA to exhibit large actuation strain. On the other hand, the intrinsic softness of DEA limits their blocking and holding force. Therefore, incorporating variable stiffness structures into DEA is necessary to leverage both large actuation strain, and large holding force from such actuators. This work describes the modeling, fabrication, and characterization of a variable-stiffness DEA (VSDEA) based on interlaminar electrostatic chucking. The VSDEA consists of a multitude of stacked multilayer unimorph DEA units, where each unit consists of a passive layer and one or more active DE layers whose expansion under applied voltage induces bending of the DEA unit. Adhesion between the DEA units is mediated by electrostatic attraction caused by opposite charges accumulating on the interfacial surfaces between each unit. The bending stiffness of the VSDEA is controlled by increasing or decreasing the charge on the interfacial surfaces; large deformation can be achieved when the unit interfaces are allowed to freely slip, and a large increase in stiffness is realized when electrostatic chucking is applied.

  13. An algorithm for LQ optimal actuator location (United States)

    Darivandi, Neda; Morris, Kirsten; Khajepour, Amir


    The locations of the control hardware are typically a design variable in controller design for distributed parameter systems. In order to obtain the most efficient control system, the locations of control hardware as well as the feedback gain should be optimized. These optimization problems are generally non-convex. In addition, the models for these systems typically have a large number of degrees of freedom. Consequently, existing optimization schemes for optimal actuator placement may be inaccurate or computationally impractical. In this paper, the feedback control is chosen to be an optimal linear quadratic regulator. The optimal actuator location problem is reformulated as a convex optimization problem. A subgradient-based optimization scheme which leads to the global solution of the problem is used to optimize actuator locations. The optimization algorithm is applied to optimize the placement of piezoelectric actuators in vibration control of flexible structures. This method is compared with a genetic algorithm, and is observed to be faster and more accurate. Experiments are performed to verify the efficacy of optimal actuator placement.

  14. Evolutionary flight and enabling smart actuator devices (United States)

    Manzo, Justin; Garcia, Ephrahim


    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.

  15. Electrothermal Actuators for SiO2 Photonic MEMS

    Directory of Open Access Journals (Sweden)

    Tjitte-Jelte Peters


    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 .


    Directory of Open Access Journals (Sweden)

    R. Boesch


    Full Text Available 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

  17. Integration of Heterogenous Digital Surface Models (United States)

    Boesch, R.; Ginzler, C.


    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

  18. Failure of cargo aileron’s actuator

    Directory of Open Access Journals (Sweden)

    G. Zucca


    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.

  19. Land surface modeling in convection permitting simulations (United States)

    van Heerwaarden, Chiel; Benedict, Imme


    The next generation of weather and climate models permits convection, albeit at a grid spacing that is not sufficient to resolve all details of the clouds. Whereas much attention is being devoted to the correct simulation of convective clouds and associated precipitation, the role of the land surface has received far less interest. In our view, convective permitting simulations pose a set of problems that need to be solved before accurate weather and climate prediction is possible. The heart of the problem lies at the direct runoff and at the nonlinearity of the surface stress as a function of soil moisture. In coarse resolution simulations, where convection is not permitted, precipitation that reaches the land surface is uniformly distributed over the grid cell. Subsequently, a fraction of this precipitation is intercepted by vegetation or leaves the grid cell via direct runoff, whereas the remainder infiltrates into the soil. As soon as we move to convection permitting simulations, this precipitation falls often locally in large amounts. If the same land-surface model is used as in simulations with parameterized convection, this leads to an increase in direct runoff. Furthermore, spatially non-uniform infiltration leads to a very different surface stress, when scaled up to the course resolution of simulations without convection. Based on large-eddy simulation of realistic convection events at a large domain, this study presents a quantification of the errors made at the land surface in convection permitting simulation. It compares the magnitude of the errors to those made in the convection itself due to the coarse resolution of the simulation. We find that, convection permitting simulations have less evaporation than simulations with parameterized convection, resulting in a non-realistic drying of the atmosphere. We present solutions to resolve this problem.

  20. Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator

    Directory of Open Access Journals (Sweden)

    Keng Huat Koh


    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.

  1. A dynamic linearization concept for piezoelectric actuators. (United States)

    Biancuzzi, Giovanni; Haller, Daniel; Lemke, Thomas; Wischke, Martin; Goldschmidtboeing, Frank; Woias, Peter


    We present a linearization circuit based on a capacitive Wheatstone bridge that is able to set a desired polarization in a piezoactuator. The system is meant to be used for dynamic actuation in a broad frequency range. A general nonlinear model for piezoactuators is presented in which two nonlinear sub-systems are cascaded: the electric-field-to-polarization (E-P) and the polarization-to-strain (P-x) blocks. The inversion of the latter sub-system in combination with the linearization bridge results in a reduction of up to 19 dB of the harmonic distortion of the actuator's mechanical displacement. © 2011 IEEE

  2. Stochastic models for surface diffusion of molecules

    Energy Technology Data Exchange (ETDEWEB)

    Shea, Patrick, E-mail:; Kreuzer, Hans Jürgen [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 3J5 (Canada)


    We derive a stochastic model for the surface diffusion of molecules, starting from the classical equations of motion for an N-atom molecule on a surface. The equation of motion becomes a generalized Langevin equation for the center of mass of the molecule, with a non-Markovian friction kernel. In the Markov approximation, a standard Langevin equation is recovered, and the effect of the molecular vibrations on the diffusion is seen to lead to an increase in the friction for center of mass motion. This effective friction has a simple form that depends on the curvature of the lowest energy diffusion path in the 3N-dimensional coordinate space. We also find that so long as the intramolecular forces are sufficiently strong, memory effects are usually not significant and the Markov approximation can be employed, resulting in a simple one-dimensional model that can account for the effect of the dynamics of the molecular vibrations on the diffusive motion.

  3. Parameter optimization for surface flux transport models (United States)

    Whitbread, T.; Yeates, A. R.; Muñoz-Jaramillo, A.; Petrie, G. J. D.


    Accurate prediction of solar activity calls for precise calibration of solar cycle models. Consequently we aim to find optimal parameters for models which describe the physical processes on the solar surface, which in turn act as proxies for what occurs in the interior and provide source terms for coronal models. We use a genetic algorithm to optimize surface flux transport models using National Solar Observatory (NSO) magnetogram data for Solar Cycle 23. This is applied to both a 1D model that inserts new magnetic flux in the form of idealized bipolar magnetic regions, and also to a 2D model that assimilates specific shapes of real active regions. The genetic algorithm searches for parameter sets (meridional flow speed and profile, supergranular diffusivity, initial magnetic field, and radial decay time) that produce the best fit between observed and simulated butterfly diagrams, weighted by a latitude-dependent error structure which reflects uncertainty in observations. Due to the easily adaptable nature of the 2D model, the optimization process is repeated for Cycles 21, 22, and 24 in order to analyse cycle-to-cycle variation of the optimal solution. We find that the ranges and optimal solutions for the various regimes are in reasonable agreement with results from the literature, both theoretical and observational. The optimal meridional flow profiles for each regime are almost entirely within observational bounds determined by magnetic feature tracking, with the 2D model being able to accommodate the mean observed profile more successfully. Differences between models appear to be important in deciding values for the diffusive and decay terms. In like fashion, differences in the behaviours of different solar cycles lead to contrasts in parameters defining the meridional flow and initial field strength.

  4. Modeling of ESD events from polymeric surfaces

    Energy Technology Data Exchange (ETDEWEB)

    Pfeifer, Kent Bryant


    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.

  5. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices (United States)

    Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie


    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.

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

    Directory of Open Access Journals (Sweden)

    Xavier Arouette


    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.

  7. A novel sheet actuator using plasticized PVC gel and flexible electrodes (United States)

    Li, Yi; Hashimoto, Minoru


    The plasticized polyvinyl chloride (PVC) gel-based soft actuator exhibits a fast response in air, large deformation, and low power consumption under an electrical field, so it shows great potential for use as a new type of soft actuator. In our previous study, we have developed a multilayered expansion and contraction-type actuator using PVC gel and stainless mesh electrodes. However, the actuator using rigid metal electrodes bring challenges of a notable weight and size, a limitation in flexibility and performance. In this study, to develop an actuator with higher performance and flexibility, we proposed a novel sheet actuator using PVC gel and flexible electrodes. We explain the driving mechanism of the proposed sheet actuator and investigate the basic characteristics of the actuators with different content of plasticizer and membrane thickness. Besides, we conducted a comparison experiment between the proposed PVC gel sheet actuator and the traditional dielectric elastomer actuator, founding that, the PVC gel sheet actuator had a positive potential to be driven at a lower DC field to get a bigger deformation and a faster response than those of the traditional dielectric elastomer actuator. And we discussed the difference between the two types of actuators with a theoretical model, finding a good agreement with the experimental results.

  8. Actuation crosstalk in free-falling systems: Torsion pendulum results for the engineering model of the LISA pathfinder gravitational reference sensor (United States)

    Bassan, M.; Cavalleri, A.; De Laurentis, M.; De Marchi, F.; De Rosa, R.; Di Fiore, L.; Dolesi, R.; Finetti, N.; Garufi, F.; Grado, A.; Hueller, M.; Marconi, L.; Milano, L.; Minenkov, Y.; Pucacco, G.; Stanga, R.; Vetrugno, D.; Visco, M.; Vitale, S.; Weber, W. J.


    In this paper we report on measurements on actuation crosstalk, relevant to the gravitational reference sensors for LISA Pathfinder and LISA. In these sensors, a Test Mass (TM) falls freely within a system of electrodes used for readout and control. These measurements were carried out on ground with a double torsion pendulum that allowed us to estimate both the torque injected into the sensor when a control force is applied and, conversely, the force leaking into the translational degree of freedom due to the applied torque.The values measured on our apparatus (the engineering model of the LISA Pathfinder sensor) agree to within 0.2% (over a maximum measured crosstalk of 1%) with predictions of a mathematical model when measuring force to torque crosstalk, while it is somewhat larger than expected (up to 3.5%) when measuring torque to force crosstalk. However, the values in the relevant range, i.e. when the TM is well centered ( ± 10 μm) in the sensor, remain smaller than 0.2%, satisfying the LISA Pathfinder requirements.

  9. Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla (United States)

    Guo, H. T.; Liao, W. H.


    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.

  10. Optothermally actuated capillary burst valve (United States)

    Eriksen, Johan; Bilenberg, Brian; Kristensen, Anders; Marie, Rodolphe


    We demonstrate the optothermal actuation of individual capillary burst valves in an all-polymer microfluidic device. The capillary burst valves are realised in a planar design by introducing a fluidic constriction in a microfluidic channel of constant depth. We show that a capillary burst valve can be burst by raising the temperature due to the temperature dependence of the fluid surface tension. We address individual valves by using a local heating platform based on a thin film of near infrared absorber dye embedded in the lid used to seal the microfluidic device [L. H. Thamdrup et al., Nano Lett. 10, 826-832 (2010)]. An individual valve is burst by focusing the laser in its vicinity. We demonstrate the capture of single polystyrene 7 μm beads in the constriction triggered by the bursting of the valve.

  11. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto


    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.

  12. Microfabricated therapeutic actuators (United States)

    Lee, Abraham P.; Northrup, M. Allen; Ciarlo, Dino R.; Krulevitch, Peter A.; Benett, William J.


    Microfabricated therapeutic actuators are fabricated using a shape memory polymer (SMP), a polyurethane-based material that undergoes a phase transformation at a specified temperature (Tg). At a temperature above temperature Tg material is soft and can be easily reshaped into another configuration. As the temperature is lowered below temperature Tg the new shape is fixed and locked in as long as the material stays below temperature Tg. Upon reheating the material to a temperature above Tg, the material will return to its original shape. By the use of such SMP material, SMP microtubing can be used as a release actuator for the delivery of embolic coils through catheters into aneurysms, for example. The microtubing can be manufactured in various sizes and the phase change temperature Tg is determinate for an intended temperature target and intended use.

  13. Dissolution actuated sample container (United States)

    Nance, Thomas A.; McCoy, Frank T.


    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.

  14. Cylindrical Piezoelectric Fiber Composite Actuators (United States)

    Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.


    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.

  15. Microelectromechanical (MEM) thermal actuator (United States)

    Garcia, Ernest J [Albuquerque, NM; Fulcher, Clay W. G. [Sandia Park, NM


    Microelectromechanical (MEM) buckling beam thermal actuators are disclosed wherein the buckling direction of a beam is constrained to a desired direction of actuation, which can be in-plane or out-of-plane with respect to a support substrate. The actuators comprise as-fabricated, linear beams of uniform cross section supported above the substrate by supports which rigidly attach a beam to the substrate. The beams can be heated by methods including the passage of an electrical current through them. The buckling direction of an initially straight beam upon heating and expansion is controlled by incorporating one or more directional constraints attached to the substrate and proximal to the mid-point of the beam. In the event that the beam initially buckles in an undesired direction, deformation of the beam induced by contact with a directional constraint generates an opposing force to re-direct the buckling beam into the desired direction. The displacement and force generated by the movement of the buckling beam can be harnessed to perform useful work, such as closing contacts in an electrical switch.

  16. Exploring dielectric elastomers as actuators for hand tremor suppression (United States)

    Kelley, Christopher R.; Kauffman, Jeffrey L.


    Pathological tremor results in undesired motion of body parts, with the greatest effect typically occurring in the hands. Since common treatment methods are ineffective in some patients or have risks associated with surgery or side effects, researchers are investigating mechanical means of tremor suppression. This work explores the viability of dielectric elastomers as the actuators in a tremor suppression control system. Dielectric elastomers have many properties similar to human muscle, making them a natural fit for integration into the human biomechanical system. This investigation develops a model of the integrated wrist-actuator system to determine actuator parameters that produce the necessary control authority without significantly affecting voluntary motion. Furthermore, this paper develops a control law for the actuator voltage to increase the effective viscous damping of the system. Simulations show excellent theoretical tremor suppression, demonstrating the potential for dielectric elastomers to suppress tremor while maximizing compatibility between the actuator and the human body.

  17. Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper

    Directory of Open Access Journals (Sweden)

    Ganesha Udupa


    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.

  18. Mechanisms and actuators for rotorcraft blade morphing (United States)

    Vocke, Robert D., III

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

  19. Liquid surface model for carbon nanotube energetics

    DEFF Research Database (Denmark)

    Solov'yov, Ilia; Mathew, Maneesh; Solov'yov, Andrey V.


    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...... 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...... the calculated energies we determine the elastic properties of the single-wall carbon nanotubes (Young modulus, curvature constant) and perform a comparison with available experimental measurements and earlier theoretical predictions....

  20. Combining Model-Based and Feature-Driven Diagnosis Approaches – A Case Study on Electromechanical Actuators (United States)

    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...

  1. Experimental study on the use of synthetic jet actuators for lift control (United States)

    Torres, Ricardo Benjamin

    An experimental study on the use of synthetic jet actuators for lift control is conducted. The synthetic jet actuator is placed on the pressure side towards the trailing edge on a NACA 65(2)-415 airfoil representative of the cross section of an Inlet Guide Vane (IGV) in an industrial gas compressor. By redirecting or vectoring the shear layer at the trailing edge, the synthetic jet actuator increases lift and decreases drag on the airfoil without a mechanical device or flap. A compressor map that defines upper and lower bounds on operating velocities and airfoil dimensions, is compared with operating conditions of the low-speed wind tunnel at San Diego State University, to match gas compressor conditions in the wind tunnel. Realistic test conditions can range from Mach=0.12 to Mach= 0.27 and an airfoil chord from c=0.1 m to c=0.3 m. Based on the operating conditions, a final airfoil model is fabricated with a chord of c=0.1m. Several synthetic jet actuator designs are considered. A initial synthetic jet is designed to house a piezoelectric element with a material frequency of 1200 hz in a cavity with a volume of 4.47 cm3, a slot width of 0.25 mm, and a slot depth of 1.5 mm. With these dimensions, the Helmholtz frequency of the design is 1800Hz. Particle Image Velocimetry (PIV) experiments show that the design has a jet with a peak centerline jet velocity of 26 m/s at 750 Hz. A modified slant face synthetic jet is designed so that the cavity fits flush within the NACA airfoil surface. The slanted synthetic jet has a cavity volume of 4.67 cm3, a slot width of 0.25 mm, and a slot depth of 3.45 mm resulting in a Helmholtz frequency of 1170 hz for this design. PIV experiments show that the jet is redirected along the slant face according to the Coanda effect. A final synthetic jet actuator is directly integrated into the trailing edge of an airfoil with a cavity volume of 4.6 cm3, a slot width of 0.2 mm, and a slot depth of 1.6 mm. The Helmholtz frequency is 1450 Hz and

  2. Integrated sensing and actuation of dielectric elastomer actuator (United States)

    Ye, Zhihang; Chen, Zheng


    Dielectric elastomer (DE) is a type of soft actuating material, the shape of which can be changed under electrical voltage stimuli. DE materials have great potential in applications involving energy harvesters, micro-manipulators, and adaptive optics. In this paper, a stripe DE actuator with integrated sensing and actuation is designed and fabricated, and characterized through several experiments. Considering the actuator's capacitor-like structure and its deform mechanism, detecting the actuator's displacement through the actuator's circuit feature is a potential approach. A self-sensing scheme that adds a high frequency probing signal into actuation signal is developed. A fast Fourier transform (FFT) algorithm is used to extract the magnitude change of the probing signal, and a non-linear fitting method and artificial neural network (ANN) approach are utilized to reflect the relationship between the probing signal and the actuator's displacement. Experimental results showed this structure has capability of performing self-sensing and actuation, simultaneously. With an enhanced ANN, the self-sensing scheme can achieve 2.5% accuracy.

  3. Research on giant magnetostrictive micro-displacement actuator with self-adaptive control algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Wang Lei; Tan, J B; Liu, Y T [Institute of Ultra-Precision Optoelectronic Instrument Engineering, Harbin Institute of Technology, Harbin 150001 (China)


    Giant magnetostrictive micro-displacement actuator has some unique characteristics, such as big output torque and high precision localization which can be in the nanometer scale. Because the relation between input magnetic field and output strain of giant magnetostrictive micro-displacement actuator exhibits hysteresis and eddy flow, the actuator has to be controlled and used in low input frequency mode or in static mode. When the actuator is controlled with a high input frequency (above 100 Hz), the output strain will exhibit strong nonlinearity. This paper found hysteresis and nonlinearity dynamic transfer function of the actuator based on Jiles-Atherton hysteresis model. The output strain of Jiles-Atherton hystersis model can reflect real output of actuator corresponding to the real input magnetic field, and this has been verified by experiment. Against the nonlinearity generated by hysteresis and eddy flow in this paper, the output strain of actuator is used for feedback to control system, and the control system adopted self-adaptive control algorithm, the ideal input and output model of actuator is used for a reference model and a hysteresis transfer function for the actuator real model. Through experiment, it has been verified that this algorithm can improve the dynamic frequency of the giant magnetostrictive micro-displacement actuator and guarantee high precision localization and linearity between the input magnetic field and output strain of the actuator at the same time.

  4. Telescoping cylindrical piezoelectric fiber composite actuator assemblies (United States)

    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)


    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.

  5. Developing Automatic Multi-Objective Optimization Methods for Complex Actuators

    Directory of Open Access Journals (Sweden)

    CHIS, R.


    Full Text Available This paper presents the analysis and multiobjective optimization of a magnetic actuator. By varying just 8 parameters of the magnetic actuator’s model the design space grows to more than 6 million configurations. Much more, the 8 objectives that must be optimized are conflicting and generate a huge objectives space, too. To cope with this complexity, we use advanced heuristic methods for Automatic Design Space Exploration. FADSE tool is one Automatic Design Space Exploration framework including different state of the art multi-objective meta-heuristics for solving NP-hard problems, which we used for the analysis and optimization of the COMSOL and MATLAB model of the magnetic actuator. We show that using a state of the art genetic multi-objective algorithm, response surface modelling methods and some machine learning techniques, the timing complexity of the design space exploration can be reduced, while still taking into consideration objective constraints so that various Pareto optimal configurations can be found. Using our developed approach, we were able to decrease the simulation time by at least a factor of 10, compared to a run that does all the simulations, while keeping prediction errors to around 1%.

  6. Effect of DM Actuator Errors on the WFIRST/AFTA Coronagraph Contrast Performance (United States)

    Sidick, Erkin; Shi, Fang


    The WFIRST/AFTA 2.4 m space telescope currently under study includes a stellar coronagraph for the imaging and the spectral characterization of extrasolar planets. The coronagraph employs two sequential deformable mirrors (DMs) to compensate for phase and amplitude errors in creating dark holes. DMs are critical elements in high contrast coronagraphs, requiring precision and stability measured in picometers to enable detection of Earth-like exoplanets. Working with a low-order wavefront-sensor the DM that is conjugate to a pupil can also be used to correct low-order wavefront drift during a scientific observation. However, not all actuators in a DM have the same gain. When using such a DM in low-order wavefront sensing and control subsystem, the actuator gain errors introduce high-spatial frequency errors to the DM surface and thus worsen the contrast performance of the coronagraph. We have investigated the effects of actuator gain errors and the actuator command digitization errors on the contrast performance of the coronagraph through modeling and simulations, and will present our results in this paper.

  7. Miniaturized Rotary Actuators Using Shape Memory Alloy for Insect-Type MEMS Microrobot

    Directory of Open Access Journals (Sweden)

    Ken Saito


    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.

  8. Nonlinear Parameter Identification of a Resonant Electrostatic MEMS Actuator (United States)

    Al-Ghamdi, Majed S.; Alneamy, Ayman M.; Park, Sangtak; Li, Beichen; Khater, Mahmoud E.; Abdel-Rahman, Eihab M.; Heppler, Glenn R.; Yavuz, Mustafa


    We experimentally investigate the primary superharmonic of order two and subharmonic of order one-half resonances of an electrostatic MEMS actuator under direct excitation. We identify the parameters of a one degree of freedom (1-DOF) generalized Duffing oscillator model representing it. The experiments were conducted in soft vacuum to reduce squeeze-film damping, and the actuator response was measured optically using a laser vibrometer. The predictions of the identified model were found to be in close agreement with the experimental results. We also identified the noise spectral density of process (actuation voltage) and measurement noise. PMID:28505097

  9. Nonlinear Parameter Identification of a Resonant Electrostatic MEMS Actuator. (United States)

    Al-Ghamdi, Majed S; Alneamy, Ayman M; Park, Sangtak; Li, Beichen; Khater, Mahmoud E; Abdel-Rahman, Eihab M; Heppler, Glenn R; Yavuz, Mustafa


    We experimentally investigate the primary superharmonic of order two and subharmonic of order one-half resonances of an electrostatic MEMS actuator under direct excitation. We identify the parameters of a one degree of freedom (1-DOF) generalized Duffing oscillator model representing it. The experiments were conducted in soft vacuum to reduce squeeze-film damping, and the actuator response was measured optically using a laser vibrometer. The predictions of the identified model were found to be in close agreement with the experimental results. We also identified the noise spectral density of process (actuation voltage) and measurement noise.

  10. Validation of the actuator disc and actuator line techniques for yawed rotor flows using the New Mexico experimental data

    DEFF Research Database (Denmark)

    Breton, S. P.; Shen, Wen Zhong; Ivanell, S.


    Experimental data acquired in the New Mexico experiment on a yawed 4.5m diameter rotor model turbine are used here to validate the actuator line (AL) and actuator disc (AD) models implemented in the Large Eddy Simulation code EllipSys3D in terms of loading and velocity field. Even without modelling...... and blade loading of the New Mexico rotor under yawed inflow....

  11. Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages (United States)

    Kumari, N.; Bahadur, V.; Garimella, S. V.


    Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets using dc voltages (classical electrowetting). Electrical actuation of conducting droplets using ac voltages and the actuation of insulating droplets (using dc or ac voltages) has remained relatively unexplored. This paper utilizes an energy-minimization-based analytical framework to study the electrical actuation of a liquid droplet (electrically conducting or insulating) under ac actuation. It is shown that the electromechanical regimes of classical electrowetting, electrowetting under ac actuation and insulating droplet actuation can be extracted from the generic electromechanical actuation framework, depending on the electrical properties of the droplet, the underlying dielectric layer and the frequency of the actuation voltage. This paper also presents experiments which quantify the influence of the ac frequency and the electrical properties of the droplet on its velocity under electrical actuation. The velocities of droplets moving between two parallel plates under ac actuation are experimentally measured; these velocities are then related to the actuation force on the droplet which is predicted by the electromechanical model developed in this work. It is seen that the droplet velocities are strongly dependent on the frequency of the ac actuation voltage; the cut-off ac frequency, above which the droplet fails to actuate, is experimentally determined and related to the electrical conductivity of the liquid. This paper then analyzes and directly compares the various electromechanical regimes for the actuation of droplets in microfluidic applications.

  12. Distributed microscopic actuation analysis of deformable plate membrane mirrors (United States)

    Lu, Yifan; Yue, Honghao; Deng, Zongquan; Tzou, Hornsen


    To further reduce the areal density of optical mirrors used in space telescopes and other space-borne optical structures, the concept of flexible membrane deformable mirror has been proposed. Because of their high flexibility, poor stiffness and low damping properties, environmental excitations such as orbital maneuver, path changing, and non-uniform heating may induce unexpected vibrations and thus reduce working performance. Therefore, active vibration control is essential for these membrane mirrors. In this paper, two different mirror models, i.e., the plate membrane model and pure membrane model, are studied respectively. In order to investigate the modal vibration characteristics of the mirror, a piezoelectric layer is fully laminated on its non-reflective side to serve as actuators. Dynamic equations of the mirror laminated with piezoelectric actuators are presented first. Then, the actuator induced modal control force is defined. When the actuator area shrinks to infinitesimal, the expressions of microscopic local modal control force and its two components are obtained to predict the spatial microscopic actuation behavior of the mirror. Different membrane pretension forces are also applied to reveal the tension effects on the actuation of the mirror. Analyses indicate that the spatial distribution of modal micro-control forces is exactly the same with the sensing signals distribution of the mirror, which provides crucial guidelines for optimal actuator placement of membrane deformable mirrors.

  13. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

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


    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.

  14. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators (United States)

    Najem, Joseph; Sarles, Stephen A.; Akle, Barbar; Leo, Donald J.


    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s-1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ˜0.7% in water across a frequency range of 0.1-1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s-1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s-1 with a power consumption of 1.14 W.

  15. A Study on a Microwave-Driven Smart Material Actuator (United States)

    Choi, Sang H.; Chu, Sang-Hyon; Kwak, M.; Cutler, A. D.


    NASA s Next Generation Space Telescope (NGST) has a large deployable, fragmented optical surface (greater than or = 2 8 m in diameter) that requires autonomous correction of deployment misalignments and thermal effects. Its high and stringent resolution requirement imposes a great deal of challenge for optical correction. The threshold value for optical correction is dictated by lambda/20 (30 nm for NGST optics). Control of an adaptive optics array consisting of a large number of optical elements and smart material actuators is so complex that power distribution for activation and control of actuators must be done by other than hard-wired circuitry. The concept of microwave-driven smart actuators is envisioned as the best option to alleviate the complexity associated with hard-wiring. A microwave-driven actuator was studied to realize such a concept for future applications. Piezoelectric material was used as an actuator that shows dimensional change with high electric field. The actuators were coupled with microwave rectenna and tested to correlate the coupling effect of electromagnetic wave. In experiments, a 3x3 rectenna patch array generated more than 50 volts which is a threshold voltage for 30-nm displacement of a single piezoelectric material. Overall, the test results indicate that the microwave-driven actuator concept can be adopted for NGST applications.

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

    Directory of Open Access Journals (Sweden)

    Aleksanin Sergei Andreevich


    There are made conclusions about the "migration" of demand from hydraulic and pneumatic solutions to electromechanical actuators in the aerospace and manufacturing industries. Identify advantages of electromechanics over more traditional actuators in terms of energy efficiency and reliability. Also identify the most promising areas of the drive technological development.

  17. Piezoelectric actuated gimbal (United States)

    Tschaggeny, Charles W [Woods Cross, UT; Jones, Warren F [Idaho Falls, ID; Bamberg, Eberhard [Salt Lake City, UT


    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.


    Directory of Open Access Journals (Sweden)

    H. Sadeq


    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.

  19. Robotic Arm Actuated by Electroactie Polymers (United States)

    Bar-Cohen, Y.; Xue, T.; Shaninpoor, M.; Simpson, J. O.; Smith, J.


    Actuators are used for many planetary and space applications. To meet the NASA goal to reduce the actuators size, mass, cost and power consumption, electroactie polymers (EAP) are being developed to induce large bending and longitudinal actuation strains.

  20. Recent Advances in the Control of Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    Ziqiang Chi


    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.

  1. Elastic Cube Actuator with Six Degrees of Freedom Output

    Directory of Open Access Journals (Sweden)

    Pengchuan Wang


    Full Text Available Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF polymer actuator that unifies ordinarily separate components into a simple cubic structure. This cube actuator design incorporates elastic dielectric elastomer membranes on four faces which are coupled by a cross-shaped end effector. The inherent elasticity of each membrane greatly reduces kinematic constraint and enables a 6-DOF actuation output to be produced via the end effector. An electro-mechanical model of the cube actuator is presented that captures the non-linear hyperelastic behaviour of the active membranes. It is demonstrated that the model accurately predicts actuator displacement and blocking moment for a range of input voltages. Experimental testing of a prototype 60 mm device demonstrates 6-DOF operation. The prototype produces maximum linear and rotational displacements of ±2.6 mm (±4.3% and ±4.8° respectively and a maximum blocking moment of ±76 mNm. The capacity for full 6-DOF actuation from a compact, readily scalable and easily fabricated polymeric package enables implementation in a range of mechatronics and robotics applications.

  2. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca


    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.

  3. Simulations of an offshore wind farm using large eddy simulation and a torque-controlled actuator disc model

    CERN Document Server

    Creech, Angus; Maguire, A Eoghan


    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 ...

  4. Modeling Piezoceramic Twist Actuation in Single-Cell Anisotropic Torque Box of Low-Observable UAV Wing

    National Research Council Canada - National Science Library

    Cseke, Peter


    .... This creates torsion about the elastic axis, and a change in the wing lift coefficient. The torsion of the designed baseline UAV's wing torquebox was modeled in the presence of a full complement of air-loads by extending the Bredt-Batho theorem...

  5. Wind tunnel measurements of wake structure and wind farm power for actuator disk model wind turbines in yaw (United States)

    Howland, Michael; Bossuyt, Juliaan; Kang, Justin; Meyers, Johan; Meneveau, Charles


    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).

  6. Magnetic actuation of thick film multi-material compliant mechanisms (United States)

    Vogtmann, Dana; St. Pierre, Ryan; Bergbreiter, Sarah


    This work presents models and experimental validation of magnetically actuated silicon mechanisms with elastomer hinges. Combining both highly compliant hinges and magnetic actuation results in mechanisms that can be actuated with large torques, large displacements, and high power. A single link mechanism is modeled, fabricated, and tested as a proof-of-concept device for this approach. The fabricated elastomer used in this work is characterized for its static and dynamic properties, and the dipoles of the magnetic materials used are also characterized. Using these measured material properties, the modeled behavior of the single link mechanism is then compared to experimental results in both static and dynamic tests. The resulting link can be statically actuated over 150° (75.1° in both directions) with a maximum applied power from the magnetic field of 0.70 mW at resonance.

  7. Land surface spinup for episodic modeling (United States)

    Angevine, W. M.; Bazile, E.; Legain, D.; Pino, D.


    Soil moisture strongly controls the surface fluxes in mesoscale numerical models, and thereby influences the boundary layer structure. Proper initialization of soil moisture is therefore critical for faithful simulations. In many applications, such as air quality or process studies, the model is run for short, discrete periods (a day to a month). This paper describes one method for soil initialization in these cases - self-spinup. In self-spinup, the model is initialized with a coarse-resolution operational model or reanalysis output, and run for a month, cycling its own soil variables. This allows the soil variables to develop appropriate spatial variability, and may improve the actual values. The month (or other period) can be run more than once if needed. The case shown is for the Boundary Layer Late Afternoon and Sunset Turbulence experiment, conducted in France in 2011. Self-spinup adds spatial variability, which improves the representation of soil moisture patterns around the experiment location, which is quite near the Pyrenees Mountains. The self-spinup also corrects a wet bias in the large-scale analysis. The overall result is a much-improved simulation of boundary layer structure, evaluated by comparison with soundings from the field site. Self-spinup is not recommended as a substitute for multi-year spinup with an offline land data assimilation system in circumstances where the data sets required for such spinup are available at the required resolution. Self-spinup may fail if the modeled precipitation is poorly simulated. It is an expedient for cases when resources are not available to allow a better method to be used.

  8. Vibration analysis of composite laminate plate excited by piezoelectric actuators. (United States)

    Her, Shiuh-Chuan; Lin, Chi-Sheng


    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.

  9. Simulations of an Offshore Wind Farm Using Large-Eddy Simulation and a Torque-Controlled Actuator Disc Model (United States)

    Creech, Angus; Früh, Wolf-Gerrit; Maguire, A. Eoghan


    We present here a computational fluid dynamics (CFD) simulation of Lillgrund offshore wind farm, which is located in the Øresund Strait between Sweden and Denmark. The simulation combines a dynamic representation of wind turbines embedded within a large-eddy simulation CFD solver and uses hr-adaptive meshing to increase or decrease mesh resolution where required. This allows the resolution of both large-scale flow structures around the wind farm, and the local flow conditions at individual turbines; consequently, the response of each turbine to local conditions can be modelled, as well as the resulting evolution of the turbine wakes. This paper provides a detailed description of the turbine model which simulates the interaction between the wind, the turbine rotors, and the turbine generators by calculating the forces on the rotor, the body forces on the air, and instantaneous power output. This model was used to investigate a selection of key wind speeds and directions, investigating cases where a row of turbines would be fully aligned with the wind or at specific angles to the wind. Results shown here include presentations of the spin-up of turbines, the observation of eddies moving through the turbine array, meandering turbine wakes, and an extensive wind farm wake several kilometres in length. The key measurement available for cross-validation with operational wind farm data is the power output from the individual turbines, where the effect of unsteady turbine wakes on the performance of downstream turbines was a main point of interest. The results from the simulations were compared to the performance measurements from the real wind farm to provide a firm quantitative validation of this methodology. Having achieved good agreement between the model results and actual wind farm measurements, the potential of the methodology to provide a tool for further investigations of engineering and atmospheric science problems is outlined.

  10. Electromagnetic actuation in MEMS switches

    DEFF Research Database (Denmark)

    Oliveira Hansen, Roana Melina de; Mátéfi-Tempfli, Mária; Chemnitz, Steffen

    . Electromagnetic actuation is a very promising approach to operate such MEMS and Power MEMS devices, due to the long range, reproducible and strong forces generated by this method, among other advantages. However, the use of electromagnetic actuation in such devices requires the use of thick magnetic films, which...

  11. 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


    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.

  12. A surface hydrology model for regional vector borne disease models (United States)

    Tompkins, Adrian; Asare, Ernest; Bomblies, Arne; Amekudzi, Leonard


    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.

  13. Modeling the Structural-Thermal-Electrical Coupling in an Electrostatically Actuated MEMS Switch and Its Impact on the Switch Stability

    Directory of Open Access Journals (Sweden)

    Hassen M. Ouakad


    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.

  14. Printing low-voltage dielectric elastomer actuators (United States)

    Poulin, Alexandre; Rosset, Samuel; Shea, Herbert R.


    We demonstrate the fabrication of fully printed thin dielectric elastomer actuators (DEAs), reducing the operation voltage below 300 V while keeping good actuation strain. DEAs are soft actuators capable of strains greater than 100% and response times below 1 ms, but they require driving voltage in the kV range, limiting the possible applications. One way to reduce the driving voltage of DEAs is to decrease the dielectric membrane thickness, which is typically in the 20-100 μm range, as reliable fabrication becomes challenging below this thickness. We report here the use of pad-printing to produce μm thick silicone membranes, on which we pad-print μm thick compliant electrodes to create DEAs. We achieve a lateral actuation strain of 7.5% at only 245 V on a 3 μm thick pad-printed membrane. This corresponds to a ratio of 125%/kV2, by far the highest reported value for DEAs. To quantify the increasing stiffening impact of the electrodes on DEA performance as the membrane thickness decreases, we compare two circular actuators, one with 3 μm- and one with 30 μm-thick membranes. Our experimental measurements show that the strain uniformity of the 3 μm-DEA is indeed affected by the mechanical impact of the electrodes. We developed a simple DEA model that includes realistic electrodes of finite stiffness, rather than assuming zero stiffness electrodes as is commonly done. The simulation results confirm that the stiffening impact of the electrodes is an important parameter that should not be neglected in the design of thin-DEAs. This work presents a practical approach towards low-voltage DEAs, a critical step for the development of real world applications.

  15. Effect of platelet-shaped graphene additives on actuating response of carbon nanotube/ionic liquid/polymer composite actuators (United States)

    Monobe, Hirosato; Tsuchiya, Nobuyuki; Yamamura, Masahiro; Mukai, Ken; Sugino, Takushi; Asaka, Kinji


    In this study, the platelet-shaped graphene was used as a conductive additive in porous electrodes of a dry-type polymer actuator consisting of carbon nanotube (CNT), ionic liquid, and a base polymer to improve actuation properties. The generated strain was estimated from the bending motion of the actuator in the frequency range from 0.005 to 10 Hz. Ten different types of electrode film were prepared by changing the mixing amounts and surface areas of the platelet-shaped graphene. When a small amount of graphene (30 mg) relative to CNT (50 mg) was added to the CNT electrode, the strain was increased to be almost twice larger than that of CNT (50 mg) without any additives. The strain coefficient of the three-layered actuator with CNT electrodes with graphene additives is positively correlated with the capacitance per volume of such electrodes.

  16. Dielectric elastomer actuators for octopus inspired suction cups. (United States)

    Follador, M; Tramacere, F; Mazzolai, B


    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.

  17. The Lower Extremities Exoskeleton Actuator Dynamics Research Taking into Account Support Reaction

    Directory of Open Access Journals (Sweden)

    A. A. Vereikin


    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

  18. Surface Mn(II) oxidation actuated by a multicopper oxidase in a soil bacterium leads to the formation of manganese oxide minerals. (United States)

    Zhang, Zhen; Zhang, Zhongming; Chen, Hong; Liu, Jin; Liu, Chang; Ni, Hong; Zhao, Changsong; Ali, Muhammad; Liu, Fan; Li, Lin


    In this manuscript, we report that a bacterial multicopper oxidase (MCO266) catalyzes Mn(II) oxidation on the cell surface, resulting in the surface deposition of Mn(III) and Mn(IV) oxides and the gradual formation of bulky oxide aggregates. These aggregates serve as nucleation centers for the formation of Mn oxide micronodules and Mn-rich sediments. A soil-borne Escherichia coli with high Mn(II)-oxidizing activity formed Mn(III)/Mn(IV) oxide deposit layers and aggregates under laboratory culture conditions. We engineered MCO266 onto the cell surfaces of both an activity-negative recipient and wild-type strains. The results confirmed that MCO266 governs Mn(II) oxidation and initiates the formation of deposits and aggregates. By contrast, a cell-free substrate, heat-killed strains, and intracellularly expressed or purified MCO266 failed to catalyze Mn(II) oxidation. However, purified MCO266 exhibited Mn(II)-oxidizing activity when combined with cell outer membrane component (COMC) fractions in vitro. We demonstrated that Mn(II) oxidation and aggregate formation occurred through an oxygen-dependent biotic transformation process that requires a certain minimum Mn(II) concentration. We propose an approximate electron transfer pathway in which MCO266 transfers only one electron to convert Mn(II) to Mn(III) and then cooperates with other COMC electron transporters to transfer the other electron required to oxidize Mn(III) to Mn(IV).

  19. On reliable control system designs. Ph.D. Thesis; [actuators (United States)

    Birdwell, J. D.


    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  20. Soft pneumatic actuator skin with piezoelectric sensors for vibrotactile feedback

    Directory of Open Access Journals (Sweden)

    Harshal Arun Sonar


    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.

  1. Modular Architecture of a Non-Contact Pinch Actuation Micropump

    Directory of Open Access Journals (Sweden)

    Ruzairi Abdul Rahim


    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.

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

    Directory of Open Access Journals (Sweden)

    Somashekhar S. Hiremath


    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.

  3. Parameters design of the dielectric elastomer spring-roll bending actuator (Conference Presentation) (United States)

    Li, Jinrong; Liu, Liwu; Liu, Yanju; Leng, Jinsong


    Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

  4. Design of Piezoelectric PZT Cantilever for Actuator Application


    Abhay B. JOSHI; Dhananjay BODAS; S.A.GANGAL


    Piezoelectric MEMS cantilever is used as a basic element in sensing and actuation. This paper proposes a structural design of MEMS cantilever for actuator application based on bulk MEMS micromachining technique. The structure consists of a silicon dioxide cantilever with an attached piezoelectric layer. The cantilever is designed using analytical modeling and simulation tool: CoventorWare2009. Analytical and simulation results demonstrate deflection of 5.9 µm/V and 2.9 µm/V respectively with ...

  5. Investigation of the vdW Force-Induced Instability in Nano-scale Actuators Fabricated form Cylindrical Nanowires

    Directory of Open Access Journals (Sweden)

    Rahman Soroush


    Full Text Available The presence of van der Waals (vdW force can lead to mechanical instability in freestanding nano-scale actuators. Most of the previous researches in this area have exclusively focused on modeling the instability in actuators with one actuating components. While, less attention has been paid to actuators consist of two actuating components. Herein, the effect of the vdW force on the instability of freestanding actuators with two parallel actuating components is investigated. Conventional configurations including cantilever and double-clamped geometries are investigated. A continuum mechanics theory in conjunction with Euler-beam model is applied to obtain governing equations of the systems. The nonlinear governing equations of the actuators are solved using two different approaches, i.e. the modified Adomian decomposition and the finite difference method. The maximum length of the nanowire and minimum initial gap which prevents the instability is computed.

  6. Robust PID Controller for a Pneumatic Actuator


    Skarpetis Michael G.; Koumboulis Fotis N.; Panagiotakis George; Kouvakas Nikolaos D.


    In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provi...

  7. Magnetic actuation and transition shapes of a bistable spherical cap

    Directory of Open Access Journals (Sweden)

    E.G. Loukaides


    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.

  8. Climbing robot actuated by meso-hydraulic artificial muscles (United States)

    Bryant, Matthew; Fitzgerald, Jason; Miller, Samuel; Saltzman, Jonah; Kim, Sangkyu; Lin, Yong; Garcia, Ephrahim


    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.

  9. MOSFET Switching Circuit Protects Shape Memory Alloy Actuators (United States)

    Gummin, Mark A.


    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.

  10. Experiments on Optimal Vibration Control of a Flexible Beam Containing Piezoelectric Sensors and Actuators

    Directory of Open Access Journals (Sweden)

    Gustavo L.C.M. Abreu


    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.

  11. Gear-Driven Turnbuckle Actuator (United States)

    Rivera, Ricky N.


    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.

  12. Shape memory alloys for micromembrane actuation (United States)

    Surbled, Patrick; Le Pioufle, Bruno; Yang, E. H.; Fujita, Hiroyuki


    More and more technologies and new materials have been combined with silicon process technologies to enhance the performances of microsystems and extend the application fields. Among these technologies, the Shape Memory Alloys (SMA's) as thin films have been developed recently. They have been shown to induce high displacement and large force/mass ratio under low voltage. They can produce work output higher than can be provided with other kinds of actuators. However, such SMA actuators are not easy to make because specific annealing treatments or mechanical bias springs are needed to realize cyclic device operation. Moreover, adhesion problems of SMA thin films may occur during the annealing treatment. We have developed a simple fabrication process allowing a reliable operation principle of a micromembrane. The cyclic actuation is ensured by membrane thickness residual stresses that avoids the assembling steps. These membranes whose surface varies from 200 X 200 micrometer2 up to 2 X 2 mm2 have been successfully tested. As developed, they are very adapted to integration process of microelectronics and can be applied to many applications such as optical, fluidic devices, and especially for biomedical applications as SMA's are biocompatible.

  13. Electrowetting Actuation of Polydisperse Nanofluid Droplets

    Directory of Open Access Journals (Sweden)

    Crismar Patacsil


    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.

  14. Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics. (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A


    Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications.

  15. Surface CUrrents from a Diagnostic model (SCUD): Pacific (United States)

    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...

  16. Embodying Desired Behavior in Variable Stiffness Actuators

    NARCIS (Netherlands)

    Visser, L.C.; Stramigioli, Stefano; Bicchi, Antonio


    Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and internal actuated degrees of freedom that determine

  17. Energy-Efficient Variable Stiffness Actuators

    NARCIS (Netherlands)

    Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano


    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

  18. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy


    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

  19. Characteristics Analysis and Testing of SMA Spring Actuator

    Directory of Open Access Journals (Sweden)

    Jianzuo Ma


    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.

  20. Simulation Tool for Dielectric Barrier Discharge Plasma Actuators (United States)

    Likhanskii, Alexander


    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.

  1. Multiwalled Carbon Nanotube Deposition on Model Environmental Surfaces (United States)

    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...

  2. Robust, Flexible and Lightweight Dielectric Barrier Discharge Actuators Using Nanofoams/Aerogels (United States)

    Sauti, Godfrey (Inventor); Xu, Tian-Bing (Inventor); Siochi, Emilie J. (Inventor); Wilkinson, Stephen P. (Inventor); Meador, Mary Ann B. (Inventor); Guo, Haiquan N. (Inventor)


    Robust, flexible, lightweight, low profile enhanced performance dielectric barrier discharge actuators (plasma actuators) based on aerogels/nanofoams with controlled pore size and size distribution as well as pore shape. The plasma actuators offer high body force as well as high force to weight ratios (thrust density). The flexibility and mechanical robustness of the actuators allows them to be shaped to conform to the surface to which they are applied. Carbon nanotube (CNT) based electrodes serve to further decrease the weight and profile of the actuators while maintaining flexibility while insulating nano-inclusions in the matrix enable tailoring of the mechanical properties. Such actuators are required for flow control in aeronautics and moving machinery such as wind turbines, noise abatement in landing gear and rotary wing aircraft and other applications.

  3. Considerations for contractile electroactive materials and actuators (United States)

    Rasmussen, Lenore; Meixler, Lewis D.; Gentile, Charles A.


    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.

  4. Considerations For Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, Lewis D. Meixler and Charles A. Gentile


    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.

  5. Sensing and actuation of smart chiral honeycombs (United States)

    Abramovitch, H.; Burgard, M.; Edery-Azulay, Lucy; Evans, K. E.; Hoffmeister, M.; Miller, W.; Scarpa, F.; Smith, C. W.; Tee, K. F.; Schönecker, A.; Seffner, L.


    A chiral honeycomb configuration is developed with embedded piezosensors and actuators for smart sandwich panel applications. The chiral honeycomb concept is made of repeating units of cylinders and plates (ligaments), featuring an in-plane negative Poisson's ratio. Rapid Prototyping vacuum-cast and FDM (Fusion Deposition Moulding) techniques are developed to embed micro fibres composites to be used for potential structural health monitoring (SHM) applications, and microwave absorption screens for electromagnetic compatibility. Finite Element models are also developed to prototype and simulate the response, sensing and actuation capability of the honeycombs for design purposes. Dynamic tests using scanning laser vibrometers and acoustic wave propagation are carried out to assess the feasibility of the concept.

  6. Modelling and control of laser surface treatment

    NARCIS (Netherlands)

    Römer, Gerardus Richardus, Bernardus, Engelina


    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

  7. Optimization of a micro Coriolis mass flow sensor using Lorentz force actuation

    NARCIS (Netherlands)

    Groenesteijn, Jarno; Lammerink, Theodorus S.J.; Wiegerink, Remco J.; Haneveld, J.; Lötters, Joost Conrad


    In this paper we present Finite Element models to optimize the Lorentz force actuation of a micro Coriolis mass flow sensor. These models specify six different configurations for the permanent magnets used to create the magnetic field for the actuation. The models are used to compare the various

  8. A survey on dielectric elastomer actuators for soft robots. (United States)

    Gu, Guo-Ying; Zhu, Jian; Zhu, Li-Min; Zhu, Xiangyang


    Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

  9. Novel Cryogenic Actuator Development Project (United States)

    National Aeronautics and Space Administration —  New thin film low friction coating technologies have recently been developed and matured to the point for use in this IRAD actuator work.The new novel...

  10. Meso scale flextensional piezoelectric actuators (United States)

    York, Peter A.; Jafferis, Noah T.; Wood, Robert J.


    We present an ultra-thin meso scale piezoelectric actuator consisting of a piezoceramic beam and a carbon fiber displacement-amplification frame. We show that the actuator can be designed to achieve a wide range of force/displacement characteristics on the mN/μm scales. The best performing design achieved a free displacement of 106 μm and a blocked force of 73 mN, yielding a total energy density of 0.51 {{Jkg}}-1 for the 7.6 mg system. We describe a printed circuit MEMS process for fabricating the actuator that incorporates laser micromachining, chemical vapor deposition, and precision carbon fiber lamination. Lastly, we report the incorporation of the actuator into a microgripper and describe other promising application opportunities in micro-optics and micro-laser systems.

  11. A high-rate shape memory alloy actuator for aerodynamic load control on wind turbines

    NARCIS (Netherlands)

    Lara-Quintanilla, A.; Hulskamp, A.W.; Bersee, H.E.N.


    This paper discusses the development of a high rate shape memory alloy (SMA) driven actuator. The concept of the actuator was developed to act as aerodynamic load control surface on wind turbines. It was designed as a plate or beam-like structure with prestrained SMA wires embedded off its neutral

  12. 30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements. (United States)


    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors and manual actuators... § 75.1107-4 Automatic fire sensors and manual actuators; installation; minimum requirements. (a)(1... sensors or equivalent shall be installed for each 50 square feet of top surface area, or fraction thereof...

  13. Assessing surface solar radiation fluxes in CMIP5 model simulations (United States)

    Loew, Alexander; Itkin, Mikhail; Andersson, Axel; Trentmann, Jörg; Fennig, Karsten; Schröder, Marc


    Sophisticated Earth System models (ESM) are an essential research tool for better understanding the global climate system and its interactions. They are indispensable tools for providing projections about potential evolutions of the Earth climate in the future. Given the complexity of these deterministic models, it is essential to have a solid knowledge of the uncertainties of the model results in difference aspects of the models. The present paper presents results from a comprehensive study analyzing the shortwave surface radiation fluxes. State-of-the-art globals datasets of surface radiation components (surface solar radiation flux, surface albedo, surface net radiation flux) are used to benchmark results from the recent Coupled Model Intercomparison Project (CMIP5) in a standardized manner at the regional to global scale. Different skill score metrices are compared. All CMIP5 models are ranked according to their performance skill scores. The uncertainties from current observational records compared to uncertainties in climate model simulations are also analyzed. The results indicate that there are still large uncertainties (inconsistencies) among the different existing global surface radiation dataset which lead to rather different (relative) model rankings. In other words, the rank of a model is not only determined by the skill of the model itself, but also largely by the choice of a benchmarking (reference) dataset. As the differences resulting from the choice of different observational datasets are larger than between different models, progress in surface radiation flux simulations of climate models might depend on further progress in achieving consistent observations of surface radiation fluxes from space.

  14. Comparative Analysis of Uncertainties in Urban Surface Runoff Modelling

    DEFF Research Database (Denmark)

    Thorndahl, Søren; Schaarup-Jensen, Kjeld


    In the present paper a comparison between three different surface runoff models, in the numerical urban drainage tool MOUSE, is conducted. Analysing parameter uncertainty, it is shown that the models are very sensitive with regards to the choice of hydrological parameters, when combined overflow...... analysis, further research in improved parameter assessment for surface runoff models is needed....

  15. Dielectric Elastomer Actuators for Microfluidics


    Maffli, Luc; Rosset, Samuel; Shea, Herbert


    One of the goals of microfluidics is to bring a whole laboratory processing chain on a few square centimeters, Lab-On-Chips (LOC). But current LOCs require many heavy and power-consuming off-chip controls like pneumatics, pumps and valves, which keep the small chip bound to the lab. Miniaturized Dielectric Elastomer Actuators (DEA) are excellent candidates to make LOC truly portable, since they combine electrical actuation, large stroke volumes and high output forces. We report on the use of ...

  16. Model castings with composite surface layer - application

    Directory of Open Access Journals (Sweden)

    J. Szajnar


    Full Text Available The paper presents a method of usable properties of surface layers improvement of cast carbon steel 200–450, by put directly in foundingprocess a composite surface layer on the basis of Fe-Cr-C alloy. Technology of composite surface layer guarantee mainly increase inhardness and aberasive wear resistance of cast steel castings on machine elements. This technology can be competition for generallyapplied welding technology (surfacing by welding and thermal spraying. In range of studies was made cast steel test castings withcomposite surface layer, which usability for industrial applications was estimated by criterion of hardness and aberasive wear resistance of type metal-mineral and quality of joint cast steel – (Fe-Cr-C. Based on conducted studies a thesis, that composite surface layer arise from liquid state, was formulated. Moreover, possible is control of composite layer thickness and its hardness by suitable selection of parameters i.e. thickness of insert, pouring temperature and solidification modulus of casting. Possibility of technology application of composite surface layer in manufacture of cast steel slide bush for combined cutter loader is presented.

  17. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld


    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  18. On Geometric Variational Models for Inpainting Surface Holes (PREPRINT) (United States)


    ON GEOMETRIC VARIATIONAL MODELS FOR INPAINTING SURFACE HOLES By Vicent Caselles Gloria Haro Guillermo Sapiro and Joan Verdera IMA Preprint Series...TITLE AND SUBTITLE On Geometric Variational Models for Inpainting Surface Holes (PREPRINT) 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Geometric Variational Models for Inpainting Surface Holes V.Caselles1, G.Haro,1,2 G.Sapiro,3 and J.Verdera1 Corresponding author: Gloria Haro Full

  19. Finite Element Analysis and Vibration Control of a Deep Composite Cylindrical Shell Using MFC Actuators

    Directory of Open Access Journals (Sweden)

    Gangolu Vijay Kumar


    Full Text Available A four-node composite facet-shell element is developed, accounting for electromechanical coupling of Macrofiber Composite (MFC and conventional PZT patches. Further a warping correction is included in order to capture correctly the induced strain of conformable MFC, surface bonded on a cylindrical shell. The element performance to model the relations between in-plane electric field to normal strains is examined with the help of experiment and ANSYS analysis. In ANSYS, a simple modeling scheme is proposed for MFC using a parallel capacitors concept. The independent modal space control technique has been revisited to address the control of combination resonances through a selective modal space control scheme, where two or more modes can be combined to form the vibrating system or plant in modal domain. The developed control schemes are implemented in a digital processor using DS1104 and the closed-loop vibration control experiments are conducted on a CFRP shell structure. The influence of directionally induced actuation of MFC actuators on elastic couplings of composite shell is studied theoretically and is subsequently demonstrated in experiments. MFC actuators provide the much needed optimization domain for achieving the vibration control of combination resonances of elastically coupled deep-shell structure.

  20. Large-Stroke Self-Aligned Vertical Comb Drive Actuators for Adaptive Optics Applications

    Energy Technology Data Exchange (ETDEWEB)

    Carr, E J; Olivier, S S; Solgaard, O


    A high-stroke micro-actuator array was designed, modeled, fabricated and tested. Each pixel in the 4x4 array consists of a self-aligned vertical comb drive actuator. This micro-actuator array was designed to become the foundation of a micro-mirror array that will be used as a deformable mirror for adaptive optics applications. Analytical models combined with CoventorWare{reg_sign} simulations were used to design actuators that would move up to 10{micro}m in piston motion with 100V applied. Devices were fabricated according to this design and testing of these devices demonstrated an actuator displacement of 1.4{micro}m with 200V applied. Further investigation revealed that fabrication process inaccuracy led to significantly stiffer mechanical springs in the fabricated devices. The increased stiffness of the springs was shown to account for the reduced displacement of the actuators relative to the design.

  1. Modelling global fresh surface water temperature

    NARCIS (Netherlands)

    Beek, L.P.H. van; Eikelboom, T.; Vliet, M.T.H. van; Bierkens, M.F.P.


    Temperature directly determines a range of water physical properties including vapour pressure, surface tension, density and viscosity, and the solubility of oxygen and other gases. Indirectly water temperature acts as a strong control on fresh water biogeochemistry, influencing sediment

  2. Determination of buffer capacity by means of an ISFET-based coulometric sensor-actuator system with a gate-covering porous actuator

    NARCIS (Netherlands)

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


    In this paper we propose a dynamic way to measure the buffer capacity of an electrolyte by means of an ISFET-based coulometric sensor-actuator system whose gate is covered with a porous actuator. A theoterical model for this measurement is presented. Experiments are carried out in nitric and acetic

  3. Soft mobile robots driven by foldable dielectric elastomer actuators (United States)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong


    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  4. Soft mobile robots driven by foldable dielectric elastomer actuators

    Energy Technology Data Exchange (ETDEWEB)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong, E-mail: [State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace, Xi' an Jiaotong University, Xi' an 710049 (China)


    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  5. Tunable actuation of dielectric elastomer by electromechanical loading rates (United States)

    Li, Guorui; Zhang, Mingqi; Chen, Xiangping; Yang, Xuxu; Wong, Tuck-Whye; Li, Tiefeng; Huang, Zhilong


    Dielectric elastomer (DE) membranes are able to self-deform with the application of an electric field through the thickness direction. In comparison to conventional rigid counterparts, soft actuators using DE provide a variety of advantages such as high compliance, low noise, and light weight. As one of the challenges in the development of DE actuating devices, tuning the electromechanical actuating behavior is crucial in order to achieve demanded loading paths and to avoid electromechanical failures. In this paper, our experimental results show that the electromechanical loading conditions affect the actuating behaviors of the DE. The electrical actuating force can be tuned by 29.4% with the control of the electrical charging rate. In addition, controllable actuations have been investigated by the mechanical model in manipulating the electromechanical loading rate. The calculated results agree well with the experimental data. Lastly, it is believed that the mechanisms of controlling the electromechanical loading rate may serve as a guide for the design of DE devices and high performance soft robots in the near future.

  6. Bending fluidic actuator for smart structures (United States)

    Che-Ming Chang, Benjamin; Berring, John; Venkataram, Manu; Menon, Carlo; Parameswaran, M.


    This paper presents a novel silicone-based, millimeter-scale, bending fluidic actuator (BFA). Its unique parallel micro-channel design enables, for the first time, operation at low working pressure while at the same time having a very limited thickness expansion during pressurization. It also enables the actuator to have the highest ratios of angular displacement over length and torque over volume among previously proposed BFAs. In this work, this parallel micro-channel design is implemented by embedding the BFA with an innovative single winding conduit, which yields a simple, single-component configuration suitable for low-cost production and reliable performance. The BFA design can be easily scaled down to smaller dimensions and can be adapted to applications in restricted space, particularly minimally invasive surgery. In this work, the actuator is manufactured in TC-silicone through poly(methyl methacrylate) molds obtained by using laser cutting technology. Repeated angular displacement measurements on multiple prototypes having different stiffness are carried out. The experimental results are compared with an analytical model, which accurately predicts the performance of the device.

  7. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    KAUST Repository

    Hajjaj, Amal Z.


    This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341

  8. A Bayesian Generative Model for Surface Template Estimation

    Directory of Open Access Journals (Sweden)

    Jun Ma


    Full Text Available 3D surfaces are important geometric models for many objects of interest in image analysis and Computational Anatomy. In this paper, we describe a Bayesian inference scheme for estimating a template surface from a set of observed surface data. In order to achieve this, we use the geodesic shooting approach to construct a statistical model for the generation and the observations of random surfaces. We develop a mode approximation EM algorithm to infer the maximum a posteriori estimation of initial momentum μ, which determines the template surface. Experimental results of caudate, thalamus, and hippocampus data are presented.

  9. A model of Martian surface chemistry (United States)

    Oyama, V. I.; Berdahl, B. J.


    Alkaline earth and alkali metal superoxides and peroxides, gamma-Fe2O3 and carbon suboxide polymer, are proposed to be constituents of the Martian surface material. These reactive substances explain the water modified reactions and thermal behaviors of the Martian samples demonstrated by all of the Viking Biology Experiments. It is also proposed that the syntheses of these substances result mainly from electrical discharges between wind-mobilized particles at Martian pressures; plasmas are initiated and maintained by these discharges. Active species in the plasma either combine to form or react with inorganic surfaces to create the reactive constituents.

  10. Stable electroosmotically driven actuators (United States)

    Sritharan, Deepa; Motsebo, Mylene; Tumbic, Julia; Smela, Elisabeth


    We have previously presented "nastic" actuators based on electroosmotic (EO) pumping of fluid in microchannels using high electric fields for potential application in soft robotics. In this work we address two challenges facing this technology: applying EO to meso-scale devices and the stability of the pumping fluid. The hydraulic pressure achieved by EO increases with as 1/d2, where d is the depth of the microchannel, but the flow rate (which determines the stroke and the speed) is proportional to nd, where n is the number of channels. Therefore to get high force and high stroke the device requires a large number of narrow channels, which is not readily achievable using standard microfabrication techniques. Furthermore, for soft robotics the structure must be soft. In this work we present a method of fabricating a three-dimensional porous elastomer to serve as the array of channels based on a sacrificial sugar scaffold. We demonstrate the concept by fabricating small pumps. The flexible devices were made from polydimethylsiloxane (PDMS) and comprise the 3D porous elastomer flanked on either side by reservoirs containing electrodes. The second issue addressed here involves the pumping fluid. Typically, water is used for EO, but water undergoes electrolysis even at low voltages. Since EO takes place at kV, these systems must be open to release the gases. We have recently reported that propylene carbonate (PC) is pumped at a comparable rate as water and is also stable for over 30 min at 8 kV. Here we show that PC is, however, degraded by moisture, so future EO systems must prevent water from reaching the PC.

  11. Phase structure of a surface model with many fine holes. (United States)

    Koibuchi, H


    We study the phase structure of a surface model by using the canonical Monte Carlo simulation technique on triangulated, fixed connectivity, and spherical surfaces with many fine holes. The size of a hole is assumed to be of the order of lattice spacing (or bond length) and hence can be negligible compared to the surface size in the thermodynamic limit. We observe in the numerical data that the model undergoes a first-order collapsing transition between the smooth phase and the collapsed phase. Moreover the Hasudorff dimension H remains in the physical bound, i.e., H model in this paper and the previous one with many holes, whose size is of the order of the surface size, because the previous surface model with large-sized holes has only the collapsing transition and no transition of surface fluctuations.

  12. Towards a Revised Monte Carlo Neutral Particle Surface Interaction Model

    Energy Technology Data Exchange (ETDEWEB)

    D.P. Stotler


    The components of the neutral- and plasma-surface interaction model used in the Monte Carlo neutral transport code DEGAS 2 are reviewed. The idealized surfaces and processes handled by that model are inadequate for accurately simulating neutral transport behavior in present day and future fusion devices. We identify some of the physical processes missing from the model, such as mixed materials and implanted hydrogen, and make some suggestions for improving the model.

  13. Methanol Oxidation on Model Elemental and Bimetallic Transition Metal Surfaces

    DEFF Research Database (Denmark)

    Tritsaris, G. A.; Rossmeisl, J.


    Direct methanol fuel cells are a key enabling technology for clean energy conversion. Using density functional theory calculations, we study the methanol oxidation reaction on model electrodes. We discuss trends in reactivity for a set of monometallic and bimetallic transition metal surfaces, flat...... sites on the surface and to screen for novel bimetallic surfaces of enhanced activity. We suggest platinum copper surfaces as promising anode catalysts for direct methanol fuel cells....

  14. Automatic design of fiber-reinforced soft actuators for trajectory matching (United States)

    Connolly, Fionnuala; Walsh, Conor J.; Bertoldi, Katia


    Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

  15. Surface Flux Modeling for Air Quality Applications (United States)

    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 c...

  16. A model of the ideal molecular surface (United States)

    Henson, Bryan; Smilowitz, Laura


    We utilize two manifestations of the phenomena of the quasiliquid phase on the surface of molecular crystals to formulate a universal thermodynamic theory describing the thickness of the layer as a function of the liquid phase activity. We use direct measurements of the liquid thickness as a function of temperature and measurements of the acceleration of thermal decomposition as a function of temperature approaching the melting point to illustrate the mechanism. We show that given the existence of a liquid phase below the melting point the ideal liquid activity is necessarily a fixed function of the free energies of sublimation and vaporization. We use this activity to create a reduced formula for the liquid thickness generally applicable to the molecular surface. We provide a prediction of the mechanism and kinetics of quasiliquid formation and show that the phase exists as a metastable kinetic steady state. We show that to first order the principle controlling feature of the system is the configurational entropy of the liquid/solid interface, rather than the specifics of the surface potential energy. This is analogous to other bulk colligative phenomena such as ideal gas and solution theories, and is thus an ideal, universal formulation of inherent, thermodynamically driven, surface disorder.

  17. Surface aerodynamic temperature modeling over rainfed cotton (United States)

    Evapotranspiration (ET) or latent heat flux (LE) can be spatially estimated as an energy balance (EB) residual for land surfaces using remote sensing inputs. The EB equation requires the estimation of net radiation (Rn), soil heat flux (G), and sensible heat flux (H). Rn and G can be estimated with ...

  18. Empirical model for estimating the surface roughness of machined ...

    African Journals Online (AJOL)

    Michael Horsfall

    in the present industrial age, in which the growing competition calls for all the efforts to be directed towards the economical manufacture of ... used a neural network modeling approach to predict surface roughness and tool wear in ... networks in machining process modeling to predict surface roughness in turning operation ...

  19. Model for the Evolving Bed Surface around an Offshore Monopile

    DEFF Research Database (Denmark)

    Hartvig, Peres Akrawi


    This paper presents a model for the bed surface around an offshore monopile. The model has been designed from measured laboratory bed surfaces and is shown to reproduce these satisfactorily for both scouring and backfilling. The local rate of the bed elevation is assumed to satisfy a certain gene...

  20. Mathematical Modelling of Aluminiun Surface when Dipped in ...

    African Journals Online (AJOL)

    Mathematical Modelling of Aluminiun Surface when Dipped in Molten Metal. ... Nigeria Journal of Pure and Applied Physics ... model is presented to describe the undulating surface of aluminium casting during an industrial process involving the dipping of the mould, at a particular velocity, into the molten metal. The problem ...

  1. Revisiting the global surface energy budgets with maximum-entropy-production model of surface heat fluxes (United States)

    Huang, Shih-Yu; Deng, Yi; Wang, Jingfeng


    The maximum-entropy-production (MEP) model of surface heat fluxes, based on contemporary non-equilibrium thermodynamics, information theory, and atmospheric turbulence theory, is used to re-estimate the global surface heat fluxes. The MEP model predicted surface fluxes automatically balance the surface energy budgets at all time and space scales without the explicit use of near-surface temperature and moisture gradient, wind speed and surface roughness data. The new MEP-based global annual mean fluxes over the land surface, using input data of surface radiation, temperature data from National Aeronautics and Space Administration-Clouds and the Earth's Radiant Energy System (NASA CERES) supplemented by surface specific humidity data from the Modern-Era Retrospective Analysis for Research and Applications (MERRA), agree closely with previous estimates. The new estimate of ocean evaporation, not using the MERRA reanalysis data as model inputs, is lower than previous estimates, while the new estimate of ocean sensible heat flux is higher than previously reported. The MEP model also produces the first global map of ocean surface heat flux that is not available from existing global reanalysis products.

  2. Modeling wind adjustment factor and midflame wind speed for Rothermel's surface fire spread model (United States)

    Patricia L. Andrews


    Rothermel's surface fire spread model was developed to use a value for the wind speed that affects surface fire, called midflame wind speed. Models have been developed to adjust 20-ft wind speed to midflame wind speed for sheltered and unsheltered surface fuel. In this report, Wind Adjustment Factor (WAF) model equations are given, and the BehavePlus fire modeling...

  3. A New Type of Magnetic Actuator Capable of Wall-Climbing Movement Using Inertia Force

    Directory of Open Access Journals (Sweden)

    H. Yaguchi


    Full Text Available This paper proposes a new type of a magnetic actuator that operates on a resonance energy of a mass-spring model by using an electromagnetic force. The magnetic actuator is moved by the difference in an inertia force during one period of vibration. Experimental result demonstrates that a horizontal speed of the magnetic actuator was 7.4 mm/s with load mass of 50 g. We considered a method of a cable-free movement of the actuator by using two iron rails and four permanent magnets. The magnetic actuator is able to move stably a ceiling plane and a wall plane. This actuator is able to move on the plane of the magnetic materials only a function generator and a power amplifier.

  4. Investigation of oscillations of piezoelectric actuators with multi-directional polarization (United States)

    Lucinskis, Raimundas; Mazeika, Dalius; Bansevicius, Ramutis


    Oscillations of two beam type piezoelectric actuators with non-homogeneous polarization are investigated. 3DOF oscillations of the contact point are excited applying harmonic signal on the electrodes of the actuators. Elliptical motion of the contact point is generated in the three perpendicular planes independently. Investigated actuators can move or rotate slider in three different directions. Superposition of flexural resonant oscillations in two perpendicular directions and longitudinal resonant oscillation of the beam is employed to obtain elliptical motion of the contact point. Performed investigation demonstrates that the piezoelectric actuators with non-homogeneous polarization provide an effective solution for generation a multi-DOF motion of the contact point. Both proposed actuators have specific topology of the electrodes that allows to control contact point trajectory by means of particular excitation regimes. The paper presents results of numerical modeling as well as experimental study obtained in the course of testing of the fabricated prototypes of the actuators.

  5. Reversing flow causes passive shark scale actuation in a separating turbulent boundary layer (United States)

    Lang, Amy; Gemmell, Bradford; Motta, Phil; Habegger, Laura; Du Clos, Kevin; Devey, Sean; Stanley, Caleb; Santos, Leo


    Control of flow separation by shortfin mako skin in experiments has been demonstrated, but the mechanism is still poorly understood yet must be to some extent Re independent. The hypothesized mechanisms inherent in the shark skin for controlling flow separation are: (1) the scales, which are capable of being bristled only by reversing flow, inhibit flow reversal events from further development into larger-scale separation and (2) the cavities formed when scales bristle induces mixing of high momentum flow towards the wall thus energizing the flow close to the surface. Two studies were carried out to measure passive scale actuation caused by reversing flow. A small flow channel induced an unsteady, wake flow over the scales prompting reversing flow events and scale actuation. To resolve the flow and scale movements simultaneously we used specialized optics at high magnification (1 mm field of view) at 50,000 fps. In another study, 3D printed models of shark scales, or microflaps (bristling capability up to 50 degrees), were set into a flat plate. Using a tripped, turbulent boundary layer grown over the long flat plate and a localized adverse pressure gradient, a separation bubble was generated within which the microflaps were placed. Passive flow actuation of both shark scales and microflaps by reversing flow was observed. Funding from Army Research Office and NSF REU site Grant.

  6. High-Contrast Coronagraph Performance in the Presence of DM Actuator Defects (United States)

    Sidick, Erkin; Shaklan, Stuart; Cady, Eric


    Deformable Mirrors (DMs) are critical elements in high contrast coronagraphs, requiring precision and stability measured in picometers to enable detection of Earth-like exoplanets. Occasionally DM actuators or their associated cables or electronics fail, requiring a wavefront control algorithm to compensate for actuators that may be displaced from their neighbors by hundreds of nanometers. We have carried out experiments on our High-Contrast Imaging Testbed (HCIT) to study the impact of failed actuators in partial fulfillment of the Terrestrial Planet Finder Coronagraph optical model validation milestone. We show that the wavefront control algorithm adapts to several broken actuators and maintains dark-hole contrast in broadband light.

  7. Shallow Water Propagation and Surface Reverberation Modeling (United States)


    Callaghan, A. H., G. B. Deane and M. D. Stokes, "Two regimes of laboratory whitecap foam decay: Bubble -plume controlled and surfactant stabilized," J...interest are scattering from surface gravity waves and the effect of whitecaps and bubble clouds on underwater acoustic communications. Secondary long...term goals were to 1. exploit measurements of breaking wave noise and photographic images of whitecaps to infer bubble cloud populations at the sea

  8. Scientific Research Program for Power, Energy, and Thermal Technologies. Task Order 0001: Energy, Power, and Thermal Technologies and Processes Experimental Research. Subtask: Thermal Management of Electromechanical Actuation System for Aircraft Primary Flight Control Surfaces (United States)


    4 HPU Supply and Return Valves ..................................................................................85 Figure C-5 Water Valves at Pump...Computer FHPCP Flexible Heat Pipe Cold Plate HPEAS High Performance Electric Actuation System HPU Hydraulic Power Unit HSM Hydraulic Service...commanded speed setpoint. A MTS hydraulic press assembly made up of a hydraulic power unit ( HPU 505G2), hydraulic service manifold (HSM 292.22

  9. Design and control of hybrid actuation lower limb exoskeleton

    Directory of Open Access Journals (Sweden)

    Hipolito Aguilar-Sierra


    Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

  10. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar


    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full......-order discrete linear observer was employed. Results of numerical simulations, where the structure is submitted to an impulsive disturbance force and to a harmonic force, show that the oscillations can be significantly reduced with the use of the electromagnetic actuators....

  11. Tailoring the actuation of ionic polymer metal composites (United States)

    Nemat-Nasser, Sia; Wu, Yongxian


    Ionic polymer-metal composites (IPMCs) are biomimetic actuators and sensors. A typical IPMC consists of a thin perfluorinated ionomer membrane, with noble metal electrodes plated on both faces, and neutralized with the necessary amount of cations. A cantilevered strip of IPMC responds to an electric stimulus by generating large bending motions and, conversely, produces an electric potential upon sudden bending deformations. IPMCs have been considered for potential applications in artificial muscles, robotic systems, and biomedical devices. By examining the underpinning mechanisms responsible for the actuation and the factors that affect IPMC's performance, novel methods to tailor its electro-mechanical response to obtain optimized actuation activities are developed and presented in this paper. By introducing various monovalent or multivalent single cations and cation combinations, diverse actuation behaviors can be obtained and optimal actuation activities can be identified. The experimental measurements show good agreement with the results obtained using the nano-scaled, physics-based model that was introduced by the first author to predict the actuation of IPMCs qualitatively and quantitatively. The bending motion of IPMCs can also be tailored by modifying the time variation of the applied direct or alternating current. We have discovered that the Nafion-based IPMC's initial motion towards the anode can be controlled and ultimately eliminated by applying a linearly increasing electric potential at a suitable rate. For Flemion-based IPMCs, the tip displacement towards the anode is always linearly related to the cation charge accumulation at the cathode. These results have significant bearing on verifying various IPMC actuation models.

  12. Soft Pneumatic Actuator Fascicles for High Force and Reliability. (United States)

    Robertson, Matthew A; Sadeghi, Hamed; Florez, Juan Manuel; Paik, Jamie


    Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system.

  13. Magnetic Actuation of Self-Assembled DNA Hinges (United States)

    Lauback, S.; Mattioli, K.; Armstrong, M.; Miller, C.; Pease, C.; Castro, C.; Sooryakumar, R.

    DNA nanotechnology offers a broad range of applications spanning from the creation of nanoscale devices, motors and nanoparticle templates to the development of precise drug delivery systems. Central to advancing this technology is the ability to actuate or reconfigure structures in real time, which is currently achieved primarily by DNA strand displacement yielding slow actuation times (about 1-10min). Here we exploit superparamagnetic beads to magnetically actuate DNA structures which also provides a system to measure forces associated with molecular interactions. DNA nanodevices are folded using DNA origami, whereby a long single-stranded DNA is folded into a precise compact geometry using hundreds of short oligonucleotides. Our DNA nanodevice is a nanohinge from which rod shaped DNA nanostructures are polymerized into micron-scale filaments forming handles for actuation. By functionalizing one arm of the hinge and the filament ends, the hinge can be attached to a surface while still allowing an arm to rotate and the filaments can be labeled with magnetic beads enabling the hinge to be actuated almost instantaneously by external magnetic fields. These results lay the groundwork to establish real-time manipulation and direct force application of DNA constructs.

  14. Acoustic actuation of in situ fabricated artificial cilia (United States)

    Orbay, Sinem; Ozcelik, Adem; Bachman, Hunter; Huang, Tony Jun


    We present on-chip acoustic actuation of in situ fabricated artificial cilia. Arrays of cilia structures are UV polymerized inside a microfluidic channel using a photocurable polyethylene glycol (PEG) polymer solution and photomasks. During polymerization, cilia structures are attached to a silane treated glass surface inside the microchannel. Then, the cilia structures are actuated using acoustic vibrations at 4.6 kHz generated by piezo transducers. As a demonstration of a practical application, DI water and fluorescein dye solutions are mixed inside a microfluidic channel. Using pulses of acoustic excitations, and locally fabricated cilia structures within a certain region of the microchannel, a waveform of mixing behavior is obtained. This result illustrates one potential application wherein researchers can achieve spatiotemporal control of biological microenvironments in cell stimulation studies. These acoustically actuated, in situ fabricated, cilia structures can be used in many on-chip applications in biological, chemical and engineering studies.

  15. Liquid Crystal Elastomer Actuators from Anisotropic Porous Polymer Template. (United States)

    Wang, Qian; Yu, Li; Yu, Meina; Zhao, Dongyu; Song, Ping; Chi, Hun; Guo, Lin; Yang, Huai


    Controlling self-assembly behaviors of liquid crystals is a fundamental issue for designing them as intelligent actuators. Here, anisotropic porous polyvinylidene fluoride film is utilized as a template to induce homogeneous alignment of liquid crystals. The mechanism of liquid crystal alignment induced by anisotropic porous polyvinylidene fluoride film is illustrated based on the relationship between the alignment behavior of liquid crystals and surface microstructure of anisotropic polyvinylidene fluoride film. Liquid crystal elastomer actuators with fast responsiveness, large strain change, and reversible actuation behaviors are achieved by the photopolymerization of liquid crystal monomer in liquid crystal cells coated with anisotropic porous films. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  16. Modeling out-of-plane actuation in thin-film nematic polymer networks: From chiral ribbons to auto-origami boxes via twist and topology (United States)

    Gimenez-Pinto, Vianney; Ye, Fangfu; Mbanga, Badel; Selinger, Jonathan V.; Selinger, Robin L. B.


    Various experimental and theoretical studies demonstrate that complex stimulus-responsive out-of-plane distortions such as twist of different chirality, emergence of cones, simple and anticlastic bending can be engineered and pre-programmed in a liquid crystalline rubbery material given a well-controlled director microstructure. Via 3-d finite element simulation studies, we demonstrate director-encoded chiral shape actuation in thin-film nematic polymer networks under external stimulus. Furthermore, we design two complex director fields with twisted nematic domains and nematic disclinations that encode a pattern of folds for an auto-origami box. This actuator will be flat at a reference nematic state and form four well-controlled bend distortions as orientational order changes. Device fabrication is applicable via current experimental techniques. These results are in qualitative agreement with theoretical predictions, provide insight into experimental observations, and demonstrate the value of finite element methods at the continuum level for designing and engineering liquid crystal polymeric devices.

  17. Grain size and nanoscale effects on the nonlinear pull-in instability and vibrations of electrostatic actuators made of nanocrystalline material (United States)

    Gholami, R.; Ansari, R.


    Presented herein is the study of grain size, grain surface energy and small scale effects on the nonlinear pull-in instability and free vibration of electrostatic nanoscale actuators made of nanocrystalline silicon (Nc-Si). A Mori–Tanaka micromechanical model is utilized to calculate the effective material properties of Nc-Si considering material structure inhomogeneity, grain size and grain surface energy. The small-scale effect is also taken into account using Mindlin’s strain gradient theory. Governing equations are derived in the discretized weak form using the variational differential quadrature method based on the third-order shear defamation beam theory in conjunction with the von Kármán hypothesis. The electrostatic actuation is modeled considering the fringing field effects based upon the parallel plate approximation. Moreover, the Casimir force effect is considered. The pseudo arc-length continuation technique is used to obtain the applied voltage-deflection curve of Nc-Si actuators. Then, a time-dependent small disturbance around the deflected configuration is assumed to solve the free vibration problem. By performing a numerical study, the influences of various factors such as length scale parameter, volume fraction of the inclusion phase, density ratio, average inclusion radius and Casimir force on the pull-in instability and free vibration of Nc-Si actuators are investigated.

  18. Elastic actuation for legged locomotion (United States)

    Cao, Chongjing; Conn, Andrew


    The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.

  19. Integrated Computational Modelling of Thermochemical Surface Engineering of Stainless Steel

    DEFF Research Database (Denmark)

    Kücükyildiz, Ömer Can; Sonne, Mads Rostgaard; Thorborg, Jesper


    evolution are taken into account in the model: concentration-dependent diffusion of nitrogen atoms, a slow surface reaction, elasto-plastic accommodation of lattice expansion and thermal and mechanical influences on thermodynamics (solubility) and diffusion kinetics. The model is one-dimensional and assumes...... and force equilibrium. The model is used to explore the role and to assess the kinetics of the surface reaction....

  20. Response surface and artificial neural network prediction model and optimization for surface roughness in machining

    Directory of Open Access Journals (Sweden)

    Ashok Kumar Sahoo


    Full Text Available The present paper deals with the development of prediction model using response surface methodology and artificial neural network and optimizes the process parameter using 3D surface plot. The experiment has been conducted using coated carbide insert in machining AISI 1040 steel under dry environment. The coefficient of determination value for RSM model is found to be high (R2 = 0.99 close to unity. It indicates the goodness of fit for the model and high significance of the model. The percentage of error for RSM model is found to be only from -2.63 to 2.47. The maximum error between ANN model and experimental lies between -1.27 and 0.02 %, which is significantly less than the RSM model. Hence, both the proposed RSM and ANN prediction model sufficiently predict the surface roughness, accurately. However, ANN prediction model seems to be better compared with RSM model. From the 3D surface plots, the optimal parametric combination for the lowest surface roughness is d1-f1-v3 i.e. depth of cut of 0.1 mm, feed of 0.04 mm/rev and cutting speed of 260 m/min respectively.