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Sample records for actuator surface model

  1. Electrostatic actuators fabricated by surface micromachining techniques

    OpenAIRE

    Legtenberg, Rob

    1996-01-01

    This thesis deals with "electrostatic actuators fabricated by surface micromachining techniques". It presents fabrication techniques, design issues, modelling and performance characteristics of a number of electrostatic actuators. These actuators can be used in future micromechanical devices and systems which have applications such as micropositioning, microfluidics, microsurgery etc.

  2. Model of magnetostrictive actuator

    Institute of Scientific and Technical Information of China (English)

    LI Lin; ZHANG Yuan-yuan

    2005-01-01

    The hysteresis of the magnetostrictive actuator was studied. A mathematical model of the hysteresis loop was obtained on the basis of experiment. This model depends on the frequency and the amplitude of the alternating current inputted to the magnetostrictive actuator. Based on the model, the effect of hysteresis on dynamic output of the magnetostrictive actuator was investigated. Then how to consider hysteresis and establish a dynamic model of a magnetostrictive actuator system is discussed when a practical system was designed and applied.

  3. The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations

    DEFF Research Database (Denmark)

    Shen, Wen Zhong; Zhang, J.H.; Sørensen, Jens Nørkær

    2009-01-01

    This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along ...

  4. A new class of actuator surface models incorporating wind turbine blade and nacelle geometry effects

    Science.gov (United States)

    Yang, Xiaolei; Sotiropoulos, Fotis

    2015-11-01

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

  5. Optimal smoothing length scale for actuator line models of lifting surfaces

    CERN Document Server

    Martinez-Tossas, Luis A

    2015-01-01

    The actuator line model (ALM) is a commonly used method to represent lifting surfaces such as wind turbine blades within Large-Eddy Simulations (LES). In ALM the lift and drag forces are replaced by an imposed body force which is typically smoothed over several grid points using a Gaussian kernel with some prescribed smoothing width $\\epsilon$. To date, the choice of $\\epsilon$ has most often been based on numerical considerations mostly related to the grid spacing used in LES. However, especially for finely resolved LES with grid spacings on the order or smaller than the chord-length of the blade, the best choice of $\\epsilon$ is not known. Focusing first on the lift force, here we find $\\epsilon$ and the force center location that minimize the square difference between the velocity fields obtained from solving 2D potential flow over Joukowski airfoils and solving the Euler equations including the imposed body force. The latter solution is found for the linearized problem, and is valid for small angles of at...

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

    Institute of Scientific and Technical Information of China (English)

    Minh Khang Phan; Jichul Shin

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Minh Khang Phan

    2016-08-01

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

  8. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok

    2013-01-01

    IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

  9. Improving actuator disk wake model

    International Nuclear Information System (INIS)

    The wind energy industry has traditionally relied on simple wake models for estimating Wind Turbine (WT) wake losses. Despite limitations, low requirements in terms of detailed rotor information makes their use feasible, unlike more complex models, such as Blade Element Method (BEM) or Actuator Line. Froude's Actuator Disk (AD) does not suffer the simpler model's limitation of prescribing the wake through a closed set of equations, while sharing with them the low rotor data requirements. On the other hand they require some form of parametrization to close the model and calculate total thrust acting on the flow. An Actuator Disk model was developed, using an iterative algorithm based on Froude's one-dimensional momentum theory to determine the WT's performance, proving to be successful in estimating the performance of both machines in undisturbed flow and in the wake of an upstream machines. Before Froude's AD limitations compared to more complex rotor models, load distributions emulating those of a BEM model were tested. The results show that little impact is obtained at 3 rotor diameters downstream and beyond, agreeing with common definition of a far-wake that starts at 1-2 diameters downstream, where rotor characteristics become negligible and atmospheric flow effects dominate

  10. Surface micromachined electrostatically actuated micro peristaltic pump

    OpenAIRE

    Xie, Jun; Shih, Jason; Lin, Qiao; Yang, Bozhi; Tai, Yu-Chong

    2004-01-01

    An electrostatically actuated micro peristaltic pump is reported. The micro pump is entirely surface micromachined using a multilayer parylene technology. Taking advantage of the multilayer technology, the micro pump design enables the pumped fluid to be isolated from the electric field. Electrostatic actuation of the parylene membrane using both DC and AC voltages was demonstrated and applied to fluid pumping based on a 3-phase peristaltic sequence. A maximum flow rate of 1.7 nL min^–1 and a...

  11. Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB

    Science.gov (United States)

    Reaves, Mercedes C.; Horta, Lucas G.

    2003-01-01

    This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.

  12. Nonlinear Model-Based Fault Detection for a Hydraulic Actuator

    NARCIS (Netherlands)

    Van Eykeren, L.; Chu, Q.P.

    2011-01-01

    This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost effect

  13. Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model

    Science.gov (United States)

    Melton, LaTunia Pack; Koklu, Mehti

    2016-01-01

    Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.

  14. An improved model for the cantilever NEMS actuator including the surface energy, fringing field and Casimir effects

    Science.gov (United States)

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

    2016-01-01

    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.

  15. Analytical dynamic modeling of fast trilayer polypyrrole bending actuators

    International Nuclear Information System (INIS)

    Analytical modeling of conjugated polymer actuators with complicated electro-chemo-mechanical dynamics is an interesting area for research, due to the wide range of applications including biomimetic robots and biomedical devices. Although there have been extensive reports on modeling the electrochemical dynamics of polypyrrole (PPy) bending actuators, mechanical dynamics modeling of the actuators remains unexplored. PPy actuators can operate with low voltage while producing large displacement in comparison to robotic joints, they do not have friction or backlash, but they suffer from some disadvantages such as creep and hysteresis. In this paper, a complete analytical dynamic model for fast trilayer polypyrrole bending actuators has been proposed and named the analytical multi-domain dynamic actuator (AMDDA) model. First an electrical admittance model of the actuator will be obtained based on a distributed RC line; subsequently a proper mechanical dynamic model will be derived, based on Hamilton's principle. The purposed modeling approach will be validated based on recently published experimental results

  16. Modeling dynamics of multilayered SMA actuators

    Science.gov (United States)

    Melnik, Roderick V. N.; Roberts, Anthony J.

    2001-03-01

    Since the phase change in SMA-based devices such as actuators is accompanied by a significant heat exchange with the surroundings, different concepts to heat/cool SMAs have been proposed in the literature. Most of these concepts require the analysis of a multilayered (e.g. ``sandwich"-type) structure where the SMA layer is placed between layers with another material. In this paper we propose a mathematical model and an efficient numerical method for this analysis. Although our approach can be applied to a wide range of different designs of multilayered actuators, the basic idea of the model construction is explained in this paper for a specific design based on the introduction of semiconductor ``heat pump" modules into the device and the Peltier effect for the heat exchange. The dynamics of thermomechanical fields is studied with a coupled system of PDEs based on conservation laws. The system, supplemented by constitutive relationships in the Falk form, is reduced to a differential-algebraic (DA) model and solved with an effective DA solver developed in our previous works. Numerical results on thermomechanical behaviour of SMA components in multilayered actuators are presented.

  17. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation.

    Science.gov (United States)

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

    2011-01-01

    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654

  18. The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot

    Science.gov (United States)

    Stone, David L.; Cranney, John; Liang, Robert; Taya, Minoru

    2004-07-01

    The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morph-able robot for military forces in the field and for other industrial uses. The USTLAB and University of Washington Center for Intelligent Materials and Systems (CIMS) effort builds on USTLAB proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. A collaborative effort between USTLAB and UW-CIMS explored the application of Shape Memory Alloy Nickel Titanium Alloy springs to a leg extension actuator capable of actuating with 4.5 Newton force over a 50 mm stroke. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved conventional actuation which currently enable active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), have developed a leg extension actuator demonstration model, and we have positioned our team to pursue a small vehicle with leg extension actuators in follow on work. The CSR vehicle's modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process, actuator and vehicle characteristics will be discussed.

  19. Multiscale modeling and topology optimization of poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    2012-01-01

    This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc......This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material...

  20. Monolithic integration of waveguide structures with surface-micromachined polysilicon actuators

    Energy Technology Data Exchange (ETDEWEB)

    Smith, J.H.; Carson, R.F.; Sullivan, C.T.; McClellan, G.

    1996-03-01

    The integration of optical components with polysilicon surface micromechanical actuation mechanisms show significant promise for signal switching, fiber alignment, and optical sensing applications. Monolithically integrating the manufacturing process for waveguide structures with the processing of polysilicon actuators allows actuated waveguides to take advantage of the economy of silicon manufacturing. The optical and stress properties of the oxides and nitrides considered for the waveguide design along with design, fabrication, and testing details for the polysilicon actuators are presented.

  1. Nonlinear actuation dynamics of driven Casimir oscillators with rough surfaces

    CERN Document Server

    Broer, Wijnand; Svetovoy, Vitaly B; Knoester, Jasper; Palasantzas, George

    2015-01-01

    At separations below 100 nm, Casimir-Lifshitz forces strongly influence the actuation dynamics of micro-electromechanical systems (MEMS) in dry vacuum conditions. For a micron size plate oscillating near a surface, which mimics a frequently used setup in experiments with MEMS, we show that the roughness of the surfaces significantly influences the qualitative dynamics of the oscillator. Via a combination of analytical and numerical methods, it is shown that surface roughness leads to a clear increase of initial conditions associated with chaotic motion, that eventually lead to stiction between the surfaces. Since stiction leads to malfunction of MEMS oscillators, our results are of central interest for the design of microdevices. Moreover, they are of significance for fundamentally motivated experiments performed with MEMS.

  2. Nonlinear Actuation Dynamics of Driven Casimir Oscillators with Rough Surfaces

    Science.gov (United States)

    Broer, Wijnand; Waalkens, Holger; Svetovoy, Vitaly B.; Knoester, Jasper; Palasantzas, George

    2015-11-01

    At separations below 100 nm, Casimir-Lifshitz forces strongly influence the actuation dynamics of microelectromechanical systems (MEMS) in dry vacuum conditions. For a micron-size plate oscillating near a surface, which mimics a frequently used setup in experiments with MEMS, we show that the roughness of the surfaces significantly influences the qualitative dynamics of the oscillator. Via a combination of analytical and numerical methods, it is shown that surface roughness leads to a clear increase of initial conditions associated with chaotic motion, that eventually lead to stiction between the surfaces. Since stiction leads to a malfunction of MEMS oscillators, our results are of central interest for the design of microdevices. Moreover, stiction is of significance for fundamentally motivated experiments performed with MEMS.

  3. Modelling the nonlinear response of fibre-reinforced bending fluidic actuators

    Science.gov (United States)

    Cacucciolo, Vito; Renda, Federico; Poccia, Ernesto; Laschi, Cecilia; Cianchetti, Matteo

    2016-10-01

    Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.

  4. Model and control of tendon actuated robots

    OpenAIRE

    Palli, Gianluca

    2007-01-01

    The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brie...

  5. Post-buckled precompressed (PBP) subsonic micro flight control actuators and surfaces

    NARCIS (Netherlands)

    Barrett, R.; Vos, R.; De Breuker, R.

    2007-01-01

    This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements to provide much improved actuator performance. These PBP actuator elements are modeled using basic large deflection Euler-beam estimations accounting for laminated plate effects

  6. Design, modeling, and fabrication of piezoelectric polymer actuators

    Science.gov (United States)

    Fu, Yao; Harvey, Erol C.; Ghantasala, Muralidhar K.; Spinks, Geoff

    2004-04-01

    Piezoelectric polymers are a class of materials with great potential and promise for many applications. Because of their ideally suitable characteristics, they make good candidates for actuators. However, the difficulty of forming structures and shapes has limited the range of mechanical design. In this work, the design and fabrication of a unimorph piezoelectric cantilever actuator using piezoelectric polymer PVDF with an electroplated layer of nickel alloy has been described. The modeling and simulation of the composite cantilever with planar and microstructured surfaces has been performed by CoventorWare to optimize the design parameters in order to achieve large tip deflections. These simulation results indicated that a microstructured cantilever could produce 25 percent higher deflection compared to a simple planar cantilever surface. The tip deflection of the composite cantilever with a length of 6mm and a width of 1mm can reach up to 100μm. A PVDF polymer with a specifically designed shape was punched out along the elongation direction on the embossing machine at room temperature. The nickel alloy layer was electroplated on one side of the PVDF to form a composite cantilever. The tip deflection of the cantilever was observed and measured under an optical microscope. The experimental result is in agreement with the theoretical analysis.

  7. Dynamic modeling of brushless dc motors for aerospace actuation

    Science.gov (United States)

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

    1980-11-01

    A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.

  8. Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

    Science.gov (United States)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-01-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  9. Nonlinear finite element modeling of THUNDER piezoelectric actuators

    Science.gov (United States)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-06-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (Thin Layer Unimorph Ferroelectric Driver) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  10. Verification and validation of an actuator disc model

    DEFF Research Database (Denmark)

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

    2014-01-01

    Wind turbine wake can be studied in computational fluid dynamics with the use of permeable body forces (e.g. actuator disc, line and surface). This paper presents a general flexible method to redistribute wind turbine blade forces as permeable body forces in a computational domain. The method can...

  11. INSPECTION ROBOTS WITH PIEZO ACTUATORS: MODELING, SIMULATION AND PROTOTYPES

    Directory of Open Access Journals (Sweden)

    F. Becker

    2011-01-01

    Full Text Available Models, simulations and experimental setups of resonant inspection robots are presented. The goal is to show ways to cope with the new requirements and to use the given chances to create novel mobile robots. For the creation of a directed motion the vibration behavior of simple beams and plates is used. It is possible to design robots for 2-dimesnional locomotion which are characterized by a light weight, small size, relative simple design and the ability to create controllable motion using only one actuator. Different types of actuators for micro robots are presented and compared. Furthermore the dynamical behavior of a piezoelectric bending actuator under elastic boundary conditions is investigated and a model for the motion of the locomotion-generating limbs is presented. The comparison with experiments and prototypes shows that the results of the analytical and computational models agree 

  12. Preisach model of hysteresis for the Piezoelectric Actuator Drive

    DEFF Research Database (Denmark)

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

    2015-01-01

    hysteretic nonlinearities. In order to model these nonlinearities, the first-order hysteresis reversal curves of the actuators are measured and a discrete Preisach model is derived. This forms a basis that enables the study of different compensation methods. The results show matching between measured...

  13. Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface

    International Nuclear Information System (INIS)

    The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m−1 within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position. (paper)

  14. Active flutter suppression of a lifting surface using piezoelectric actuation and modern control theory

    Science.gov (United States)

    Han, Jae-Hung; Tani, Junji; Qiu, Jinhao

    2006-04-01

    This paper presents a numerical and experimental investigation on active flutter suppression of a swept-back cantilevered lifting surface using piezoelectric (PZT) actuation. A finite element method, a panel aerodynamic method, and the minimum state-space realization are involved in the development of the equation of motion in state-space, which is efficiently used for the analysis of the system and design of control laws with a modern control framework. PZT actuators, bonded symmetrically on the plate, are optimally grouped into two equivalent actuator sets using genetic algorithms to enhance controllability. H2- and μ-synthesized control laws are designed and the flutter suppression performance is evaluated via wind tunnel testing. In the μ-synthesis design, a simple parametric uncertainty model is used to take into account the system changes with respect to airflow speed. Both controllers show comparable flutter suppression performance around the flutter point. However, the μ-synthesized controller shows improved behavior over a wide flow speed range.

  15. DYNAMIC FREE ENERGY HYSTERESIS MODEL IN MAGNETOSTRICTIVE ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    A dynamic free energy hysteresis model in magnetostrictive actuators is presented. It is the free energy hysteresis model coupled to an ordinary different equation in an unusual way. According to its special structure, numerical implementation method of the dynamic model is provided. The resistor parameter in the dynamic model changes according to different frequency ranges. This makes numerical implementation results reasonable in the discussed operating frequency range. The validity of the dynamic free energy model is illustrated by comparison with experimental data.

  16. Development of piezoelectric-based membranes for synthetic jet actuators: experiments and modeling

    Science.gov (United States)

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

    2016-04-01

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

  17. Modeling and control of a self-sensing polymer metal composite actuator

    International Nuclear Information System (INIS)

    An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)

  18. Modelling and control of double-cone dielectric elastomer actuator

    Science.gov (United States)

    Branz, F.; Francesconi, A.

    2016-09-01

    Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.

  19. Design, test and model of a hybrid magnetostrictive hydraulic actuator

    Science.gov (United States)

    Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M.

    2009-08-01

    The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm3 s-1 and 22.7 cm3 s-1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation.

  20. Zipping dielectric elastomer actuators: characterization, design and modeling

    Science.gov (United States)

    Maffli, L.; Rosset, S.; Shea, H. R.

    2013-10-01

    We report on miniature dielectric elastomer actuators (DEAs) operating in zipping mode with an analytical model that predicts their behavior. Electrostatic zipping is a well-known mechanism in silicon MEMS to obtain large deformations and forces at lower voltages than for parallel plate electrostatic actuation. We extend this concept to DEAs, which allows us to obtain much larger out-of-plane displacements compared to silicon thanks to the softness of the elastomer membrane. We study experimentally the effect of sidewall angles and elastomer prestretch on 2.3 mm diameter actuators with PDMS membranes. With 15° and 22.5° sidewall angles, the devices zip in a bistable manner down 300 μm to the bottom of the chambers. The highly tunable bistable behavior is controllable by both chamber geometry and membrane parameters. Other specific characteristics of zipping DEAs include well-controlled deflected shape, tunable displacement versus voltage characteristics to virtually any shape, including multi-stable modes, sealing of embedded holes or channels for valving action and the reduction of the operating voltage. These properties make zipping DEAs an excellent candidate for applications such as integrated microfluidics actuators or Braille displays.

  1. A model for ferromagnetic shape memory thin film actuators

    Science.gov (United States)

    Lee, Kwok-Lun; Seelecke, Stefan

    2005-05-01

    The last decade has witnessed the discovery of materials combining shape memory behavior with ferromagnetic properties (FSMAs), see James & Wuttig1, James et al.2, Ullakko et al.3. These materials feature the so-called giant magnetostrain effect, which, in contrast to conventional magnetostriction is due motion of martensite twins. This effect has motivated the development of a new class of active materials transducers, which combine intrinsic sensing capabilities with superior actuation speed and improved efficiency when compared to conventional shape memory alloys. Currently, thin film technology is being developed intensively in order to pave the way for applications in micro- and nanotechnology. As an example, Kohl et al., recently proposed a novel actuation mechanism based on NiMnGa thin film technology, which makes use of both the ferromagnetic transition and the martensitic transformation allowing the realization of an almost perfect antagonism in a single component part. The implementation of the mechanism led to the award-winning development of an optical microscanner. Possible applications in nanotechnology arise, e.g., by combination of smart NiMnGa actuators with scanning probe technologies. The key aspect of Kohl's device is the fact that it employs electric heating for actuation, which requires a thermo-magneto-mechanical model for analysis. The research presented in this paper aims at the development of a model that simulates this particular material behavior. It is based on ideas originally developed for conventional shape memory alloy behavior, (Mueller & Achenbach, Achenbach, Seelecke, Seelecke & Mueller) and couples it with a simple expression for the nonlinear temperature- and position-dependent effective magnetic force. This early and strongly simplified version does not account for a full coupling between SMA behavior and ferromagnetism yet, and does not incorporate the hysteretic character of the magnetization phenomena either. It can however

  2. Modeling of reliability and performance assessment of a dissimilar redundancy actuation system with failure monitoring

    Institute of Scientific and Technical Information of China (English)

    Wang Shaoping; Cui Xiaoyu; Shi Jian; Mileta M. Tomovic; Jiao Zongxia

    2016-01-01

    Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple-mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec-trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli-ability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards.

  3. Programmable surface deformation: thickness-mode electroactive polymer actuators and their applications

    Science.gov (United States)

    Prahlad, Harsha; Pelrine, Ron; Kornbluh, Roy; von Guggenberg, Philip; Chhokar, Surjit; Eckerle, Joseph; Rosenthal, Marcus; Bonwit, Neville

    2005-05-01

    Many different actuator configurations based on SRI International"s dielectric elastomer (DE) type of electroactive polymer (EAP) have been developed for a variety of applications. These actuators have shown excellent actuation properties including maximum actuation strains of up to 380% and energy densities of up to 3.4 J/g, using the planar mode of actuation. Recently, SRI has investigated different configurations of DE actuators that allow complex changes in surface shape and thus the creation of active surface texture. In this configuration, the "active" polymer film is bonded or coated with a thicker passive layer, such that changes in the polymer thickness during actuation of the DE device are at least partially transferred to (and often amplified by) the passive layer. Although the device gives out-of-plane motion, it can nonetheless be fabricated using two-dimensional patterning. The result is a rugged, flexible, and conformal skin that can be spatially actuated by subjecting patterned electrodes on a polymer substrate to an electric field. Using thickness-mode DE, we have demonstrated thickness changes of the order of 0.5 - 2 mm by laminating a passive elastomeric layer to a DE polymer that is only 60 μm in thickness. Such thickness changes would otherwise require a very large number of stacked layers of the DE film to produce comparable surface deformations. Preliminary pressures of 4.2 kPa (0.6 psi) in a direction normal to the plane of the DE film have been measured. However, theoretical calculations indicate that pressures of the order of 100 kPa are feasible using a single layer of DE film. Stacking multiple layers of DE film can lead to a further increase in achievable actuation pressures. Even with current levels of thickness change and actuation pressures, potential applications of such surface texture change are numerous. A thin, compliant pad made from these actuators can have a massaging or sensory augmentation function, and can be incorporated

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

    Directory of Open Access Journals (Sweden)

    Chiaberge M

    2010-01-01

    Full Text Available A power driver has been developed to control piezoelectric stack actuators used in automotive application. An FEM model of the actuator has been implemented starting from experimental characterization of the stack and mechanical and piezoelectric parameters. Experimental results are reported to show a correct piezoelectric actuator driving method and the possibility to obtain a sensorless positioning control.

  5. Evaluation of Breaking Performance in Vibration-Assisted Electrostatic Surface Induction Actuator

    DEFF Research Database (Denmark)

    Nemoto, Takeru; Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio

    2015-01-01

    This paper evaluates breaking performance of an electrostatic surface induction actuator. The actuator is equipped with piezoelectric vibrator such that the friction between the slider and the stator electrodes can be dramatically reduced by squeeze-film effect. In such an actuator, the friction...... force can be changed by turning on and off the vibrator. The friction change can be utilized for high-performance slider motion control; for example, friction can be increased by switching off the vibrator when the slider needs to stop. In this paper, we evaluated how fast the slider can stop in several...... conditions. The result clearly shows the effect of friction change in breaking performance of the actuator....

  6. Magneto-mechanical actuation model for fin-based locomotion

    CERN Document Server

    Carbajal, Juan Pablo; 10.2495/DN100331

    2011-01-01

    In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magneto-mechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements. We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and cente...

  7. Actuator Line Modeling of Wind Turbine Wakes

    DEFF Research Database (Denmark)

    Troldborg, Niels

    2009-01-01

    with the 3D Navier Stokes solver EllipSys3D and a LES turbulence model. Simple models, based on applying body forces in the computational domain, are developed for imposing sheared and turbulent infow and their validity is discussed. A few computations on stand alone turbines are compared to measurements...... and good to fair agreement are shown in terms of respectively power coefficient and mean wake properties. The turbulence properties in the wake are generally characterized by its spectral characteristics and include estimation of spectral coherence, length scales and Reynolds stresses. Simulations...... of the wake from an isolated turbine operating in uniform inflow at tip-speed ratios ranging from λ = 3.21 to λ = 11.78 is presented and provides detailed information about the wake development including vortex properties and turbulence characteristics. Calculations on the wake of turbines subject to sheared...

  8. Hysteresis model of magnetostrictive actuators and its numerical realization

    Institute of Scientific and Technical Information of China (English)

    TANG Zhi-feng; LV Fu-zai; XIANG Zhan-qin

    2007-01-01

    This paper presents two numerical realization of Preisach model by Density Function Method (DFM) and F Function Method (FFM) for a giant magnetostrictive actuator (GMA). Experiment and simulation showed that FFM is better than DFM for predicting precision of hysteresis loops. Lagrange bilinear interpolation algorithm is used in Preisach numerical realization to enhance prediction performance. A set of hysteresis loops and higher order reversal curves are predicted and experimentally verified. The good agreement between the measured and predicted curves shows that the classical Preisach model is effective for modelling the quasi-static hysteresis of the GMA.

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

    Directory of Open Access Journals (Sweden)

    Miaolei Zhou

    2013-01-01

    Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.

  10. Modeling fluid structure interaction with shape memory alloy actuated morphing aerostructures

    Science.gov (United States)

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

    2012-04-01

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

  11. Analytic model and frequency characteristics of plasma synthetic jet actuator

    Science.gov (United States)

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

    2015-02-01

    This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.

  12. Dynamic Actuator for Centrifuge Modeling of Soil-Structure Interaction

    OpenAIRE

    CABRERA, Miguel Angel; Caicedo, Bernardo; THOREL, Luc

    2012-01-01

    This paper presents a new dynamic actuator useful to study soil-structure interactions in a centrifuge. This new dynamic apparatus is based on an amplified piezoelectric actuator. Using this device it is possible to create vibrations in the soil sample of different frequencies and amplitudes. The dynamic actuator consists of a set of weights in a single degree of freedom system plus a piezoelectric actuator and a piezoelectric load cell, which measures the dynamic load. A description of the d...

  13. Computational Actuator Disc Models for Wind and Tidal Applications

    Directory of Open Access Journals (Sweden)

    B. Johnson

    2014-01-01

    Full Text Available This paper details a computational fluid dynamic (CFD study of a constantly loaded actuator disc model featuring different boundary conditions; these boundary conditions were defined to represent a channel and a duct flow. The simulations were carried out using the commercially available CFD software ANSYS-CFX. The data produced were compared to the one-dimensional (1D momentum equation as well as previous numerical and experimental studies featuring porous discs in a channel flow. The actuator disc was modelled as a momentum loss using a resistance coefficient related to the thrust coefficient (CT. The model showed good agreement with the 1D momentum theory in terms of the velocity and pressure profiles. Less agreement was demonstrated when compared to previous numerical and empirical data in terms of velocity and turbulence characteristics in the far field. These models predicted a far larger velocity deficit and a turbulence peak further downstream. This study therefore demonstrates the usefulness of the duct boundary condition (for computational ease for representing open channel flow when simulating far field effects as well as the importance of turbulence definition at the inlet.

  14. Investigation of change in surface morphology of heated surfaces upon pool boiling of magnetic fluids under magnetic actuation

    Science.gov (United States)

    Shojaeian, Mostafa; Yildizhan, Melike-Mercan; Coşkun, Ömer; Ozkalay, Ebrar; Tekşen, Yiğit; Gulgun, Mehmet Ali; Funda Yagci Acar, Havva; Koşar, Ali

    2016-09-01

    Nanofluids are becoming a significant candidate for new generation coolants to be used in industrial applications. In order to reduce clustering and sedimentation of nanoparticles and improve the heat transfer performance simultaneously, magnetic fluids prepared with magnetic Fe3O4 nanoparticles dispersed in water, which were placed in a pool and were exposed to varying magnetic fields to actuate nanoparticles in the system. The effect of magnetic actuation on boiling heat transfer characteristics and on the surface morphology of the pool was examined. An average enhancement of 29% in boiling heat transfer was achieved via magnetic actuation with rather low magnetic field (magnetic flux densities up to 11 mT) densities. Furthermore, it was observed that magnetic actuation significantly prevented the deposition and sedimentation of the nanoparticles in the pool. Otherwise, significant destabilization of nanoparticles causing aggregation and heavy sedimentation was present as a result of the performed surface analysis. Even though magnetic actuation reduced the sedimentation on the macroscale, the deposition of a thick and porous film occurred onto the pool floor, increasing the surface roughness.

  15. Validation of high displacement piezoelectric actuator finite element models

    Science.gov (United States)

    Taleghani, Barmac K.

    2000-08-01

    The paper presents the results obtained by using NASTRAN and ANSYS finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness and important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN and ANSYS used different methods for modeling piezoelectric effects. In NASTRAN, a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.

  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

    2008-09-01

    This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the

  17. Nonlinear model accounting for minor hysteresis of embedded SMA actuators

    Institute of Scientific and Technical Information of China (English)

    YANG Kai; GU Chenglin

    2007-01-01

    A quantitative index martensite fraction was used to describe the phase transformation degree of shape memory alloy (SMA).On the basis of the martensite fraction,a nonlinear analysis model for major and minor hysteresis loops was developed.The model adopted two exponential equations to calculate the martensite fractions for cooling and heating,respectively.The martensite fractions were derived as the relative parameters were adjusted timely according to continuous,common initial and common limit constraints.By use of the linear relationship between the curvature of embedded SMA actuator and SMA's martensite fraction,the curvature was determined.The results of the simulations and experiments prove the validity and veracity of the model.

  18. Mathematical Modeling of Pneumatic Artificial Muscle Actuation via Hydrogen Driving Metal Hydride-LaNi5

    Institute of Scientific and Technical Information of China (English)

    Thananchai Leephakpreeda

    2012-01-01

    Quantitative understanding of mechanical actuation of intricate Pneumatic Artificial Muscle (PAM) actuators is technically required in control system design for effective real-time implementation.This paper presents mathematical modeling of the PAM driven by hydrogen-gas pressure due to absorption and desorption of metal hydride.Empirical models of both mechanical actuation of industrial PAM and chemical reaction of the metal hydride-LaNi5 are derived systematically where their interactions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM actuator (PAM and hydriding/dehydriding-reaction bed).Simulation studies of mechanical actuation under various loads are conducted so as to present dynamic responses of the PAM actuators.From the promising results,it is intriguing that the heat input for the PAM actuator can be supplied to,or pumped from the reaction bed,in such a way that absorption and desorption of hydrogen gas take place,respectively,in controlling the pressure of hydrogen gas within the PAM actuator.Accordingly,this manipulation results in desired mechanical actuation of the PAM actuator in practical uses.

  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)

    1997-08-01

    One-dimensional momentum theory provides a simple analytical tool for analysing the gross flow behavior of lifting propellers and rotors. Combined with a blade-element strip-theory approach, it has for many years been the most popular model for load and performance predictions of wind turbines. The model works well at moderate and high wind velocities, but is not reliable at small wind velocities, where the expansion of the wake is large and the flow field behind the rotor dominated by turbulent mixing. This is normally referred to as the turbulent wake state or the vortex ring state. In the vortex ring state, momentum theory predicts a decrease of thrust whereas the opposite is found from experiments. The reason for the disagreement is that recirculation takes place behind the rotor with the consequence that the stream tubes past the rotor becomes effectively chocked. This represents a condition at which streamlines no longer carry fluid elements from far upstream to far downstream, hence one-dimensional momentum theory is invalid and empirical corrections have to be introduced. More sophisticated analytical or semi-analytical rotor models have been used to describe stationary flow fields for heavily loaded propellers. In recent years generalized actuator disc models have been developed, but up to now no detailed computations of the turbulent wake state or the vortex ring state have been performed. In the present work the phenomenon is simulated by direct simulation of the Navier-Stokes equations, where the influence of the rotor on the flow field is modelled simply by replacing the blades by an actuator disc with a constant normal load. (EG) 13 refs.

  20. Realtime Surface Shear Stress Control with MEMS Sensors/Actuators in Turbulent Boundary Layers

    Science.gov (United States)

    Huang, Adam; Lew, James; Ho, Chih-Ming; Xu, Yong; Tai, Yu-Chong

    2003-11-01

    High-speed surface streaks in turbulent boundary layers have been attributed to approximately 40friction drag. A real-time control system for reducing surface shear stress has being developed. The system consists of two linear arrays of MEMS surface shear stress imagers for providing control and feedback measurements and a recently developed, micro-machined flap-type actuator for interaction with the streak structures. Driven by a constant temperature anemometry circuit with an overheat ratio of 12sensitivity of 100 mV/Pa and frequency response of 20 kHz. The micro-machined bubble-flap actuator is essentially a thin silicon cantilever beam which hangs/sits on top of a silicone diaphragm molded into a bulk etched silicon cavity. The flap shape used is a 3mm long (streamwise) by 1mm wide rectangular beam, with a thickness of 40 um. Actuation is achieved by pneumatically inflating the silicone diaphragm, which then pushes up the silicon beam. The current flap can achieve off-plane deflections of over 130 um at frequencies up to 150 Hz, with a rise time of 2ms and a fall time of 4ms. Experiments are carried out with the system installed onto the wall of a 2-D turbulent wind tunnel. At Re 10k, corresponding to flow velocity of 10 m/s, time-averaged reduction of 4achieved continuous actuation at 130 um and 150 Hz. Furthermore, in offline data processing, it has been found that the actuator interacting with the streak structures has reduce the peak shear stress of a streak by an additional 0.2 Pa, or about 50

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

    Energy Technology Data Exchange (ETDEWEB)

    Joseph I. Cline

    2010-04-22

    A novel hypothesized detection scheme for the detection of chemical agents was proposed: SAPS ``Surface-Adsorbed Polarization Sensors''. In this technique a thin layer of molecular rotors is adsorbed to a surface. The rotors can be energized by light absorption, but are otherwise locked in position or alternatively rotate slowly. Using polarized light, the adsorbed rotors are turned as an ensemble. Chemical agent (analyte) binding that alters the rotary efficiency would be detected by sensitive polarized absorption techniques. The mechanism of the SAPS detection can be mechanical, chemical, or photochemical: only a change in rotary efficiency is required. To achieve the goal of SAPS detection, new spectroscopic technique, polarized Normal Incidence Cavity Ringdown Spectroscopy (polarized NICRDS), was developed. The technique employs very sensitive and general Cavity Ringdown absorption spectroscopy along with the ability to perform polarized absorption measurements. Polarized absorption offers the ability to measure the angular position of molecular chromophores. In the new experiments a thin layer of SAPS sensors (roughly corresponding to a monolayer coverage on a surface) immobilized in PMMA. The PMMA layer is less than 100~nm thick and is spin-coated onto a flat fused-silica substrate. The new technique was applied to study the photoisomerization-driven rotary motion of a family of SAPS actuators based on a family of substituted dibenzofulvene rotors based upon 9-(2,2,2- triphenylethylidene)fluorene. By varying the substitution to include moieties such as nitro, amino, and cyano the absorption spectrum and the quantum efficiency of photoisomerization can be varied. This SAPS effect was readily detected by polarized NICRDS. The amino substituted SAPS actuator binds H+ to form an ammonium species which was shown to have a much larger quantum efficiency for photoisomerization. A thin layer of immobilized amino actuators were then shown by polarized NICRDS

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

    Energy Technology Data Exchange (ETDEWEB)

    Celen, Serap, E-mail: serap.celen@ege.edu.tr [Ege University, Faculty of Engineering, Mechanical Engineering Department, Izmir, 35100 (Turkey); Oezden, Hueseyin [Ege University, Faculty of Engineering, Mechanical Engineering Department, Izmir, 35100 (Turkey)

    2012-12-15

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

    International Nuclear Information System (INIS)

    Highlights: ► It is time for that paradigm shift and for an exploration of novel surfaces. ► We developed novel 3D smart surfaces as strain actuators by nanosecond laser pulse energies. ► We analyzed these smart surface morphologies using FEM. ► We estimated their internal stiffness values which play a great role on stress shielding effect. ► 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 (λ = 1060 nm) with 200–250 ns pulse durations on commercial pure titanium dental implant material specimen surfaces and optimum operation parameters were suggested.

  4. Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators

    Science.gov (United States)

    Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.

    2015-04-01

    The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.

  5. 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

    2014-07-01

    Full Text Available Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to the piezoelectric element. The millimetre-size robot is fitted with six legs, three on either side of the developed actuator, and can walk on uneven surfaces like an insect. The three leg parts on each side are connected by a linking mechanism. The control system is a hardware neuron model constructed from analogue electronic circuits that mimic the behaviour of biological neurons. The output signal ports of the controller are connected to the multilayer piezoelectric element. This robot system requires no specialized software programs or A/D converters. The rotation speed of the rotary actuator reaches 60 rpm at an applied neuron frequency of 25 kHz during the walking motion. The width, length and height of the robot are 4.0, 4.6 and 3.6 mm, respectively. The motion speed is 180 mm/min.

  6. Elliptical modelling of hysteresis operating characteristics in a dielectric elastomer tubular actuator

    Science.gov (United States)

    Tian, Pengfei; Jones, Richard W.; Yu, Fei

    2016-07-01

    A dielectric elastomer (DE) tubular actuator, based on compliant metal electrode technology, exhibits hysteresis-like characteristics when driven with a low power rated high voltage power supply (HVPS). This behavior occurs mainly because the DE actuator acts as a capacitive load compromising the ‘slew rate’ of the HVPS during the actuator’s operation. The motivation of this contribution is to investigate the use of elliptical modelling approaches for capturing the hysteresis characteristics exhibited by the DE tubular actuator when it is driven by a low cost low power rated HVPS. The DE tubular actuator considered in this work demonstrates asymmetric hysteresis behaviour due to the nonlinear voltage–strain behaviour of the actuator. A linearization filter placed in series with the actuator (during its operation) ensures a symmetric hysteresis characteristic that can then be modelled using an ellipse-based approach. Elliptical models come in many forms with the two most popular being the constrained general conic form and the general parametric form. Elliptical-based hysteresis model fits are carried out on experimental data obtained from the application of periodic input voltages, at a number of different low-frequencies, to the tubular actuator. The range of frequencies used is related to the possible use of the tubular actuator for attenuating low frequency vibration during DE actuator-based load positioning applications. Constrained conic and general parametric forms of elliptical model are used for modelling the hysteresis characteristics of the DE actuator and rate dependent models developed based on both approaches. The sensitivity of both of these rate dependent models to small inaccuracies in model parameters was then investigated. The general parametric form was found to be more robust in this respect.

  7. Actuator line modeling of vertical-axis turbines

    CERN Document Server

    Bachant, Peter; Wosnik, Martin

    2016-01-01

    To bridge the gap between high and low fidelity numerical modeling tools for vertical-axis (or cross-flow) turbines (VATs or CFTs), an actuator line model (ALM) was developed and validated for both a high and a medium solidity vertical-axis turbine at rotor diameter Reynolds numbers $Re_D \\sim 10^6$. The ALM is a hybridization of classical blade element theory with Navier--Stokes based flow models, and in this study both $k$--$\\epsilon$ Reynolds-averaged Navier--Stokes (RANS) and Smagorinsky large eddy simulation (LES) turbulence models were tested. The RANS models were able to be run on coarse grids while still providing good convergence behavior in terms of the mean power coefficient, and also approximately four orders of magnitude reduction in computational expense compared with 3-D blade-resolved RANS simulations. Submodels for dynamic stall, end effects, added mass, and flow curvature were implemented, resulting in reasonable performance predictions for the high solidity rotor, more discrepancies for the...

  8. 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.

    2007-01-01

    This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as boun

  9. Measurement of the impulse produced by a pulsed surface discharge actuator in air

    Science.gov (United States)

    Elias, P. Q.; Castera, P.

    2013-09-01

    The pulsed surface discharge in atmospheric pressure air generates a shock wave, thereby transferring an impulse to the surrounding gas. The aim of this work is to measure this impulse, using implementation of a plasma actuator based on linear surface discharges of length up to 10 cm, and of linear energy in a range 0.1-0.5 J cm-1. The shock wave generated by the discharge is visualized using a pulsed schlieren system and the impulse is measured with a dedicated balance. These measurements are correlated with 1D numerical simulations of pulsed energy depositions in a perfect gas. Experiments show that the discharge generates a cylindrical shock wave that travels at sonic speed after a few tens of microseconds, and produces an impulse that varies from 1 to 4 mN s m-1 and scales linearly with the linear energy density. This linearity agrees with the numerical simulations when 9.5% of the energy dissipated in the discharge is assumed to heat the gas. Overall, to produce a time-averaged force similar to the one achieved by dielectric barrier discharge (DBD) actuators, 2 to 3 times more power is required. However, surface discharge actuators do not saturate, and thus can induce time-averaged forces one or two orders of magnitude above DBD when pulsed at several hundreds of hertz.

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

    Directory of Open Access Journals (Sweden)

    Bruyn B.J.H. de

    2015-12-01

    Full Text Available This paper presents a numerical modeling method for AC losses in highly dynamic linear actuators with high temperature superconducting (HTS tapes. The AC losses and generated force of two actuators, with different placement of the cryostats, are compared. In these actuators, the main loss component in the superconducting tapes are hysteresis losses, which result from both the non-sinusoidal phase currents and movement of the permanent magnets. The modeling method, based on the H-formulation of the magnetic fields, takes into account permanent magnetization and movement of permanent magnets. Calculated losses as function of the peak phase current of both superconducting actuators are compared to those of an equivalent non-cryogenic actuator.

  11. Low-Order Modelling of Blade-Induced Turbulence for RANS Actuator Disk Computations of Wind and Tidal Turbines

    CERN Document Server

    Nishino, Takafumi

    2012-01-01

    Modelling of turbine blade-induced turbulence (BIT) is discussed within the framework of three-dimensional Reynolds-averaged Navier-Stokes (RANS) actuator disk computations. We first propose a generic (baseline) BIT model, which is applied only to the actuator disk surface, does not include any model coefficients (other than those used in the original RANS turbulence model) and is expected to be valid in the limiting case where BIT is fully isotropic and in energy equilibrium. The baseline model is then combined with correction functions applied to the region behind the disk to account for the effect of rotor tip vortices causing a mismatch of Reynolds shear stress between short- and long-time averaged flow fields. Results are compared with wake measurements of a two-bladed wind turbine model of Medici and Alfredsson [Wind Energy, Vol. 9, 2006, pp. 219-236] to demonstrate the capability of the new model.

  12. Mechanism of nanoparticle actuation by responsive polymer brushes: from reconfigurable composite surfaces to plasmonic effects

    Science.gov (United States)

    Roiter, Yuri; Minko, Iryna; Nykypanchuk, Dmytro; Tokarev, Ihor; Minko, Sergiy

    2011-12-01

    The mechanism of nanoparticle actuation by stimuli-responsive polymer brushes triggered by changes in the solution pH was discovered and investigated in detail in this study. The finding explains the high spectral sensitivity of the composite ultrathin film composed of a poly(2-vinylpyridine) (P2VP) brush that tunes the spacing between two kinds of nanoparticles--gold nanoislands immobilized on a transparent support and gold colloidal particles adsorbed on the brush. The optical response of the film relies on the phenomenon of localized surface plasmon resonances in the noble metal nanoparticles, giving rise to an extinction band in visible spectra, and a plasmon coupling between the particles and the islands that has a strong effect on the band position and intensity. Since the coupling is controlled by the interparticle spacing, the pH-triggered swelling-shrinking transition in the P2VP brush leads to pronounced changes in the transmission spectra of the hybrid film. It was not established in the previous publications how the actuation of gold nanoparticles within a 10-15 nm interparticle distance could result in the 50-60 nm shift in the absorbance maximum in contrast to the model experiments and theoretical estimations of several nanometer shifts. In this work, the extinction band was deconvoluted into four spectrally separated and overlapping contributions that were attributed to different modes of interactions between the particles and the islands. These modes came into existence due to variations in the thickness of the grafted polymeric layer on the profiled surface of the islands. In situ atomic force microscopy measurements allowed us to explore the behavior of the Au particles as the P2VP brush switched between the swollen and collapsed states. In particular, we identified an interesting, previously unanticipated regime when a particle position in a polymer brush was switched between two distinct states: the particle exposed to the surface of the

  13. Characteristics of sheath-driven tangential flow produced by a low-current DC surface glow discharge plasma actuator

    Science.gov (United States)

    Shin, Jichul; Shajid Rahman, Mohammad

    2014-08-01

    An experimental investigation of low-speed flow actuation at near-atmospheric pressure is presented. The flow actuation is achieved via low-current ( \\lesssim 1.0 mA) continuous or pulsed DC surface glow discharge plasma. The plasma actuator, consisting of two sharp-edged nickel electrodes, produces a tangential flow in a direction from anode to cathode, and is visualized using high-speed schlieren photography. The induced flow velocity estimated via the schlieren images reaches up to 5 m/s in test cases. The actuation capability increases with pressure and electrode gap distances, and the induced flow velocity increases logarithmically with the discharge power. Pulsed DC exhibits slightly improved actuation capability with better directionality. An analytic estimation of induced flow velocity obtained based on ion momentum in the cathode sheath and gas dynamics in one-dimensional flow yields values similar to those measured.

  14. A modeling framework for deteriorating control system and predictive maintenance of actuators

    International Nuclear Information System (INIS)

    Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy

  15. Optical Diagnostics of Air Flows Induced in Surface Dielectric Barrier Discharge Plasma Actuator

    Science.gov (United States)

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

    2014-10-01

    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.

  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)

    2009-12-15

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

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

    DEFF Research Database (Denmark)

    Jones, Richard William; Sarban, Rahimullah

    2012-01-01

    An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control...

  18. Theoretical modeling of pulse discharge cycle in dielectric barrier discharge plasma actuator

    Science.gov (United States)

    Sato, Shintaro; Ohnishi, Naofumi

    2016-07-01

    Simple models based on two-dimensional simulations are proposed to estimate intervals of periodically observed current pulses with a positive-going voltage in a dielectric barrier discharge plasma actuator. There are two distinct peaks in one streamer discharge; one is related to the formation of an ion cloud and the other is related to a filamentary discharge that is identified as a streamer. Simulation results show that the intervals of the current pulses depend on the slope of the applied voltage. For the ion-cloud formation phase, we model the time evolution of electron number density at the exposed electrode with ionization frequency. For the ion-cloud expansion phase, a positive ion cylinder model is proposed to estimate the electric field generated by surface charge on the dielectric. These models well reproduce the discharge intervals obtained in the numerical simulations.

  19. Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications

    Science.gov (United States)

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

    2015-04-01

    Dielectric elastomer actuators have many advantages, including light weight, simplicity, high energy density, and silent operation. These features make them suitable to replace conventional actuators and transducers, especially in artificial muscle applications where large contractile strains are necessary for lifelike motions. This paper will introduce the concept of a corrugated dielectric elastomer actuator (DEA), which consists of dielectric elastomer (DE) laminated to a thin elastic layer to induce bending motion at each of the corrugations, resulting in large axial deformation. The location of the DE and elastic layers can be configured to provide tensile or compressive axial strain. Such corrugated DE actuators are also highly scalable: linking multiple actuators in series results in greater deformation, whereas multiple actuators in parallel results in larger force output. Analytical closed-form solutions based on linear elasticity were derived for the displacement and force output of curved unimorph and corrugated DEA, both consisting of an arbitrary number of lamina. A total strain energy analysis and Castigiliano's theorem were used to predict the nonlinear force-displacement behavior of the corrugated actuator. Curved unimorph and corrugated DEA were fabricated using VHB F9469PC as the DE material. Displacement of the actuators observed during testing agreed well with the modeling results. Large contractile strain (25.5%) was achieved by the corrugated DEA. Future work includes investigating higher performance DE materials such as plasticized PVDF terpolymers, processed by thin film deposition methods.

  20. Dynamic actuator for Soil-Structure Interaction physical modelling in centrifuge

    OpenAIRE

    CABRERA, Miguel; Caicedo, Bernardo; THOREL, Luc

    2014-01-01

    Dynamic interactions in centrifuge modelling are often induced with external or not controlled sources. This paper presents a method to study Soil-Structure Interaction in centrifuge, with the use of a dynamic actuator developed for centrifuge testing. The dynamic actuator is employed into the model giving the possibility to test the dynamic response of a wind turbine structure, without any additional supporting accessory. The centrifuge soil model was instrumented in order to measure the wav...

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

    DEFF Research Database (Denmark)

    Mangeot, Charles; Zsurzsan, Tiberiu-Gabriel

    2016-01-01

    The Preisach model is a powerful tool for modelling the hysteresis phenomenon on multilayer piezo actuators under large signal excitation. In this paper, measurements at different temperatures are presented, showing the effect on the density of the Preisach matrix. An energy-based approach...... is presented, aiming at defining a temperature-dependent phenomenological model of hysteresis for a better understanding of the non-linear effects in piezo actuators....

  2. Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines

    DEFF Research Database (Denmark)

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

    2015-01-01

    The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes...... an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which...

  3. Determining the optimal smoothing length scale for actuator line models of wind turbine blades

    Science.gov (United States)

    Martinez, Luis; Meneveau, Charles

    2015-11-01

    The actuator line model (ALM) is a widely used tool for simulating wind turbines when performing Large-Eddy Simulations. The ALM uses a smearing kernel ηɛ = 1 /ɛ3π 3 / 2 exp (-r2 /ɛ2) , where r is the distance to an actuator point, and ɛ is the smoothing length scale which establishes the kernel width, to project the lift and drag forces onto the grid. In this work, we develop formulations to establish the optimum value of the smoothing length scale ɛ, based on physical arguments, instead of purely numerical constraints. This parameter has a very important role in the ALM, to provide a length scale, which may, for example, be related to the chord of the airfoil being studied. In the proposed approach, we compare features (such as vertical pressure gradient) of a potential flow solution for flow over a lifting surface with features of the solution of the Euler equations with a body force term. The potential flow solution over a lifting surface is used as a general representation of an airfoil. The method presented aims to minimize the difference between these features of the flow fields as a function of the smearing length scale (ɛ), in order to obtain the optimum value. This work is supported by NSF (IGERT and IIA-1243482) and computations use XSEDE resources.

  4. Electrostatic micro-actuator with a pre-charged series capacitor: modeling, design, and demonstration

    Science.gov (United States)

    Yang, Hyun-Ho; Han, Chang-Hoon; Oen Lee, Jeong; Yoon, Jun-Bo

    2014-06-01

    As a powerful method to reduce actuation voltage in an electrostatic micro-actuator, we propose and investigate an electrostatic micro-actuator with a pre-charged series capacitor. In contrast to a conventional electrostatic actuator, the injected pre-charges into the series capacitor can freely modulate the pull-in voltage of the proposed actuator even after the completion of fabrication. The static characteristics of the proposed actuator were investigated by first developing analytical models based on a parallel-plate capacitor model. We then successfully designed and demonstrated a micro-switch with a pre-charged series capacitor. The pull-in voltage of the fabricated micro-switch was reduced from 65.4 to 0.6 V when pre-charged with 46.3 V. The on-resistance of the fabricated micro-switch was almost the same as the initial one, even when the device was pre-charged, which was demonstrated for the first time. All results from the analytical models, finite element method simulations, and measurements were in good agreement with deviations of less than 10%. This work can be favorably adapted to electrostatic micro-switches which need a low actuation voltage without noticeable degradation of performance.

  5. Inverse model construction for control implementation of macro fiber composite actuators operating in hysteretic regimes

    Science.gov (United States)

    Stuebner, Michael; Smith, Ralph C.

    2010-04-01

    Macro Fiber Composite (MFC) actuators utilize PZT fibers embedded in an epoxy matrix for structural actuation. Due to their construction, they are lightweight and provide broadband inputs. Significant advantages of MFC actuators are their high performance, durability, and flexibility when compared to traditional piezoceramic actuators. They are presently being considered for a range of applications including positioning of membrane mirrors and structural control in the aerospace and automotive industry. However, they exhibit varying degrees of hysteresis and constitutive nonlinearities throughout their operating range that must be incorporated in models to achieve the full capabilities of the materials. In this paper, hysteresis is modeled using the homogenized energy model. The inverse model is then used to construct an inverse compensator framework suitable for subsequent control design. The performance of the inverse compensator is illustrated through a numerical example.

  6. Numerical and Experimental Investigation on Aerodynamic Characteristics of SMA Actuated Smart Wing Model

    Directory of Open Access Journals (Sweden)

    Iyyappan Balaguru

    2013-10-01

    Full Text Available Due to the advancements in smart actuators, morphing (changing of aircraft wings has been investigated by increasing number of researchers in recent years. In this research article, the concept of morphing is introduced to the conventional aircraft wing model with the utilization of Shape memory alloys (SMAs. An actuating mechanism is developed and built inside the aircraft wing model along with the SMA actuators which is used to morph its shape. The aircraft wing model with the SMA actuating mechanism is known as, ‘the smart wing model’. The aerodynamic characteristics (Lift, Drag, Velocity, and Pressure of the conventional and smart wing model are investigated by using the FLUENT numerical codes. The experimental aerodynamic test is carried out at various angles of incidence in an open circuit subsonic wind tunnel to validate the numerical results.

  7. The effect of plasma actuator on the depreciation of the aerodynamic drag on box model

    Science.gov (United States)

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

    2016-06-01

    Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.

  8. Optical Emission Spectroscopy Investigation of a Surface Dielectric Barrier Discharge Plasma Aerodynamic Actuator

    Institute of Scientific and Technical Information of China (English)

    LI Ying-Hong; WU Yun; JIA Min; ZHOU Zhang-Wen; GUO Zhi-Gang; PU Yi-Kang

    2008-01-01

    The optical emission spectroscopy of a surface dielectric barrier discharge plasma aerodynamic actuator is investigated with different electrode configurations, applied voltages and driving frequencies. The rotational temperature of N2 (C3IIu) molecule is calculated according to its rotational emission band near 380.5 nm. The average electron energy of the discharge is evaluated by emission intensity ratio of first negative system to second positive system of N2. The rotational temperature is sensitive to the inner space of an electrode pair. The average electron energy shows insensitivity to the applied voltage, the driving frequency and the electrode configuration.

  9. Modeling and control of a hydraulically actuated flexible-prismatic link robot

    Energy Technology Data Exchange (ETDEWEB)

    Love, L.; Kress, R.; Jansen, J.

    1996-12-01

    Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

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

    NARCIS (Netherlands)

    Wiwattananon, P.

    2013-01-01

    Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for m

  11. Fast Preisach modeling method for shape memory alloy actuators using major hysteresis loops

    Science.gov (United States)

    Choi, Byung-Jun; Lee, Yun-Jung; Choi, Bong-Yeol

    2004-10-01

    The control accuracy of smart actuators, such as a shape memory alloy (SMA) or piezoceramic actuator, is limited due to their inherent hysteresis nonlinearities with a local memory, resulting from the influence of a previous input on subsequent behavior. In addition, the existence of minor loops in the major loop because of a local memory also makes the mathematical modeling and design of a controller difficult for SMA actuators. Therefore, to enhance the controllability of a smart actuator, the Preisach hysteresis model has emerged as an appropriate behavioral model, yet the modeling is difficult and the model equation complex. Accordingly, to resolve these difficulties, the current paper proposes a simple method based on applying the proportional relationship between the major loop and the FOD curves of an SMA actuator to the Preisach model. As such, using only data for the major hysteresis loop, the proposed method enables the FOD curves to be easily approximated and the output length rapidly computed. The efficacy of the proposed Preisach modeling method is confirmed based on comparative experiments with the classical Preisach model.

  12. One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust

    Science.gov (United States)

    Yoon, Jae-San; Han, Jae-Hung

    2014-10-01

    Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results.

  13. FLUTTER SUPPRESSION USING DISTRIBUTEDPIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A piezoelectric actuator has the benefits of flexibility of its position, without time lag and wide bandpass characteristics. The early results of the wind tunnel flutter suppression test using the piezoeletric actuator were presented in Ref.[1]. A rigid rectangular wing model is constrained by a plunge spring and a pitch spring, and a pair of piezoelectric actuators is bonded on both sides of the plunge spring so as to carry out the active control. Refs.[2,3] reported two flutter suppression wind tunnel tests where the distributed piezoelectric actuators were used. In Ref.[2] low speed wind tunnel tests were conducted with aluminum and composite plate-like rectangular models fully covered by piezoelectric actuators. Flutter speed is increased by 11%. In Ref.[3] a composite plate-like swept back model with piezoceramic actuators bonded on the inboard surface was tested in a transonic wind tunnel and a 12% increment of flutter dynamic pressure was achieved.  In the present investigation, an aluminum plate-like rectangular model with inboard bonded piezoceramic actuators is adopted. Active flutter suppression control law has been designed. A series of analyses and ground tests and, finally, low-speed wind tunnel tests with the active control system opened and closed are conducted. Reasonable results have been obtained.

  14. Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine

    Directory of Open Access Journals (Sweden)

    Eid Mohamed

    2012-01-01

    Full Text Available Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC engines. Applications of solenoid valve actuators in (IC engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA uses solenoid to actuate valve movement independently for the application of (IC engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA structure by incorporating the hybrid magneto-motive force (MMF implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR optimal control is designed with the evaluation reasonable the performance and energy of (EMV valve are obtained with the design.

  15. Experimentally verified model of viscoelastic behavior of multilayer unimorph dielectric elastomer actuators

    Science.gov (United States)

    Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru

    2016-10-01

    This work presents a linear viscoelastic model to describe the time-dependent actuation behavior of multilayer unimorph dielectric elastomer actuators (MUDEA), with experimental validation by actuators produced by a robotic dispenser system. MUDEA are a type of soft actuator which can produce large bending deformation without prestretch typically required by dielectric elastomer actuators. Current analytical and finite element models of MUDEA do not consider material viscoelasticity and cannot predict the change over time of performance metrics such as tip displacement and blocking force. The linear viscoelastic model presented in this work is based on a linear elastic model for the MUDEA extended to account for viscous effects by the elastic-viscoelastic correspondence principle. The model is easily implemented because it is based on explicit expressions which can be evaluated numerically by any computer algebra system. The model was used to predict the tip displacement and blocking force of MUDEAs consisting of two, four, six, eight, and ten layers of dielectric elastomer material. The model predictions agreed well with experimental data obtained from MUDEA produced by a robotic dispenser system, which was capable of producing multilayered structures of thin layers of dielectric elastomer and carbon nanotube based electrode material.

  16. Final report : compliant thermo-mechanical MEMS actuators, LDRD #52553.

    Energy Technology Data Exchange (ETDEWEB)

    Walraven, Jeremy Allen; Baker, Michael Sean; Headley, Thomas Jeffrey; Plass, Richard Anton

    2004-12-01

    Thermal actuators have proven to be a robust actuation method in surface-micromachined MEMS processes. Their higher output force and lower input voltage make them an attractive alternative to more traditional electrostatic actuation methods. A predictive model of thermal actuator behavior has been developed and validated that can be used as a design tool to customize the performance of an actuator to a specific application. This tool has also been used to better understand thermal actuator reliability by comparing the maximum actuator temperature to the measured lifetime. Modeling thermal actuator behavior requires the use of two sequentially coupled models, the first to predict the temperature increase of the actuator due to the applied current and the second to model the mechanical response of the structure due to the increase in temperature. These two models have been developed using Matlab for the thermal response and ANSYS for the structural response. Both models have been shown to agree well with experimental data. In a parallel effort, the reliability and failure mechanisms of thermal actuators have been studied. Their response to electrical overstress and electrostatic discharge has been measured and a study has been performed to determine actuator lifetime at various temperatures and operating conditions. The results from this study have been used to determine a maximum reliable operating temperature that, when used in conjunction with the predictive model, enables us to design in reliability and customize the performance of an actuator at the design stage.

  17. Verification of Beam Models for Ionic Polymer-Metal Composite Actuator

    Institute of Scientific and Technical Information of China (English)

    Ai-hong Ji; Hoon Cheol Park; Quoc Viet Nguyen; Jang Woo Lee; Young Tai Yoo

    2009-01-01

    Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages. A thick IPMC actuator, where Nation-117 membrane was synthesized with polypyrrole/alumina composite tiller, was analyzed to verify the equivalent beam and equivalent bimorph beam models. The blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests respectively. The calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured data. Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC actuator. The results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured data. It is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement, blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.

  18. Experimental Study on Surface Dielectric Barrier Discharge Plasma Actuator with Different Encapsulated Electrode Widths for Airflow Control at Atmospheric Pressure

    Science.gov (United States)

    Qi, Xiaohua; Yang, Liang; Yan, Huijie; Jin, Ying; Hua, Yue; Ren, Chunsheng

    2016-10-01

    The surface dielectric barrier discharge (SDBD) plasma actuator has shown great promise as an aerodynamic flow control device. In this paper, the encapsulated electrode width of a SDBD actuator is changed to study the airflow acceleration behavior. The effects of encapsulated electrode width on the actuator performance are experimentally investigated by measuring the dielectric layer surface potential, time-averaged ionic wind velocity and thrust force. Experimental results show that the airflow velocity and thrust force increase with the encapsulated electrode width. The results can be attributed to the distinct plasma distribution at different encapsulated electrode widths. supported by National Natural Science Foundation of China (No. 11175037), National Natural Science Foundation for Young Scientists of China (No. 11305017) and Special Fund for Theoretical Physics (No. 11247239)

  19. A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators

    Energy Technology Data Exchange (ETDEWEB)

    Sepiani, H.; Ebrahimi, F. [University of Tehran, Tehran (Iran, Islamic Republic of); Karimipour, H. [Iran University of Science and Technology, Tehran (Iran, Islamic Republic of)

    2009-12-15

    This paper presents a theoretical study of the thermally driven behavior of a shape memory alloy (SMA)/FGM actuator under arbitrary loading and boundary conditions by developing an integrated mathematical model. The model studied is established on the geometric parameters of the three-dimensional laminated composite box beam as an actuator that consists of a functionally graded core integrated with SMA actuator layers with a uniform rectangular cross section. The constitutive equation and linear phase transformation kinetics relations of SMA layers based on Tanaka and Nagaki model are coupled with the governing equation of the actuator to predict the stress history and to model the thermo-mechanical behavior of the smart shape memory alloy/FGM beam. Based on the classical laminated beam theory, the explicit solution to the structural response of the structure, including axial and lateral deflections of the structure, is investigated. As an example, a cantilever box beam subjected to a transverse concentrated load is solved numerically. It is found that the changes in the actuator's responses during the phase transformation due to the strain recovery are significant

  20. Study of a pseudo-empirical model approach to characterize plasma actuators

    Energy Technology Data Exchange (ETDEWEB)

    Marziali Bermudez, M [Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina); Sosa, R; Artana, G [Laboratorio de Fluidodinamica, Facultad de Ingenieria, UBA, Av. Paseo Colon 850, Buenos Aires 1063 (Argentina); Grondona, D; Marquez, A; Kelly, H, E-mail: rsosa@fi.uba.ar [Instituto de Fisica del Plasma (CONICET) - Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, UBA, Ciudad Universitaria Pab. I, Buenos Aires 1428 (Argentina)

    2011-05-01

    The use of plasma actuators is a recent technology that imposes a localized electric force that is used to control air flows. A suitable representation of actuation enables to undertake plasma actuators optimization, to design flow-control strategies, or to analyse the flow stabilization that can be attained by plasma forcing. The problem description may be clearly separated in two regions. An outer region, where the fluid is electrically neutral, in which the flow is described by the Navier-Stokes equation without any forcing term. An inner region, that forms a thin boundary layer, where the fluid is ionized and electric forces are predominant. The outer limit of the inner solution becomes the boundary condition for the outer problem. The outer problem can then be solved with a slip velocity that is issued from the inner solution. Although the solution for the inner problem is quite complex it can be contoured proposing pseudo-empirical models where the slip velocity of the outer problem is determined indirectly from experiments. This pseudo-empirical model approach has been recently tested in different cylinder flows and revealed quite adapted to describe actuated flow behaviour. In this work we determine experimentally the influence of the duty cycle on the slip velocity distribution. The velocity was measured by means of a pitot tube and flow visualizations of the starting vortex (i.e. the induced flow when actuation is activated in a quiescent air) have been done by means of the Schlieren technique. We also performed numerical experiments to simulate the outer region problem when actuation is activated in a quiescent air using a slip velocity distribution as a boundary condition. The experimental and numerical results are in good agreement showing the potential of this pseudo-empirical model approach to characterize the plasma actuation.

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

    Science.gov (United States)

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

    2016-07-01

    In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.

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

    Science.gov (United States)

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

    2016-01-01

    In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed. PMID:27367548

  3. Electromechanical performance of an ionic polymer–metal composite actuator with hierarchical surface texture

    International Nuclear Information System (INIS)

    Two stainless steel templates were fabricated using electric-spark machining, and a hierarchical surface texture of ionic polymer was produced using both polishing and replication methods, which produced microscale and nanoscale groove-shaped microstructures at the surface of the polymer. The surface morphology of the Nafion membrane and metal electrode were observed using scanning electron microscopy (SEM) and energy dispersive spectroscopy (EDS). SEM and EDS line-scan analysis indicated that the interfacial surface area was considerably increased and an excellent metal electrode was obtained with the production of a hierarchical surface texture. The displacement, blocking force, and electric current were measured using home-built apparatus. The results revealed that the combined polishing and replication method significantly improved the electromechanical performance of the ionic polymer–metal composite (IPMC). Compared with sandblasted Nafion-based IPMC, the blocking force, displacement, and electric current of the replicated Nafion-based IPMC were 4.39, 2.35, and 1.87 times higher, respectively. The IPMC fabricated in this work exhibited a competitive blocking force compared with recently reported actuators. (paper)

  4. Model of Polysilicon Electro-thermal Micro Actuator and Research of Micro Scale Effect

    Institute of Scientific and Technical Information of China (English)

    ZHANGYong-yu; SHENXue-jin; CHENXiao-yang

    2004-01-01

    A type of crank beam electro-thermal mircro actuator was prescribed Mechanical model of the actuatar was estabilished,and the static characteristic was analzed Comparing the theoretical analzsis with experimental data,it is found that the thermodynamic character of material in micro actuator has a different variable regularity contrasted to that used in macro scale machines.it is the micro scale effect that results in the deriation between the simulating result and experimental results the thermodynamic expression of polysilicon which was fitted by means of the experimental data concerned was used to modify the mechanical model The modifiex model ,in which the mircro scale thermodynamic characteristic characteristic was considered,was more reasonable and could make the optimal design and control strategies analyzing the straight-line micro actuator more feasible.

  5. Static and transient modeling of fast moving ball actuator as a display device

    Science.gov (United States)

    Lee, Jongmo; Yoon, Ho Won; Hong, MunPyo; Jhun, Chul Gyu; Bae, Byung Seong; Han, Seungoh

    2016-04-01

    FMBA(Fast Moving Ball Actuator), developed as novel electronic-paper display, has already proven its operability and functionality. However, optimization issues related with low operating voltage, high refresh rate, fine pixel and higher display resolution, etc. are still remaining to be improved for a successful commercialization. In order to optimize such issues effectively, static and transient model were developed and verified by comparing the calculated results to the measured. The static model is based on the force balancing equation between the driving and the holding forces while the transient model is developed from Newton's 2nd law by adding the inertia as well as the resistive damping forces caused by the surroundings. With the simplified static model, driving voltage of 30.71 V was obtained, which is reasonably matched to the measured voltage of 40 V. Based on the transient model, also, the transient response of the device can be estimated within reasonable margin. Considering the absence of reliable key parameters of surface roughness, static and dynamic frictional coefficient, and refractive indices, the developed static and transient models account well the experimental results and thus they are expected to contribute further improvements in FMBA.

  6. Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm

    DEFF Research Database (Denmark)

    Rethore, Pierre-Elouan; Sørensen, Niels

    2008-01-01

    An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known.......An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known....

  7. An Electroactive, Tunable, and Frequency Selective Surface Utilizing Highly Stretchable Dielectric Elastomer Actuators Based on Functionally Antagonistic Aperture Control.

    Science.gov (United States)

    Choi, Jun-Ho; Ahn, Jaeho; Kim, Jin-Bong; Kim, Young-Cheol; Lee, Jung-Yong; Oh, Il-Kwon

    2016-04-01

    An active, frequency selective surface utilizing a silver-nanowire-coated dielectric elastomer with a butterfly-shaped aperture pattern is realized by properly exploiting the electroactive control of two antagonistic functions (stretching vs compression) on a patterned dielectric elastomer actuator. PMID:26864249

  8. Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.

    Science.gov (United States)

    Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing

    2016-08-22

    Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications.

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

    KAUST Repository

    So, Hongyun

    2013-10-31

    © 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.

  10. Fault Tolerance for Industrial Actuators in Absence of Accurate Models and Hardware Redundancy

    DEFF Research Database (Denmark)

    Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik;

    2015-01-01

    This paper investigates Fault-Tolerant Control for closed-loop systems where only coarse models are available and there is lack of actuator and sensor redundancies. The problem is approached in the form of a typical servomotor in closed-loop. A linear model is extracted from input/output data to ...

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

    CERN Document Server

    Prattico, Flavio; Yamamoto, Shin-ichiroh

    2014-01-01

    Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.

  12. Dynamic surface deformation of silicone elastomers for management of marine biofouling: laboratory and field studies using pneumatic actuation.

    Science.gov (United States)

    Shivapooja, Phanindhar; Wang, Qiming; Szott, Lizzy M; Orihuela, Beatriz; Rittschof, Daniel; Zhao, Xuanhe; López, Gabriel P

    2015-01-01

    Many strategies have been developed to improve the fouling release (FR) performance of silicone coatings. However, biofilms inevitably build on these surfaces over time. Previous studies have shown that intentional deformation of silicone elastomers can be employed to detach biofouling species. In this study, inspired by the methods used in soft-robotic systems, controlled deformation of silicone elastomers via pneumatic actuation was employed to detach adherent biofilms. Using programmed surface deformation, it was possible to release > 90% of biofilm from surfaces in both laboratory and field environments. A higher substratum strain was required to remove biofilms accumulated in the field environment as compared with laboratory-grown biofilms. Further, the study indicated that substratum modulus influences the strain needed to de-bond biofilms. Surface deformation-based approaches have potential for use in the management of biofouling in a number of technological areas, including in niche applications where pneumatic actuation of surface deformation is feasible.

  13. Modelling of piezoelectric actuator dynamics for active structural control

    Science.gov (United States)

    Hagood, Nesbitt W.; Chung, Walter H.; Von Flotow, Andreas

    1990-01-01

    The paper models the effects of dynamic coupling between a structure and an electrical network through the piezoelectric effect. The coupled equations of motion of an arbitrary elastic structure with piezoelectric elements and passive electronics are derived. State space models are developed for three important cases: direct voltage driven electrodes, direct charge driven electrodes, and an indirect drive case where the piezoelectric electrodes are connected to an arbitrary electrical circuit with embedded voltage and current sources. The equations are applied to the case of a cantilevered beam with surface mounted piezoceramics and indirect voltage and current drive. The theoretical derivations are validated experimentally on an actively controlled cantilevered beam test article with indirect voltage drive.

  14. A Millimetre-sized Robot Realized by a Piezoelectric Impact-type Rotary Actuator and a Hardware Neuron Model

    OpenAIRE

    Minami Takato; Masaki Tatani; Hirozumi Oku; Yuki Okane; Junichi Tanida; Shinpei Yamasaki; Ken Saito; Fumio Uchikoba

    2014-01-01

    Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact- type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro- mechanical systems (MEMS) technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to th...

  15. Study of wind turbine wake modeling based on a modified actuator disk model and extended k-ε turbulence model

    DEFF Research Database (Denmark)

    Xu, Chang; Han, Xingxing; Wang, Xin;

    2015-01-01

    This paper presented an improved computational fluid dynamics (CFD) model for simulating a horizontal-axis wind turbine wake. The model used the actuator disk model to simplify the wind turbine effect on the aerodynamic field by adding an extra momentum source and an improved term to correct...... the underestimation issue of the wind speed deficit when applying the STD k-ε model. In addition, the model also introduced a radial distribution function to assess the non-uniform load on the actuator disk and a coefficient C4ε of the turbulent source. To validate the model, the wind turbines of Nibe `B' and Dawin...... 180/23 were checked by different wake models with multiple entrance velocities. Results show that the improved wake model has better prediction accuracy with experimental data and can be used for wind turbine wake calculation....

  16. Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-metal Composite Actuated Robot

    Directory of Open Access Journals (Sweden)

    Qi Shen

    2013-10-01

    Full Text Available In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC. A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The comparison of the results of the simulations and experiments shows the feasibility of the dynamic model. By using this model, we found that the harmonic control of the actuation frequency and voltage amplitude of the IPMC is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the IPMC fish’s dynamic behaviour, successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with other control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration compared with what could be achieved with a conventional PID controller. The thrust efficiency during a steady state was superior to that with conventional control methods. We also found that when using the fuzzy control method the robotic fish can always swim near a higher actuation frequency, which could obtain both the desired speed and high thrust efficiency.

  17. Reversionary rotation of actuated particles for microfluidic near-surface mixing

    NARCIS (Netherlands)

    Derks, R.J.S.; Frijns, A.J.H.; Prins, M.W.J.; Dietzel, A.H.

    2011-01-01

    The off-axis motion of particles actuated by axial magnetic or gravitational forces is studied in fluidic channels. Single actuated superparamagnetic micro-particles starting from channel walls travel towards the channel center and show unforeseen reversionary rotation phenomena. Different stages of

  18. On Identifiability of Bias-Type Actuator-Sensor Faults in Multiple-Model-Based Fault Detection and Identification

    Science.gov (United States)

    Joshi, Suresh M.

    2012-01-01

    This paper explores a class of multiple-model-based fault detection and identification (FDI) methods for bias-type faults in actuators and sensors. These methods employ banks of Kalman-Bucy filters to detect the faults, determine the fault pattern, and estimate the fault values, wherein each Kalman-Bucy filter is tuned to a different failure pattern. Necessary and sufficient conditions are presented for identifiability of actuator faults, sensor faults, and simultaneous actuator and sensor faults. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have biases.

  19. Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys

    Science.gov (United States)

    Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David

    2016-07-01

    This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.

  20. A validated model for induction heating of shape memory alloy actuators

    Science.gov (United States)

    Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.

    2016-04-01

    Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.

  1. Near-surface gravity actuated pipe (GAP{sup TM}) system for Brazilian deepwater fluid transfer

    Energy Technology Data Exchange (ETDEWEB)

    Fromage, Lionel; Brown, Paul A. [SBM Offshore (Monaco)

    2009-12-19

    The recent discovery of new deep water and ultra-deep water oil and gas fields offshore Brazil, including pre-salt reservoirs, has become a focal point for field development Operators and Contractors. The aggressive nature of fluids (sour, high density) in combination with deeper waters implies potential flow assurance issues. These issues challenge riser and pipeline technology to find cost effective solutions for hydrocarbon fluid transfer in field development scenarios involving phased tied-back. The near-surface GAP{sup TM}, system (Gravity Actuated Pipe{sup TM}), which has been in operation for more than two years on the Kikeh field offshore Malaysia in 1325 m of water between a Dry Tree Unit (SPAR) and a turret-moored FPSO, is considered to meet these challenges since such a product is quasi independent of water depth and takes advantage of being near surface to optimize flow assurance. Furthermore the GAP{sup TM} has undergone technical upgrades when compared to the Kikeh project in order to make it suitable for the more hostile met ocean conditions offshore Brazil. This paper presents the design features, the construction and assembly plans in Brazil and the offshore installation of a GAP fluid transfer system for operation in Brazilian deep waters. (author)

  2. An Asymmetric Hysteresis Model and Parameter Identification Method for Piezoelectric Actuator

    Directory of Open Access Journals (Sweden)

    Haichen Qin

    2014-01-01

    Full Text Available Hysteresis behaviour degrades the positioning accuracy of PZT actuator for ultrahigh-precision positioning applications. In this paper, a corrected hysteresis model based on Bouc-Wen model for modelling the asymmetric hysteresis behaviour of PZT actuator is established by introducing an input bias φ and an asymmetric factor ΔΦ into the standard Bouc-Wen hysteresis model. A modified particle swarm optimization (MPSO algorithm is established and realized to identify and optimize the model parameters. Feasibility and effectiveness of MPSO are proved by experiment and numerical simulation. The research results show that the corrected hysteresis model can represent the asymmetric hysteresis behaviour of the PZT actuator more accurately than the noncorrected hysteresis model based on the Bouc-Wen model. The MPSO parameter identification method can effectively identify the parameters of the corrected and noncorrected hysteresis models. Some cases demonstrate the corrected hysteresis model and the MPSO parameter identification method can be used to model smart materials and structure systems with the asymmetric hysteresis behaviour.

  3. Modeling, actuator optimization, and simultaneous precision positioning and vibration suppression of smart composite panels

    Science.gov (United States)

    Yan, Su

    2007-12-01

    To improve the fuel consumption of a satellite, maintain the position and orientation and eliminate the unwanted thruster vibration, intelligent composite structure technology was proposed in the ADPICAS (Adaptive Damping and Positioning using Intelligent Composite Active Structures) project funded by the ONR (Office of Naval Research) in collaboration with the NRL (Naval Research Laboratory) in 2000. This dissertation introduces the author's research achievements in developing smart composite panels for the ADPICAS project, including modeling, actuator optimization, and vibration control. The method of separation of variables is presented to derive the analytical shape functions for complex composite structures with asymmetric constraints, i.e., the 2-D Adaptive Composite Circular Plate (ACCP) in cylindrical coordinates and the 3-D Adaptive Composite Satellite Dish (ACSD) in spherical coordinates. Following these solutions, two modeling approaches are developed to obtain the models of adaptive composite panels including an adaptive composite beam, the ACCP, and the ACSD. One model approach is to employ the Lagrange-Rayleigh-Ritz method based on the developed analytical shape functions. Meanwhile, the transfer function estimation technique, combining the finite element analyses, is applied to obtain the numerical model of the composite panels. Aiming at improving the actuation efficiency, a Genetic Algorithm is presented to optimize the piezoelectric actuator placement on the composite panels. Taking the inertia and stiffness characteristics of the piezoelectric actuators into account, this algorithm defines the performance index as a weighted summation of control error and control energy consumption, and obtained the optimal solution that minimizes the performance index. Furthermore, an adaptive disturbance observer/feed-forward (ADOB/FF) controller is proposed to achieve simultaneous precision positioning and vibration suppression of the adaptive composite panels

  4. An electro-mechanically coupled model for the dynamic behavior of a dielectric electro-active polymer actuator

    Science.gov (United States)

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

    2014-10-01

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

  5. A Strategy Tackling Local Minimum of Direct Search Method in Modeling a Hydraulic Actuator

    Institute of Scientific and Technical Information of China (English)

    刘云山; 陈晓辉

    2013-01-01

    A strategy for attacking the local minimum problem of direct search method is developed for modeling a hydraulic actuator. The Nelder-Mead direct search method is combined with Ordinary Least Squares which can used to optimize the parameters which the model function is in linear with. The model fitting results show that this strategy can reach a solution more close to the global minimum than the Nelder-Mead direct search method used alone.

  6. Nonlinear dynamic modeling for smart material electro-hydraulic actuator development

    Science.gov (United States)

    Larson, John P.; Dapino, Marcelo J.

    2013-03-01

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

  7. An integrated electroactive polymer sensor-actuator: design, model-based control, and performance characterization

    Science.gov (United States)

    Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.

    2016-03-01

    Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.

  8. MEMS fluidic actuator

    Science.gov (United States)

    Kholwadwala, Deepesh K.; Johnston, Gabriel A.; Rohrer, Brandon R.; Galambos, Paul C.; Okandan, Murat

    2007-07-24

    The present invention comprises a novel, lightweight, massively parallel device comprising microelectromechanical (MEMS) fluidic actuators, to reconfigure the profile, of a surface. Each microfluidic actuator comprises an independent bladder that can act as both a sensor and an actuator. A MEMS sensor, and a MEMS valve within each microfluidic actuator, operate cooperatively to monitor the fluid within each bladder, and regulate the flow of the fluid entering and exiting each bladder. When adjacently spaced in a array, microfluidic actuators can create arbitrary surface profiles in response to a change in the operating environment of the surface. In an embodiment of the invention, the profile of an airfoil is controlled by independent extension and contraction of a plurality of actuators, that operate to displace a compliant cover.

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

    NARCIS (Netherlands)

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

    1993-01-01

    The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed ISFET-base

  10. 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

    2015-07-01

    Full Text Available The use of morphing components on aerospace structures can greatly increase the versatility of an aircraft. This paper presents the design, manufacturing and testing of a new kind of adaptive airfoil with actuation through Shape Memory Alloys (SMA. The developed adaptive flap system makes use of a novel actuator that employs SMA wires in an antagonistic arrangement with a Post-Buckled Precompressed (PBP mechanism. SMA actuators are usually used in an antagonistic arrangement or are arranged to move structural components with linearly varying resistance levels similar to springs. Unfortunately, most of this strain energy is spent doing work on the passive structure rather than performing the task at hand, like moving a flight control surface or resisting air loads. A solution is the use of Post-Buckled Precompressed (PBP actuators that are arranged so that the active elements do not waste energy fighting passive structural stiffnesses. One major problem with PBP actuators is that the low tensile strength of the piezoelectric elements can often result in tensile failure of the actuator on the convex face. A solution to this problem is the use of SMA as actuator material due to their tolerance of tensile stresses. The power consumption to hold deflections is reduced by approximately 20% with the Post-Buckled Precompressed mechanism. Conventional SMAs are essentially non-starters for many classes of aircraft due to the requirement of holding the flight control surfaces in a given position for extremely long times to trim the vehicle. For the reason that PBP actuators balance out air and structural loads, the steady-state load on the SMAs is essentially negligible, when properly designed. Simulations and experiments showed that the SMAPBP actuator shows tip rotations on the order of 45°, which is nearly triple the levels achieved by piezoelectric PBP actuators. The developed SMAPBP actuator was integrated in a NACA0012 airfoil with a flexible skin

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

    KAUST Repository

    Saghir, Shahid

    2016-07-25

    This article presents and compares different approaches to develop reduced order models for the nonlinear von Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. Results among the various reduced-order modes are compared and are also validated by comparing to results of the finite-element model. Further, the reduced order models are employed to capture the forced dynamic response of the microplate under small and large vibration amplitudes. Comparison of the different approaches are made for this case. Keywords: electrically actuated microplates, static analysis, dynamics of microplates, diaphragm vibration, large amplitude vibrations, nonlinear dynamics

  12. Modeling of a micro-cantilevered piezo-actuator considering the buffer layer and electrodes

    International Nuclear Information System (INIS)

    Considering the buffer layer and electrodes, we set up a piezoelectric multilayered cantilever model to evaluate the dynamic performance of the micro-cantilevered piezo-actuator (MCPA) based on Euler–Bernoulli beam theory without considering the residual stresses on the MCPA. Adopting the material and geometric parameters of the previous MCPAs with the different lengths, the first-mode resonance frequency–beam length, the tip deflection–voltage and harmonic response curves are simulated by using the traditional and proposed models, and the results based on the proposed model are much closer to the experimental and finite element simulation results than those based on the traditional model, indicating that the proposed model is valid for evaluating the actuation performances of the MCPA. The effect of the mechanical damping and bending stiffness on the actuation performance of the MCPA is also discussed. Using the proposed model, the dependences of the first-mode resonance frequency and tip deflection of the MCPA on non-piezoelectric layer thicknesses are analyzed at the certain driving voltage. The above-mentioned methods and conclusions can be used for the structure optimized design and performance improvement of MCPAs. (paper)

  13. Modeling the dynamic behavior of a shape memory alloy actuated catheter

    Science.gov (United States)

    Veeramani, Arun S.; Buckner, Gregory D.; Owen, Stephen B.; Cook, Richard C.; Bolotin, Gil

    2008-02-01

    In this paper we investigate the transient behavior of a simple active catheter: a central tube actuated by a single nitinol tendon enclosed by an outer sleeve. Dynamic models are developed to characterize the transient behavior and optimize the design of an experimental prototype. The bending mechanics are derived using a circular arc model and are experimentally validated. Nitinol actuation is described using the Seelecke-Muller-Achenbach model for single-crystal shape memory alloys using experimentally determined parameters. The dynamic characteristics of this active catheter system are simulated and compared with experimental results. Joule heating is used to generate tip deflections, which are computed in real time using a dual-camera imaging system. The effects of outer sleeve thickness on heat transfer and transient response characteristics are studied.

  14. Genetic Algorithm Approaches for Actuator Placement

    Science.gov (United States)

    Crossley, William A.

    2000-01-01

    This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.

  15. Experimental characterization and modeling of ionic polymer-metal composites as biomimetic actuators, sensors, and artificial muscles

    Science.gov (United States)

    Wu, Yongxian

    Ionic polymer-metal composites (IPMCs) are soft bending actuators and sensors. A typical IPMC consists of a thin perfluorinated ionomer membrane, noble metal electrodes plated on both faces, and is neutralized with the necessary amount of cations. They respond to electric stimulus by generating large bending motions and produce electric signals upon sudden bending deformations. These actuation and sensing responses, which result from the coupled chemo-electro-mechanical interactions at the nano-scale level, depend on the structure of the ionomer, the morphology of the metal electrodes, the nature of the cations, and the degree of the hydration. IPMCs have been considered for potential applications in artificial muscles, robotic systems, medical devices, and other biomimetic applications. A series of systematic experimental characterizations are performed on both Nafion- and Flemion-based IPMCs in various cation forms. Compared with Nafion-based IPMCs, Flemion-based IPMCs with fine dendritic gold electrodes have higher ion-exchange capacity, better surface conductivity, higher hydration capacity, and higher longitudinal stiffness. Flemion-based IPMCs show a greater bending deformation towards the anode without back relaxation under a DC voltage. This displacement towards the anode is linearly related to the charge accumulation at the cathode. In contrast, Nafion-based IPMCs in alkali-metal cations initially have a fast bending towards the anode, followed by a slow relaxation in the opposite direction as charges continue to move towards the cathode boundary layer. Based on the understanding of the factors that affect IPMCs' performance, novel methods to tailor the IPMCs' electro-mechanical responses are developed. By modifying the associated cations, i.e., introducing various single cations (including alkali-metal, alkyl-ammonium, or multivalent metal cations) and cation combinations, diverse actuation behaviors can be obtained and optimized. The actuation motions of

  16. Longitudinal Absolute Stability of a BWB Aircraft-Pilot System with Saturated Actuator Model

    Directory of Open Access Journals (Sweden)

    Claudia Alice STATE

    2013-09-01

    Full Text Available This paper deals with the analysis of the P(ilot I(n-the-Loop O(scillations of the second category (with rate and position liming in the closed loop pilot-vehicle system, caused by the dynamic coupling between the human pilot and the aircraft. The analysis is made in the context of the longitudinal motion and the theoretical model of the airplane presented in this article is a (Blended(Wing (Body tailless configuration. In what concerns the human operator, this is expressed by the Synchronous Pilot Model, which is represented by a simple gain, without a specific delay. The Routh-Hurwitz criterion is used in order to analyze the longitudinal stability of the low-order pilot-airplane system without the influence of actuator nonlinearity (this means that the unsaturated actuator model is employed for the mentioned algebraic criterion. Most emphasis is put on the frequency Popov criterion, which is used to investigate the absolute stability property of the short-period model in the presence of the actuator rate saturation, in the condition of the Lurie problem. The transfer function of the longitudinal BWB model, obtained from open-loop analysis, has a double pole at the origin and, for the absolute stability feedback structure that contains the nonlinearity of the saturation type, the Popov frequency-domain inequalities are applied to the PIO II problem in this critical case.

  17. A dynamic model for generating actuator specifications for small arms barrel active stabilization

    Science.gov (United States)

    Pathak, Anupam; Brei, Diann; Luntz, Jonathan; Lavigna, Chris

    2006-03-01

    Due to stresses encountered in combat, it is known that soldier marksmanship noticeably decreases regardless of prior training. Active stabilization systems in small arms have potential to address this problem to increase soldier survivability and mission effectiveness. The key to success is proper actuator design, but this is highly dependent on proper specification which is challenging due to the human/weapon interaction. This paper presents a generic analytical dynamic model which is capable of defining the necessary actuation specifications for a wide range of small arms platforms. The model is unique because it captures the human interface--shoulder and arm--that introduces the jitter disturbance in addition to the geometry, inertial properties and active stabilization stiffness of the small arms platform. Because no data to date is available for actual shooter-induced disturbance in field conditions, a method is given using the model to back-solve from measured shooting range variability data the disturbance amplitude information relative to the input source (arm or shoulder). As examples of the applicability of the model to various small arms systems, two different weapon systems were investigated: the M24 sniper weapon and the M16 assault rifle. In both cases, model based simulations provided valuable insight into impact on the actuation specifications (force, displacement, phase, frequency) due to the interplay of the human-weapon-active stabilization interface including the effect of shooter-disturbance frequency, disturbance location (shoulder vs. arm), and system parameters (stiffness, barrel rotation).

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

    CERN Document Server

    Tossas, Luis A Martínez; Meneveau, Charles

    2016-01-01

    In this work the accuracy of the Actuator Line Model (ALM) in Large Eddy Simulations of wind turbine flow is studied under the specific conditions of very coarse spatial resolutions. For finely-resolved conditions, it is known that ALM provides better accuracy compared to the standard Actuator Disk Model (ADM) without rotation. However, we show here that on very coarse resolutions, flow induction occurring at rotor scales can affect the predicted inflow angle and can adversely affect the ALM predictions. We first provide an illustration of coarse LES to reproduce wind tunnel measurements. The resulting flow predictions are good, but the challenges in predicting power outputs from the detailed ALM motivate more detailed analysis on a case with uniform inflow. We present a theoretical framework to compare the filtered quantities that enter the Large-Eddy Simulation equations as body forces with a scaling relation between the filtered and unfiltered quantities. The study aims to apply the theoretical derivation ...

  19. Modeling and optimal vibration control of conical shell with piezoelectric actuators

    Institute of Scientific and Technical Information of China (English)

    Wang Weiyuan; Wei Yingjie; Wang Cong; Zou Zhenzhu

    2008-01-01

    In this paper numerical simulations of active vibration control for conical shell structure with distributed piezoelectric actuators is presented. The dynamic equations of conical shell structure are derived using the finite element model (FEM) based on Mindlin's plate theory. The results of modal calculations with FEM model are accurate enough for engineering applications in comparison with experiment results. The Electromechanical influence of distributed piezoelectric actuators is treated as a boundary condition for estimating the control force. The independent modal space control (IMSC) method is adopted and the optimal linear quadratic state feedback control is implemented so that the best control performance with the least control cost can be achieved. Optimal control effects are compared with controlled responses with other non-optimal control parameters. Numerical simulation results are given to demonstrate the effectiveness of the control scheme.

  20. A comparison of actuator disc and BEM models in CFD simulations for the prediction of offshore wake losses

    International Nuclear Information System (INIS)

    In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake

  1. A comparison of actuator disc and BEM models in CFD simulations for the prediction of offshore wake losses

    Science.gov (United States)

    Lavaroni, Luca; Watson, Simon J.; Cook, Malcolm J.; Dubal, Mark R.

    2014-06-01

    In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake.

  2. A control model for hysteresis based on microscopic polarization mechanisms in piezoelectric actuator

    Institute of Scientific and Technical Information of China (English)

    RU Chang-hai; SUN Li-ning; RONG Wei-bin

    2008-01-01

    Aiming at the limitation of control accuracy caused by hysteresis and creep for a piezoelectric actuator, the hysteresis phenomenon is explained based on the microscopic polarization mechanism and domain wall theory. Then a control model based on polarization is established, which can reduce the hysteresis and creep remarkablely. The experimental results show that the polarization control method is with more linearity and less hysteresis compared with the voltage control method.

  3. Complete modelling of a piezo actuator last-generation injector for diesel injection systems

    OpenAIRE

    Salvador Rubio, Francisco Javier; PLAZAS TORRES, ALEJANDRO HERNÁN; Gimeno García, Jaime; Carreres Talens, Marcos

    2014-01-01

    An experimental and computational study of an increasingly used third-generation common-rail injection system with a piezo actuator has been carried out. A complete characterization of the different elements of the system, both geometrically and hydraulically, has been performed in order to describe its behaviour. The information obtained through the characterization has been used to create a one-dimensional model that has been implemented in the commercial software AMESim and ext...

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

    OpenAIRE

    Jeromin A.; Bentamy A.; Schaffarczyk A.P.

    2014-01-01

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

  5. A top-down multi-scale modeling for actuation response of polymeric artificial muscles

    Science.gov (United States)

    Yang, Qianxi; Li, Guoqiang

    2016-07-01

    A class of innovative artificial muscles made of high-strength polymeric fibers such as fishing lines or sewing threads have been discovered recently. These muscles are fabricated by a simple "twist-insertion" procedure, which have attracted increasing attention due to their low cost and readily availability, giant tensile stroke, record energy density, and easy controllability. In the present paper, we established a multi-scale modeling framework for the thermomechanical actuation responses by a top-down strategy, spanning from macro-scale helical spring analysis down to molecular level chain interaction study. Comparison between modeling results and experimental results exhibited excellent agreement. The effect of the micro-, meso- and macro-scale parameters on the actuation responses of the artificial muscle was further discussed through a parametric study per the validated model. This work helps understand the physical origin behind the remarkable tensile actuation behavior of the twisted-then-coiled polymeric artificial muscles and also provides inspirations for optimal design of advanced artificial muscles made by twist-insertion procedure.

  6. On the dynamic instability of nanowire-fabricated electromechanical actuators in the Casimir regime: Coupled effects of surface energy and size dependency

    Science.gov (United States)

    Keivani, Maryam; Mardaneh, Mohamadreza; Koochi, Ali; Rezaei, Morteza; Abadyan, Mohamadreza

    2016-02-01

    Herein, the dynamic pull-in instability of cantilever nanoactuator fabricated from conductive cylindrical nanowire with circular cross-section is studied under the presence of Casimir force. The Gurtin-Murdoch surface elasticity in combination with the couple stress theory is employed to incorporate the coupled effects of surface energy and size phenomenon. Using Green-Lagrange strain, the higher order surface stress components are incorporated in the governing equation. The Dirichlet mode is considered and an asymptotic solution, based on the path integral approach, is applied to consider the effect of the Casimir attraction. Furthermore, the influence of structural damping is considered in the model. The nonlinear governing equation is solved using analytical reduced order method (ROM). The effects of various parameters on the dynamic pull-in parameters, phase planes and stability threshold of the actuator are demonstrated.

  7. An analytical model for electrode-ceramic interaction in multilayer piezoelectric actuators

    Institute of Scientific and Technical Information of China (English)

    B. L. Wang; J. C. Han

    2007-01-01

    The present paper develops an analytical model for multi-electrodes in multi-layered piezoelectric actuators, in which the electrodes are vertical to and terminated at the edges of the medium and electroelastic field concentrations ahead of the electrodes in the multilayer piezoelectric actuators are examined. By considering a representative unit in realistic multilayers, the problem is formulated in terms of electric potential between the electrode tips and results in a system of singular integral equations in which the electric potential is taken as unknown function. Effects are investigated of electrode spacing and piezoelectric coupling on the singular electroelastic fields at the electrode tips, and closed-form expressions are given for the electromechanical field near the electrode tips. Exact solution for un-coupled dielectrics is provided, where no piezoelectric coupling is present.

  8. Application of geometry based hysteresis modelling in compensation of hysteresis of piezo bender actuator

    Science.gov (United States)

    Milecki, Andrzej; Pelic, Marcin

    2016-10-01

    This paper presents results of studies of an application of a new method of piezo bender actuators modelling. A special hysteresis simulation model was developed and is presented. The model is based on a geometrical deformation of main hysteresis loop. The piezoelectric effect is described and the history of the hysteresis modelling is briefly reviewed. Firstly, a simple model for main loop modelling is proposed. Then, a geometrical description of the non-saturated hysteresis is presented and its modelling method is introduced. The modelling makes use of the function describing the geometrical shape of the two hysteresis main curves, which can be defined theoretically or obtained by measurement. These main curves are stored in the memory and transformed geometrically in order to obtain the minor curves. Such model was prepared in the Matlab-Simulink software, but can be easily implemented using any programming language and applied in an on-line controller. In comparison to the other known simulation methods, the one presented in the paper is easy to understand, and uses simple arithmetical equations, allowing to quickly obtain the inversed model of hysteresis. The inversed model was further used for compensation of a non-saturated hysteresis of the piezo bender actuator and results have also been presented in the paper.

  9. Modeling and simulations of new electrostatically driven, bimorph actuator for high beam steering micromirror deflection angles

    Science.gov (United States)

    Walton, John P.; Coutu, Ronald A.; Starman, LaVern

    2015-02-01

    There are numerous applications for micromirror arrays seen in our everyday lives. From flat screen televisions and computer monitors, found in nearly every home and office, to advanced military weapon systems and space vehicles, each application bringing with it a unique set of requirements. The microelectromechanical systems (MEMS) industry has researched many ways micromirror actuation can be accomplished and the different constraints on performance each design brings with it. This paper investigates a new "zipper" approach to electrostatically driven micromirrors with the intent of improving duel plane beam steering by coupling large deflection angles, over 30°, and a fast switching speed. To accomplish this, an extreme initial deflection is needed which can be reached using high stress bimorph beams. Currently this requires long beams and high voltage for the electrostatic pull in or slower electrothermal switching. The idea for this "zipper" approach is to stack multiple beams of a much shorter length and allow for the deflection of each beam to be added together in order to reach the required initial deflection height. This design requires much less pull-in voltage because the pull-in of one short beam will in turn reduce the height of the all subsequent beams, making it much easier to actuate. Using modeling and simulation software to characterize operations characteristics, different bimorph cantilever beam configurations are explored in order to optimize the design. These simulations show that this new "zipper" approach increases initial deflection as additional beams are added to the assembly without increasing the actuation voltage.

  10. Application-oriented simplification of actuation mechanism and physical model for ionic polymer-metal composites

    Science.gov (United States)

    Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin

    2016-07-01

    Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.

  11. Design and investigation of high-speed, large-force and longlifetime electromagnetic actuators by finite element modelling

    International Nuclear Information System (INIS)

    Electromagnetic (EM) solenoid actuators are widely used in many applications such as the automobile, aerospace, printing and food industries where repetitive, often high-speed linear or rotating motions are required. In some of these applications they are used as highspeed 'switching' valves for switching pneumatic channels. This paper describes the finite element (FE) modelling and design of high-speed solenoid actuators. Operating at frequencies between 150-300 Hz, these actuators are unique in terms of the large force they produce (8-15 N) and the requirement for very long lifetime (2-5 billion cycles). The complex nature of electromagnetic, motional and thermal problems is discussed. The methodologies for FE modelling of such high-performance actuators are developed and discussed. These are used for modelling, design, performance evaluation and prediction of the above high-speed actuators. Modelling results showing some of the key design features of the actuators are presented in terms of force produced as a function of various design parameters

  12. A two-dimensional analytical model and experimental validation of garter stitch knitted shape memory alloy actuator architecture

    Science.gov (United States)

    Abel, Julianna; Luntz, Jonathan; Brei, Diann

    2012-08-01

    Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.

  13. Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves

    Energy Technology Data Exchange (ETDEWEB)

    Somogyi, D.; Alvarez, P.D.; Kalsi, M.S. [Kalsi Engineering, Inc., Sugar Land, TX (United States)

    1996-12-01

    Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.

  14. Absolute stability for the lateral-directional BWB model with rate limited actuator

    Directory of Open Access Journals (Sweden)

    Ionel IORGA

    2012-06-01

    Full Text Available In this paper the authors present a study regarding the interaction between the human pilot and the aircraft which may result in a dangerous phenomenon called Pilot Induced Oscillations (PIO, in the context of the lateral directional motion. The theoretical model of the airplane used is a Blended Wing Body (BWB configuration and the human operator is expressed by the Synchronous Pilot Model (represented by a simple gain. The Popov criterion, in the case of the infinite parameter, is applied in order to investigate the absolute stability of the pilot-airplane linearized system in the presence of the rate saturation of the actuator.

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

    Science.gov (United States)

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

    2011-10-01

    Ionic polymer-metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle.

  16. Tracking control of piezoelectric actuators using a polynomial-based hysteresis model

    Science.gov (United States)

    Gan, Jinqiang; Zhang, Xianmin; Wu, Heng

    2016-06-01

    A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.

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

    Directory of Open Access Journals (Sweden)

    Vimal Rau Aparow

    2016-01-01

    Full Text Available In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.

  18. Actuator grouping optimization on flexible space reflectors

    Science.gov (United States)

    Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo

    2011-03-01

    With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required accuracy, precision surface control is needed on these lightweight reflectors. While studies have shown that domain control of space reflectors via Polyvinylidene Fluoride (PVDF) actuators is promising, the challenge is to realistically control a large number of distributed actuators with limited number of power supplies. In this research, a new En Mass Elimination method is synthesized to determine the optimal grouping of actuators when the actuator number exceeds the number of power supplies available. An analytical model is developed and the methodology is demonstrated numerically through system simulation on the derived model.

  19. A mixture theory framework for modeling the mechanical actuation of ionic polymer metal composites

    International Nuclear Information System (INIS)

    An ionic polymer metal composite (IPMC) is a porous charged polymer saturated with an electrolytic solvent and plated by two metallic electrodes. A voltage difference across the electrodes generates structural deformations; similarly, a mechanical deformation yields a voltage difference across the electrodes. The electrolytic solvent comprises a mobile ionic species and an uncharged solvent. Interactions between mobile ions and the solvent and between the solvent and the backbone polymer are responsible for sensing and actuation. We present a mixture theory framework for mechanical modeling of IPMCs and of species interactions occurring therein. The model consists of three coupled linear partial differential equations, and it is applicable to a large variety of IPMC geometries and microstructures. The framework allows for a thorough description of actuation mechanisms, including osmotic pressure, hydraulic pressure, and electrostatic forces. The model describes the presence of boundary layers of mobile ions and solvent concentrations in the vicinity of the electrodes. We particularize the general three-dimensional model to a slender IPMC, and we derive a one-dimensional distributed model using the Euler–Bernoulli beam theory and a parallel-plate approximation. We validate our theoretical findings through a set of experiments conducted on Nafion-based IPMCs

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

    Directory of Open Access Journals (Sweden)

    Ying Wu

    2011-01-01

    Full Text Available Efficient identification and control algorithms are needed, when active vibration suppression techniques are developed for industrial machines. In the paper a new actuator for reducing rotor vibrations in electrical machines is investigated. Model-based control is needed in designing the algorithm for voltage input, and therefore proper models for the actuator must be available. In addition to the traditional prediction error method a new knowledge-based Artificial Fish-Swarm optimization algorithm (AFA with crossover, CAFAC, is proposed to identify the parameters in the new model. Then, in order to obtain a fast convergence of the algorithm in the case of a 30 kW two-pole squirrel cage induction motor, we combine the CAFAC and Particle Swarm Optimization (PSO to identify parameters of the machine to construct a linear time-invariant(LTI state-space model. Besides that, the prediction error method (PEM is also employed to identify the induction motor to produce a black box model with correspondence to input-output measurements.

  1. Modeling Hysteresis with Inertial-Dependent Prandtl-Ishlinskii Model in Wide-Band Frequency-Operated Piezoelectric Actuator

    Directory of Open Access Journals (Sweden)

    Vahid Hassani

    2012-01-01

    Full Text Available One of the major problems occurring in many technical applications is the presence of the hysteretic behavior in sensors and actuators, which causes a nonlinear relationship between input and output variables in such devices. Since the nonlinear phenomenon of hysteresis degrades the performance of the piezoelectric materials and piezoelectric drive mechanisms, for example, in positioning control framework, it has to be characterized in order to mitigate the effect of the nonlinearity in the devices. This paper is aimed to characterize and model the hysteresis in typical piezoelectric actuators under load-free and preloaded circumstances incorporating the inertial effect of the system. For this purpose, the piezoelectric actuator is modeled as a mass-spring-damper system, which is expressed in terms of a stop operator as one of the essential yet efficient hysteresis operators in the Prandtl-Ishlinskii (PI model. The reason of utilizing the stop operator in this study is for the sake of control purposes, as the stop operator plays as the inverse of the play operator in the PI model and can be used in a feed-forward controller scheme to suppress the effect of hysteresis in general control framework. The results reveal that this model exhibits better correspondence to the measurement output compared to that of the classical PI model.

  2. Experimental Data Collection and Modeling for Nominal and Fault Conditions on Electro-Mechanical Actuators

    Data.gov (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...

  3. Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator

    Science.gov (United States)

    Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin

    2016-06-01

    Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.

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

    Directory of Open Access Journals (Sweden)

    Jeromin A.

    2014-01-01

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

  5. Validation and verification of a high-fidelity computational model for a bounding robot's parallel actuated elastic spine

    Science.gov (United States)

    Pusey, Jason L.; Yoo, Jin-Hyeong

    2014-06-01

    We document the design and preliminary numerical simulation study of a high fidelity model of Canid, a recently introduced bounding robot. Canid is a free-standing, power-autonomous quadrupedal machine constructed from standard commercially available electromechanical and structural elements, incorporating compliant C-shaped legs like those of the decade old RHex design, but departing from that standard (and, to the best of our knowledge, from any prior) robot platform in its parallel actuated elastic spine. We have used a commercial modeling package to develop a finite-element model of the actuated, cable-driven, rigid-plate-reinforced harness for the carbon-fiber spring that joins the robot's fore- and hind-quarters. We compare a numerical model of this parallel actuated elastic spine with empirical data from preliminary physical experiments with the most important component of the spine assembly: the composite leaf spring. Specifically, we report our progress in tuning the mechanical properties of a standard modal approximation to a conventional compliant beam model whose boundary conditions represent constraints imposed by the actuated cable driven vertebral plates that comprise the active control affordance over the spine. We conclude with a brief look ahead at near-term future experiments that will compare predictions of this fitted composite spring model with data taken from the physical spine flexed in isolation from the actuated harness.

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

    Directory of Open Access Journals (Sweden)

    Yizhar Or

    2016-04-01

    Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb’s friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.

  7. An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets

    Directory of Open Access Journals (Sweden)

    Stuart Bradley

    2015-11-01

    Full Text Available Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings” to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.

  8. Modeling the dynamical response of ferromagnetic shape memory alloy actuators using a dissipative Euler-Lagrange equation

    Science.gov (United States)

    Weetman, Philip; Akhras, George

    2009-01-01

    A phenomenological dynamical model of ferromagnetic shape memory alloy based actuators is developed. The parameters of effective mass density, viscosity, and elasticity are defined and used in a dissipative Euler-Lagrange equation to determine the martensite variant fraction and strain as a function of time. These three parameters are determined by fitting our simulations to recent experiments on a NiMnGa based actuator. In addition to the simplicity of only three fitting parameters to model martensite variant evolution, the present model is a convenient formulation of the problem because it incorporates self-consistently all stresses and loads in the system.

  9. Custom sizing of lower limb exoskeleton actuators using gait dynamic modelling of children with cerebral palsy.

    Science.gov (United States)

    Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M

    2016-11-01

    The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP.

  10. Custom sizing of lower limb exoskeleton actuators using gait dynamic modelling of children with cerebral palsy.

    Science.gov (United States)

    Samadi, B; Achiche, S; Parent, A; Ballaz, L; Chouinard, U; Raison, M

    2016-11-01

    The use of exoskeletons as an aid for people with musculoskeletal disorder is the subject to an increasing interest in the research community. These devices are expected to meet the specific needs of users, such as children with cerebral palsy (CP) who are considered a significant population in pediatric rehabilitation. Although these exoskeletons should be designed to ease the movement of people with physical shortcoming, their design is generally based on data obtained from healthy adults, which leads to oversized components that are inadequate to the targeted users. Consequently, the objective of this study is to custom-size the lower limb exoskeleton actuators based on dynamic modeling of the human body for children with CP on the basis of hip, knee, and ankle joint kinematics and dynamics of human body during gait. For this purpose, a multibody modeling of the human body of 3 typically developed children (TD) and 3 children with CP is used. The results show significant differences in gait patterns especially in knee and ankle with respectively 0.39 and -0.33 (Nm/kg) maximum torque differences between TD children and children with CP. This study provides the recommendations to support the design of actuators to normalize the movement of children with CP. PMID:26980164

  11. Numerical Simulation and Wake Modeling of Wind Turbine Rotor as AN Actuator Disk

    Science.gov (United States)

    Shen, Xiang; Wang, Tongguang; Zhong, Wei

    Numerical simulations of flow fields around the wind turbine rotor simplified as an actuator disk (AD) with zero thickness have been made to investigate the flow structure and wake development in different operation states. A N-S solver has been used and the energy extracted by the rotor is represented by a discontinuous pressure jump through the actuator disk. Axial pressure and velocity development from far upstream to far downstream is fully described by the simulations, which could never be obtained by the momentum theory. It is showed that there are significant differences in wake development between inviscid and viscous conditions. In inviscid simulations, the axial velocity keeps decreasing along the oncoming flow direction, which is consistent with the momentum theory. In viscous simulations, however, the axial velocity first decreases but then gradually recovers approaching to the undisturbed velocity, due to momentum transport from outer flow to wake flow by viscous shear effect. Based on the numerical analysis, the work of this paper is also focused on wake modeling. A new two-dimensional models based on nonlinear wake development has been developed, which is capable to describe the far wake more accurately.

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

    Directory of Open Access Journals (Sweden)

    Yongguang Liu

    2016-01-01

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

  13. A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle

    Science.gov (United States)

    Orr, Jeb S.

    2011-01-01

    A comprehensive set of motion equations for a multi-actuated flight vehicle is presented. The dynamics are derived from a vector approach that generalizes the classical linear perturbation equations for flexible launch vehicles into a coupled three-dimensional model. The effects of nozzle and aerosurface inertial coupling, sloshing propellant, and elasticity are incorporated without restrictions on the position, orientation, or number of model elements. The present formulation is well suited to matrix implementation for large-scale linear stability and sensitivity analysis and is also shown to be extensible to nonlinear time-domain simulation through the application of a special form of Lagrange s equations in quasi-coordinates. The model is validated through frequency-domain response comparison with a high-fidelity planar implementation.

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

    KAUST Repository

    Bouchaala, Adam M.

    2015-01-01

    We investigate the dynamics of electrically actuated Micro and Nano (Carbon nanotube (CNT)) cantilever beams implemented as resonant sensors for mass detection of biological elements. The beams are modeled using an Euler-Bernoulli beam theory including the nonlinear electrostatic forces and the added biological elements, which are modeled as a discrete point mass. A multi-mode Galerkin procedure is utilized to derive a reduced-order model, which is used for the dynamic simulations. The frequency shifts due to added mass of Escherichia coli (E. coli) and Prostate Specific Antigen (PSA) are calculated for the primary and higher order modes of vibrations. Also, analytical expressions of the natural frequency shift under dc voltage and added mass have been developed. We found that using higher-order modes of vibration of MEMS beams or miniaturizing the size of the beam to Nano scale leads to significant improved sensitivity. © Springer International Publishing Switzerland 2015.

  15. Analytical modeling of static behavior of electrostatically actuated nano/micromirrors considering van der Waals forces

    Institute of Scientific and Technical Information of China (English)

    Hamid Moeenfard; Mohammad Taghi Ahmadian

    2012-01-01

    In this paper,the effect of van der Waals (vdW)force on the pull-in behavior of electrostatically actuated nano/micromirrors is investigated.First,the minimum potential energy principle is utilized to find the equation governing the static behavior of nano/microminror under electrostatic and vdW forces.Then,the stability of static equilibrium points is analyzed using the energy method.It is found that when there exist two equilibrium points,the smaller one is stable and the larger one is unstable.The effects of different design parameters on the mirror's pull-in angle and pull-in voltage are studied and it is found that vdW force can considerably reduce the stability limit of the mirror.At the end,the nonlinear equilibrium equation is solved numerically and analytically using homotopy perturbation method (HPM).It is observed that a sixth order perturbation approximation can precisely model the mirror's behavior.The resuits of this paper can be used for stable operation design and safe fabrication of torsional nano/micro actuators.

  16. Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

    Directory of Open Access Journals (Sweden)

    Alexander Hošovský

    2015-01-01

    Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.

  17. Computational design and multiscale modeling of a nanoactuator using DNA actuation

    International Nuclear Information System (INIS)

    Developments in the field of nano-biodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier.

  18. Experimental investigation and numerical modelling of hydrogen exposed piezoelectric actuators for fuel injector applications

    OpenAIRE

    Singh, Yadvinder

    2013-01-01

    Piezoelectric actuators are increasingly used for the electronic control of fuel injector opening valves. Hydrogen is considered an attractive clean alternative fuel for automobile and power generation applications. Current understanding of the performance of piezoelectric actuators in a hydrogen environment is very limited. This work is aimed at experimentally investigating the performance of hydrogen-exposed piezoelectric actuators under conditions directly relevant to a hydrogen-based fuel...

  19. 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...

  20. Dynamic modeling of geometrically nonlinear electrostatically actuated microbeams (Corotational Finite Element formulation and analysis)

    International Nuclear Information System (INIS)

    In this paper, a complete nonlinear finite element model for coupled-domain MEMS devices with electrostatic actuation and squeeze film effect is developed. For this purpose, a corotational finite element formulation for the dynamic analysis of planer Euler beams is employed. In this method, the internal nodal forces due to deformation and intrinsic residual stresses, the inertial nodal forces, and the damping effect of squeezed air film are systematically derived by consistent linearization of the fully geometrically nonlinear beam theory using d'Alamber and virtual work principles. An incremental-iterative method based on the Newmark direct integration procedure and the Newton-Raphson algorithm is used to solve the nonlinear dynamic equilibrium equations. Numerical examples are presented and compared with experimental findings which indicate properly good agreement

  1. Validation of the Actuator Line Model for Simulating Flows past Yawed Wind Turbine Rotors

    DEFF Research Database (Denmark)

    Shen, Wen Zhong; Zhu, Wei Jun; Yang, Hua

    2015-01-01

    The Actuator Line/Navier-Stokes model is validated against wind tunnel measurements for flows past the yawed MEXICO rotor and past the yawed NREL Phase VI rotor. The MEXICO rotor is operated at a rotational speed of 424 rpm, a pitch angle of −2.3˚, wind speeds of 10, 15, 24 m/s and yaw angles of 15......˚, 30˚ and 45˚. The computed loads as well as the velocity field behind the yawed MEXICO rotor are compared to the detailed pressure and PIV measurements which were carried out in the EU funded MEXICO project. For the NREL Phase VI rotor, computations were carried out at a rotational speed of 90.2 rpm......, a pitch angle of 3˚, a wind speed of 5 m/s and yaw angles of 10˚ and 30˚. The computed loads are compared to the loads measured from pressure measurement....

  2. Modeling of effects of matrix on actuation characteristics of embedded shape memory alloy wires

    Institute of Scientific and Technical Information of China (English)

    CUI Xiao-long; ZHENG Yan-jun; CUI Li-shan

    2005-01-01

    Effects of matrix properties on the actuation characteristics of embedded shape memory alloy wires were studied. The coefficient of thermal expansion and the modulus of matrix have significant effect on the maximum recovery stress. The thermal strain rate of the SMA wires upon heating is more sensitive to the matrix properties than the stress rate does. Additional fibers embedded in the matrix have significant effect on the stress distribution between the SMA wires and the matrix, and thus affect the interface quality significantly. Fibers with negative thermal expansion coefficient are beneficial to the interface between shape memory alloy wires and the epoxy matrix. All conclusions based on the numerical modeling can find experimental supports.

  3. 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)

    2014-01-10

    A generalized actuator disk (GAD) wind turbine parameterization designed for large-eddy simulation (LES) applications was implemented into the Weather Research and Forecasting (WRF) model. WRF-LES with the GAD model enables numerical investigation of the effects of an operating wind turbine on and interactions with a broad range of atmospheric boundary layer phenomena. Numerical simulations using WRF-LES with the GAD model were compared with measurements obtained from the Turbine Wake and Inflow Characterization Study (TWICS-2011), the goal of which was to measure both the inflow to and wake from a 2.3-MW wind turbine. Data from a meteorological tower and two light-detection and ranging (lidar) systems, one vertically profiling and another operated over a variety of scanning modes, were utilized to obtain forcing for the simulations, and to evaluate characteristics of the simulated wakes. Simulations produced wakes with physically consistent rotation and velocity deficits. Two surface heat flux values of 20 W m–2 and 100 W m–2 were used to examine the sensitivity of the simulated wakes to convective instability. Simulations using the smaller heat flux values showed good agreement with wake deficits observed during TWICS-2011, whereas those using the larger value showed enhanced spreading and more-rapid attenuation. This study demonstrates the utility of actuator models implemented within atmospheric LES to address a range of atmospheric science and engineering applications. In conclusion, validated implementation of the GAD in a numerical weather prediction code such as WRF will enable a wide range of studies related to the interaction of wind turbines with the atmosphere and surface.

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

    Directory of Open Access Journals (Sweden)

    Ramutis Bansevicius

    2016-01-01

    Full Text Available The paper covers the research and development of piezoelectric traveling wave actuators using different types of the waveguides. The introduced piezoelectric actuators can be characterized by specific areas of application, different resolution, and torque. All presented actuators are ultrasonic resonant devices and they were developed to increase amplitudes of the traveling wave oscillations of the contact surface. Three different waveguides are introduced, that is, symmetrical, asymmetrical, and cone type waveguide. A piezoelectric ring with the sectioned electrodes is used to excite traveling wave oscillations for all actuators. Operating principle, electrode pattern, and excitation regimes of piezoelectric actuators are described. A numerical modelling of the actuators was performed to validate the operating principle and to calculate trajectories of the contact points motion. Prototype actuators were made and experimental study was performed. The results of numerical and experimental analysis are discussed.

  5. 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;

    2013-01-01

    The paper presents the implementation of the Actuator Cylinder (AC) flow model in the HAWC2 aeroelastic code originally developed for simulation of Horizontal Axis Wind Turbine (HAWT) aeroelasticity. This is done within the DeepWind project where the main objective is to explore the competitivene...

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

    DEFF Research Database (Denmark)

    Habib, Tufail

    2012-01-01

    investigation of Electro-mechanical actuator at simulated pressure conditions for a single cylinder engine. For this purpose, a scaled down actuator with reduced armature lift and high stiffness springs are being used. Experiments are conducted to measure valve release timings, transition times and contact...

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

    Directory of Open Access Journals (Sweden)

    Haigen Yang

    2015-01-01

    Full Text Available In order to accurately model the hysteresis and dynamic characteristics of piezoelectric stack actuators (PSAs, consider that a linear force and a hysteresis force will be generated by piezoelectric wafers under the voltage applied to a PSA, and the total force suffering from creep will result in the forced vibration of the two-degree-of-freedom mass-spring-damper system composed of the equivalent mass, stiffness, and damping of the piezoelectric wafers and the bonding layers. A modified comprehensive model for PSAs is put forward by using a linear function, an asymmetrical Bouc-Wen hysteresis operator, and a creep function to model the linear force, the hysteresis force, and the creep characteristics, respectively. In this way, the effect of the bonding layers on the hysteresis and dynamic characteristics of PSAs can be analyzed via the modified comprehensive model. The experimental results show that the modified comprehensive model for PSAs with the corresponding parameter identification method can accurately portray the hysteresis and dynamic characteristics of PSAs fabricated by different layering/stacking processes. Finally, the theoretical analyzing on utilizing the modified comprehensive model to linearize the hysteresis characteristics and design the dynamic characteristics of PSAs is given.

  8. Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots

    CERN Document Server

    S, Arumugom; V, Ponselvan

    2009-01-01

    Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...

  9. High-fidelity simulation and reduced-order modelling of integrally-actuated membrane wings with feedback control

    Science.gov (United States)

    Buoso, Stefano; Palacios, Rafael

    2016-04-01

    This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.

  10. Models for the control of electric actuators (EGEM, electrical engineering series); Modeles pour la commande des actionneurs electriques (Traite EGEM, serie Genie electrique)

    Energy Technology Data Exchange (ETDEWEB)

    Louis, J.P.

    2004-07-01

    The modeling of a system to be automatized is a key step for the determination of the control laws because these laws are based on inverse models deduced from direct models. The ideal example is the DC actuator, the simpleness of which allows to directly shift from the modeling to the control law. For AC actuators, the modeling tools are based on the classical hypotheses: linearity, first harmonics, symmetry. They lead to very efficient models which allow to study the properties in dynamical and permanent regime of the most important actuators: synchronous motors, asynchronous motors, voltage inverters. Some extensions to other kind of machines which does not fulfill the classical hypotheses are also proposed: synchronous machines with non-sinusoidal field distribution and asynchronous machines in saturated regime. (J.S.)

  11. Mathematical Modelling of Rotating Single-walled Carbon Nanotubes used in Nanoscale Rotational Actuators

    Directory of Open Access Journals (Sweden)

    Saggam Narendar

    2011-07-01

    Full Text Available In this study, a rotating single-walled carbon nanotube (SWCNT is modelled as an Euler-Bernoulli beam using the non-local/non-classical continuum mechanics. These rotating SWCNTs are used in nanoscale rotational actuators. The mathematical model has been used to study the wave behaviour in rotating SWCNTs. The governingpartial differential equation for a uniform rotating beam is derived incorporating the non-local scale effects. The spatial variation in centrifugal force has been modelled in an average sense. Even though this averaging seems to be a crude approximation, one can use this as a powerful model in analysing the wave dispersion characteristics ofthe rotating CNTs. Spectrum and dispersion curves as a function of rotating speed and non-local scaling parameter were obtained. It has been shown that the dispersive flexural wave tends to behave non-dispersively at very high rotation speeds. The numerical results have been simulated for a rotating SWCNT as a waveguide.Defence Science Journal, 2011, 61(4, pp.317-324, DOI:http://dx.doi.org/10.14429/dsj.61.1091

  12. IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

    Science.gov (United States)

    Boz, Utku; Basdogan, Ipek

    2015-12-01

    Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

  13. ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT

    Institute of Scientific and Technical Information of China (English)

    SONG Qi; JIANG Zhe; HAN Jianda

    2007-01-01

    A novel fault-tolerant adaptive control methodology against the actuator faults is proposed.The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.

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

    International Nuclear Information System (INIS)

    The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading

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

    Directory of Open Access Journals (Sweden)

    Labib Omar El-Farouk E.

    2016-01-01

    Full Text Available Aerial vehicles have been investigated recently in different contexts, due to their high potential of utilization in multiple application areas. Different mechanisms can be used for aerial vehicles actuation, such as the rotating multi-blade systems (Multi-Copters and more recently flapping wings. Flapping wing robots have attracted much attention from researchers in recent years. In this study, a simple dual-actuated flapping mechanism is proposed for actuating a flapping wing robot. The mechanism is designed, simulated and validated in both simulation and experiments. A roll controlling approach is proposed to control the roll angle of the robot via controlling the speeds of both motors actuating each of the wings. The results achieved are validated experimentally, and are promising opening the door for further investigation using our proposed system

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

    OpenAIRE

    Ruzairi Abdul Rahim; Pei Ling Leow; Uda Hashim; Tijjani Adam; Rashidah Arsat; Pei Song Chee

    2012-01-01

    This paper demonstrates a modular architecture of a non-contact actuation micropump setup. Rapid hot embossing prototyping was employed in micropump fabrication by using printed circuit board (PCB) as a mold material in polymer casting. Actuator-membrane gap separation was studied, with experimental investigation of three separation distances: 2.0 mm, 2.5 mm and 3.5 mm. To enhance the micropump performance, interaction surface area between plunger and membrane was modeled via finite element a...

  17. Control-focused, nonlinear and time-varying modelling of dielectric elastomer actuators with frequency response analysis

    Science.gov (United States)

    Jacobs, William R.; Wilson, Emma D.; Assaf, Tareq; Rossiter, Jonathan; Dodd, Tony J.; Porrill, John; Anderson, Sean R.

    2015-05-01

    Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input-output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics.

  18. Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers

    OpenAIRE

    Rajappa, Sujit; Ryll, Markus; Heinrich H Bülthoff; Franchi, Antonio

    2015-01-01

    International audience Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4 DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory over time. In this paper, we consider a different hexarotor architecture where propellers are tilted, without the need of any additional hardware. In this way, the hexarotor possess a 6 DoF actuation which a...

  19. Modeling and experiment of three-degree-of-freedom actuators using piezoelectric buzzers

    International Nuclear Information System (INIS)

    This study presents innovative three-degree-of-freedom piezoelectric actuators. Under the piezoelectric force and dry friction, the piezoelectric actuators not only can move in the Z-axis direction, but also rotate around the Y-axis and Z-axis. The Z-axis displacement can reach 62 mm and the rotation angle around the Y-axis and Z-axis can reach 270° and 360°, respectively. Compared with the literature, this innovative actuator design achieves one-degree-of-freedom translation and two-degree-of-freedom rotation. Equations of motion are derived based on the piezoelectric properties and Newton’s law. Two types of actuators are created in this study. In the first type, the centers of four piezoelectric buzzers are attached to an arm while in the other type each rim of the four piezoelectric buzzers is attached to the arm. Experimental results are compared with theoretical results. According to the experimental results, the present actuator can accomplish a translational velocity of 11 mm s−1, a Y-axis angular velocity of 8.96 rad s−1, a Z-axis angular velocity of 2.63 rad s−1, and a force of 2.49 mN. By using four piezoelectric buzzers, this study creates piezoelectric actuators capable of both translational and rotational motions. (paper)

  20. Quantitative Modeling of Coupled Piezo-Elastodynamic Behavior of Piezoelectric Actuators Bonded to an Elastic Medium for Structural Health Monitoring: A Review

    Directory of Open Access Journals (Sweden)

    Guoliang Huang

    2010-04-01

    Full Text Available Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized.

  1. Quantitative modeling of coupled piezo-elastodynamic behavior of piezoelectric actuators bonded to an elastic medium for structural health monitoring: a review.

    Science.gov (United States)

    Huang, Guoliang; Song, Fei; Wang, Xiaodong

    2010-01-01

    Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized. PMID:22319319

  2. Model identification of terfenol-D magnetostrictive actuator for precise positioning control

    Science.gov (United States)

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

    2016-04-01

    Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

  3. The CFD Investigation of Two Non-Aligned Turbines Using Actuator Disk Model and Overset Grids

    International Nuclear Information System (INIS)

    In this study flow over two axially non-aligned wind turbines is investigated via 3-D CFD analysis by solving Navier-Stokes equations. This setting is the test case geometry for the NTNU's ''Blind-Test'' Workshop 3 (BT3) and it aims to predict the performance of the wind turbines and their wake development under asymmetrical flow conditions. The performance of the turbine in the wake of the other turbine is numerically studied for different tip speed ratios. The measurements of velocity profile which is severely disturbed by both turbines are also carried out at the several locations of the wind tunnel. The computational results for NTNU wind turbine test case were obtained by 3-D CFD simulations with two different approaches. The first approach is to employ the actuator disk model, which is used in order to approximate the pressure jump across the rotor disk to simulate the impact of the wind turbines. At the second approach, the actual geometry of the turbine rotor was used, and the rotor blades were rotated using an overset grid methodology over the background grids. The thrust coefficients and the velocity profiles are calculated with two different approaches and the results are compared to experimental data presented in BT3

  4. TOPICAL REVIEW: Sensors and actuators based on surface acoustic waves propagating along solid liquid interfaces

    Science.gov (United States)

    Lindner, Gerhard

    2008-06-01

    The propagation of surface acoustic waves (SAWs) along solid-liquid interfaces depends sensitively on the properties of the liquid covering the solid surface and may result in a momentum transfer into the liquid and thus a propulsion effect via acoustic streaming. This review gives an overview of the design of different SAW devices used for the sensing of liquids and the basic mechanisms of the interaction of SAWs with overlaying liquids. In addition, applications of devices based on these phenomena with respect to touch sensing and the measurement of liquid properties such as density, viscosity or the composition of mixed liquids are described, including microfabricated as well as macroscopic devices made from non-piezoelectric materials. With respect to the rapidly growing field of acoustic streaming applications, recent developments in the movement of nanolitre droplets on a single piezoelectric chip, the rather macroscopic approaches to the acoustic pumping of liquids in channels and recent attempts at numerical simulations of acoustic streaming are reported.

  5. Sensors and actuators based on surface acoustic waves propagating along solid-liquid interfaces

    International Nuclear Information System (INIS)

    The propagation of surface acoustic waves (SAWs) along solid-liquid interfaces depends sensitively on the properties of the liquid covering the solid surface and may result in a momentum transfer into the liquid and thus a propulsion effect via acoustic streaming. This review gives an overview of the design of different SAW devices used for the sensing of liquids and the basic mechanisms of the interaction of SAWs with overlaying liquids. In addition, applications of devices based on these phenomena with respect to touch sensing and the measurement of liquid properties such as density, viscosity or the composition of mixed liquids are described, including microfabricated as well as macroscopic devices made from non-piezoelectric materials. With respect to the rapidly growing field of acoustic streaming applications, recent developments in the movement of nanolitre droplets on a single piezoelectric chip, the rather macroscopic approaches to the acoustic pumping of liquids in channels and recent attempts at numerical simulations of acoustic streaming are reported. (topical review)

  6. Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery.

    Science.gov (United States)

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

    2015-04-01

    Recent study shows that tendon-sheath system (TSS) has great potential in the development of surgical robots for endoscopic surgery. It is able to deliver adequate power in a light-weight and compact package. And the flexibility and compliance of the tendon-sheath system make it capable of adapting to the long and winding path in the flexible endoscope. However, the main difficulties in precise control of such system fall on the nonlinearities of the system behavior and absence of necessary sensory feedback at the surgical end-effectors. Since accurate position control of the tool is a prerequisite for efficacy, safety and intuitive user-experience in robotic surgery, in this paper we propose a system modeling approach for motion compensation. Based on a bidirectional actuated system using two separate tendon-sheaths, motion transmission is firstly characterized. Two types of positional errors due to system backlash and environment loading are defined and modeled. Then a model-based feedforward compensation method is proposed for open-loop control, giving the system abilities to adjust according to changes in the transmission route configuration without any information feedback from the distal end. A dedicated experimental platform emulating a bidirectional TSS robotic system for endoscopic surgery is built for testing. Proposed positional errors are identified and verified. The performance of the proposed motion compensation is evaluated by trajectory tracking under different environment loading conditions. And the results demonstrate that accurate position control can be achieved even if the transmission route configuration is updated. PMID:25819033

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

    KAUST Repository

    Ruzziconi, Laura

    2013-06-10

    We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped-clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical analysis, which is able to describe and predict all the main relevant aspects of the experimental response. Extensive experimental investigation is conducted, where the main imperfections coming from microfabrication are detected, the first four experimental natural frequencies are identified and the nonlinear dynamics are explored at increasing values of electrodynamic excitation, in a neighborhood of the first symmetric resonance. Several backward and forward frequency sweeps are acquired. The nonlinear behavior is highlighted, which includes ranges of multistability, where the nonresonant and the resonant branch coexist, and intervals where superharmonic resonances are clearly visible. Numerical simulations are performed. Initially, two single mode reduced-order models are considered. One is generated via the Galerkin technique, and the other one via the combined use of the Ritz method and the Padé approximation. Both of them are able to provide a satisfactory agreement with the experimental data. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Their computational efficiency is discussed in detail, since this is an essential aspect for systematic local and global simulations. Finally, the theoretical analysis is further improved and a two-degree-of-freedom reduced-order model is developed, which is also capable of capturing the measured second symmetric superharmonic resonance. Despite the apparent simplicity, it is shown that all the proposed reduced-order models are able to describe the experimental complex nonlinear dynamics of the device accurately and properly, which validates the proposed theoretical approach. © 2013 IOP Publishing Ltd.

  8. Estimation of exhaust gas aerodynamic force on the variable geometry turbocharger actuator: 1D flow model approach

    International Nuclear Information System (INIS)

    Highlights: • Estimation of aerodynamic force on variable turbine geometry vanes and actuator. • Method based on exhaust gas flow modeling. • Simulation tool for integration of aerodynamic force in automotive simulation software. - Abstract: This paper provides a reliable tool for simulating the effects of exhaust gas flow through the variable turbine geometry section of a variable geometry turbocharger (VGT), on flow control mechanism. The main objective is to estimate the resistive aerodynamic force exerted by the flow upon the variable geometry vanes and the controlling actuator, in order to improve the control of vane angles. To achieve this, a 1D model of the exhaust flow is developed using Navier–Stokes equations. As the flow characteristics depend upon the volute geometry, impeller blade force and the existing viscous friction, the related source terms (losses) are also included in the model. In order to guarantee stability, an implicit numerical solver has been developed for the resolution of the Navier–Stokes problem. The resulting simulation tool has been validated through comparison with experimentally obtained values of turbine inlet pressure and the aerodynamic force as measured at the actuator shaft. The simulator shows good compliance with experimental results

  9. A generalized Prandtl-Ishlinskii model for characterizing the rate-independent and rate-dependent hysteresis of piezoelectric actuators.

    Science.gov (United States)

    Gan, Jinqiang; Zhang, Xianmin; Wu, Heng

    2016-03-01

    In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.

  10. A generalized Prandtl-Ishlinskii model for characterizing the rate-independent and rate-dependent hysteresis of piezoelectric actuators.

    Science.gov (United States)

    Gan, Jinqiang; Zhang, Xianmin; Wu, Heng

    2016-03-01

    In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. PMID:27036808

  11. Mixed H2/H∞ distributed robust model predictive control for polytopic uncertain systems subject to actuator saturation and missing measurements

    Science.gov (United States)

    Song, Yan; Fang, Xiaosheng; Diao, Qingda

    2016-03-01

    In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.

  12. Hydraulic involute cam actuator

    Science.gov (United States)

    Love, Lonnie J.; Lind, Randall F.

    2011-11-01

    Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.

  13. Modeling of an ionic polymer metal composite actuator based on an extended Kalman filter trained neural network

    International Nuclear Information System (INIS)

    An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique. (paper)

  14. Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators

    International Nuclear Information System (INIS)

    Polypyrrole (PPy) conducting polymers have shown a great potential for the fabrication of conjugated polymer-based actuating devices. Consequently, they have been a key point in developing many advanced emerging applications such as biomedical devices and biomimetic robotics. When designing an actuator, taking all of the related decision variables, their roles and relationships into consideration is of pivotal importance to determine the actuator’s final performance. Therefore, the central focus of this study is to develop an electrochemomechanical constrained multiobjective optimization model of a PPy/MWCNTs trilayer actuator. For this purpose, the objective functions are designed to capture the three main characteristics of these actuators, namely their tip vertical displacement, blocking force and response time. To obtain the optimum range of the designated decision variables within the feasible domain, a multiobjective optimization algorithm is applied while appropriate constraints are imposed. The optimum points form a Pareto surface on which they are consistently spread. The numerical results are presented; these results enable one to design an actuator with consideration to the desired output performances. For the experimental analysis, a multilayer bending-type actuator is fabricated, which is composed of a PVDF layer and two layers of PPy with an incorporated layer of multi-walled carbon nanotubes deposited on each side of the PVDF membrane. The numerical results are experimentally verified; in order to determine the performance of the fabricated actuator, its outputs are compared with a neat PPy actuator’s experimental and numerical counterparts. (paper)

  15. Modeling of electric resistance of shape memory alloys: self-sensing for temperature and actuation control of active hybrid composites

    Science.gov (United States)

    Nissle, Sebastian; Hübler, Moritz; Gurka, Martin

    2016-04-01

    For actuation purposes active hybrid structures made of fiber reinforced polymers (FRP) and shape memory alloys (SMA) enable substantial savings concerning weight, space and cost. Such structures allow realizing new functions which are more or less impossible with commonly used systems consisting of the structure and the actuator as separated elements, e.g. morphing winglets in aeronautics. But there are also some challenges that still need to be addressed. For the successful application of SMA FRP composites a precise control of temperature is essential, as this is the activating quantity to reach the required deformation of the structure without overloading the active material. However, a direct measurement of the temperature is difficult due to the complete integration of SMA in the hybrid structure. Also the deformation of the structure which depends on the temperature, the stiffness of the hybrid structure and external loads is hard to determine. An opportunity for controlling the activation is provided by the special behavior of the electrical resistance of SMA. During the phase transformation of the SMA - also causing the actuation travel - the resistance drops with rising temperature. This behavior can be exploited for control purposes, especially as the electrical resistance can be easily measured during the activation done by Joule heating. As shown in this contribution, theoretical modelling and experimental tests provide a load-independent self-sensing control-concept of SMA-FRP-hybrid-structures.

  16. Rotary actuator for space applications

    Science.gov (United States)

    Andión, J. A.; Burgui, C.; Migliorero, G.

    2005-07-01

    SENER is developing a rotary actuator for space applications. The activity, partially funded under ESA GSTP contract, aims at the design, development and performance testing of an innovative rotary actuator concept for space applications. An engineering model has been manufactured and has been tested to demonstrate the compliance with the requirements specification.

  17. Electrohydroelastic Euler-Bernoulli-Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

    Science.gov (United States)

    Shahab, S.; Erturk, A.

    2016-10-01

    Bio-inspired hydrodynamic thrust generation using smart materials has received growing attention over the past few years to enable improved maneuverability and agility, small form factor, reduced power consumption, and ease of fabrication in next-generation aquatic swimmers. In order to develop a high-fidelity model to predict the electrohydroelastic dynamics of macro-fiber composite (MFC) piezoelectric structures, in this work, mixing rules-based (i.e. rule of mixtures) electroelastic mechanics formulation is coupled with the global electroelastic dynamics based on the Euler-Bernoulli kinematics and nonlinear fluid loading based on Morison’s semi-empirical model. The focus is placed on the dynamic actuation problem for the first two bending vibration modes under geometrically and materially linear, hydrodynamically nonlinear behavior. The electroelastic and dielectric properties of a representative volume element (piezoelectric fiber and epoxy matrix) between two subsequent interdigitated electrodes are correlated to homogenized parameters of MFC bimorphs and validated for a set of MFCs that have the same overhang length but different widths. Following this process of electroelastic model development and validation, underwater actuation experiments are conducted for different length-to-width aspect ratios (L/b) in quiescent water, and the empirical drag and inertia coefficients are extracted from Morison’s equation to establish the electrohydroelastic model. The repeatability of these empirical coefficients is demonstrated for experiments conducted using aluminum cantilevers of different aspect ratios with a focus on the first two bending modes. The convergence of the nonlinear electrohydroelastic Euler-Bernoulli-Morison model to its hydrodynamically linear counterpart for increased L/b values is also reported. The proposed model, its harmonic balance analysis, and experimental results can be used not only for underwater piezoelectric actuation, but also for

  18. Dielectric barrier discharge plasma actuator for flow control

    Science.gov (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

  19. Distributed structural control using multilayered piezoelectric actuators

    Science.gov (United States)

    Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov

    1990-01-01

    A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.

  20. Experiment and Modeling of Simultaneous Creep, Plasticity and Transformation of High Temperature Shape Memory Alloys During Cyclic Actuation

    Science.gov (United States)

    Kumar, Parikshith K.; Desai, Uri; Chatzigeorgiou, George; Lagoudas, Dimitris C.; Monroe, James; Karaman, Ibrahim; Noebe, Ron; Bigelow, Glen

    2010-01-01

    The present work is focused on studying the cycling actuation behavior of HTSMAs undergoing simultaneous creep and transformation. For the thermomechanical testing, a high temperature test setup was assembled on a MTS frame with the capability to test up to temperatures of 600 C. Constant stress thermal cycling tests were conducted to establish the actuation characteristics and the phase diagram for the chosen HTSMA. Additionally, creep tests were conducted at constant stress levels at different test temperatures to characterize the creep behavior of the alloy over the operational range. A thermodynamic constitutive model is developed and extended to take into account a) the effect of multiple thermal cycling on the generation of plastic strains due to transformation (TRIP strains) and b) both primary and secondary creep effects. The model calibration is based on the test results. The creep tests and the uniaxial tests are used to identify the viscoplastic behavior of the material. The parameters for the SMA properties, regarding the transformation and transformation induced plastic strain evolutions, are obtained from the material phase diagram and the thermomechanical tests. The model is validated by predicting the material behavior at different thermomechanical test conditions.

  1. Modelling land surface - atmosphere interactions

    DEFF Research Database (Denmark)

    Rasmussen, Søren Højmark

    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...... representation of groundwater in the hydrological model is found to important and this imply resolving the small river valleys. Because, the important shallow groundwater is found in the river valleys. If the model does not represent the shallow groundwater then the area mean surface flux calculation...

  2. Effects of surface roughening of Nafion 117 on the mechanical and physicochemical properties of ionic polymer-metal composite (IPMC) actuators

    Science.gov (United States)

    Wang, Yanjie; Zhu, Zicai; Liu, Jiayu; Chang, Longfei; Chen, Hualing

    2016-08-01

    In this paper, the surface of a Nafion membrane was roughened by the sandblasting method, mainly considering the change of sandblasting time and powder size. The roughened surfaces were characterized in terms of their topography from the confocal laser scanning microscope (CLSM) and SEM. The key surface parameters, such as Sa (the arithmetical mean deviation of the specified surface profile), SSA (the surface area ratio before and after roughening) and the area measurement on the histogram from the CLSM images, were extracted and evaluated from the roughened membranes. Also, the detailed change in surface and interfacial electrodes were measured and discussed together with the surface resistance, equivalent modulus, capacitance and performances of IPMC actuators based on the roughened membranes. The results show that a suitable sandblasting condition, resulting in the decrease in the bending stiffness and the increase in the interface area closely related to the capacitance, can effectively increase the electromechanical responses of IPMCs. Although the surface roughening by sandblasting caused a considerable lowering of mechanical strength, it was very effective for enlarging the interfacial area between Nafion membrane and the electrode layers, and for forming a penetrated electrode structure, which facilitated improvement of the surface resistance and capacitance characteristics of IPMCs. In this work, a quantitative relationship was built between the topography of Nafion membrane surface and electromechanical performance of IPMCs by means of sandblasting.

  3. Magnetic actuation of a cylindrical microrobot using time-delay-estimation closed-loop control: modeling and experiments

    International Nuclear Information System (INIS)

    Accurate control systems are critical for safe and practical utilization of microrobots for in vivo operations. There exist uncertainties from the microrobot dynamics and nonlinearities from the magnetic driving force in the electromagnetic in vivo manipulation of microrobots, especially in low Reynolds number fluid flow. We describe the modeling and implementation of a closed-loop control system for a magnetically actuated microrobot based on time-delay estimation (TDE). The microrobot consisted of a cylindrical magnet, 0.5 mm in diameter and 1 mm in length, and the controller used optical sensing for position feedback. In addition, we describe an analytical model to determine the magnetic field components and the field gradients of a custom set of coils used to actuate the microrobot. Simulations were carried out to investigate the properties of the TDE control system, and it was subsequently tested experimentally, demonstrating that it provides robust control of the microrobot trajectory and does not exhibit chattering to follow step inputs. (paper)

  4. Linear stability analysis for an optimum Glauert rotor modelled by an actuator disc

    International Nuclear Information System (INIS)

    We approximate a wind turbine using the Actuator Disc methodology with loading for an optimum Glauert rotor, and vary blade length and tip speed ratio, to determine base flows for linear stability computations at a Reynolds number of 100. Results from such computations suggest that the least stable mode is axisymmetric and insensitive to changes in tip speed operation, suggesting that the stability properties in the farfield wake for an optimised rotor are independent of the chosen tip speed optimization point. Higher azimuthal modes promote greater variation in velocities and may be relevant to cases at higher Reynolds numbers

  5. Microprocessor controlled proof-mass actuator

    Science.gov (United States)

    Horner, Garnett C.

    1987-01-01

    The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.

  6. Pavement Aging Model by Response Surface Modeling

    Directory of Open Access Journals (Sweden)

    Manzano-Ramírez A.

    2011-10-01

    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.

  7. Dielectric barrier discharge-based plasma actuator operation in artificial atmospheres for validation of modeling and simulation

    Science.gov (United States)

    Mangina, R. S.; Enloe, C. L.; Font, G. I.

    2015-11-01

    We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N2) and electronegative gases (O2 and SF6) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N2 discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.

  8. Sensor and Actuator Fault Detection and Isolation in Nonlinear System using Multi Model Adaptive Linear Kalman Filter

    Directory of Open Access Journals (Sweden)

    M. Manimozhi

    2014-05-01

    Full Text Available Fault Detection and Isolation (FDI using Linear Kalman Filter (LKF is not sufficient for effective monitoring of nonlinear processes. Most of the chemical plants are nonlinear in nature while operating the plant in a wide range of process variables. In this study we present an approach for designing of Multi Model Adaptive Linear Kalman Filter (MMALKF for Fault Detection and Isolation (FDI of a nonlinear system. The uses a bank of adaptive Kalman filter, with each model based on different fault hypothesis. In this study the effectiveness of the MMALKF has been demonstrated on a spherical tank system. The proposed method is detecting and isolating the sensor and actuator soft faults which occur sequentially or simultaneously.

  9. The k-ε-fP model applied to double wind turbine wakes using different actuator disk force methods

    DEFF Research Database (Denmark)

    Laan, van der, Paul Maarten; Sørensen, Niels N.; Réthoré, Pierre-Elouan;

    2015-01-01

    The newly developed k-ε-fP  eddy viscosity model is applied to double wind turbine wake configurations in a neutral atmospheric boundary layer, using a Reynolds-Averaged Navier–Stokes solver. The wind turbines are represented by actuator disks. A proposed variable actuator disk force method...... is employed to estimate the power production of the interacting wind turbines, and the results are compared with two existing methods: a method based on tabulated airfoil data and a method based on the axial induction from 1D momentum theory. The proposed method calculates the correct power, while the other...

  10. 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.

    2013-05-01

    Full Text Available Orbital Friction Vibration Actuator (OFVA is a core component of Orbital Friction Welding (OFW, which is a novel apertureless welding technology utilizing friction heat to implement solid-state joining. In this paper, topology and operational principle of OFVA are introduced, the analytical formulas of the electromagnetic force for the x and y directions, which can drive the mover to generate a circular motion trajectory, are derived, and the characteristic of static electromagnetic force is predicted by analytical method and 2-D (two-dimensional FEM (finite element method, 3-D and measurement. The coupled magnetic field-circuit-motion simulation models which are driven by current and voltage source are established, respectively, and some of its operational characteristics are analyzed. Simulation and experiment validate theoretical analysis and the feasibility of the fabricated prototype, demonstrate the good performance of the OFVA, and provide valuable reference for engineering applications.

  11. 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

    2015-01-01

    Full Text Available The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.

  12. Performance Enhancement of a Vertical Tail Model with Sweeping Jet Actuators

    Science.gov (United States)

    Seele, Roman; Graff, Emilio; Lin, John; Wygnanski, Israel

    2013-01-01

    Active Flow Control (AFC) experiments performed at the Caltech Lucas Adaptive Wall Wind Tunnel on a 12%-thick, generic vertical tail model indicated that sweeping jets emanating from the trailing edge (TE) of the vertical stabilizer significantly increased the side force coefficient for a wide range of rudder deflection angles and yaw angles at free-stream velocities approaching takeoff rotation speed. The results indicated that 2% blowing momentum coefficient (C(sub mu) increased the side force in excess of 50% at the maximum conventional rudder deflection angle in the absence of yaw. Even C(sub mu) = 0.5% increased the side force in excess of 20% under these conditions. This effort was sponsored by the NASA Environmentally Responsible Aviation (ERA) project and the successful demonstration of this flow-control application could have far reaching implications. It could lead to effective applications of AFC technologies on key aircraft control surfaces and lift enhancing devices (flaps) that would aid in reduction of fuel consumption through a decrease in size and weight of wings and control surfaces or a reduction of the noise footprint due to steeper climb and descent.

  13. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guido Belforte

    2014-05-01

    Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments

  14. Bluff Body Flow Control Using Plasma Actuators

    Science.gov (United States)

    Thomas, Flint

    2005-11-01

    In this study, the use of single dielectric barrier discharge plasma actuators for the control of bluff body flow separation is investigated. In particular, surface mounted plasma actuators are used to reduce both drag and unsteady vortex shedding from circular cylinders in cross-flow. It is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. Large reductions in vortex shedding and drag are demonstrated for Reynolds numbers ˜ 10^410^5. Both steady and unsteady plasma-induced surface blowing is explored. Results are presented from experiments involving both two and four surface mounted actuators.

  15. Dielectric barrier discharge-based plasma actuator operation in artificial atmospheres for validation of modeling and simulation

    Energy Technology Data Exchange (ETDEWEB)

    Mangina, R. S.; Enloe, C. L.; Font, G. I. [Department of Physics, United States Air Force Academy, Colorado 80840 (United States)

    2015-11-15

    We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N{sub 2}) and electronegative gases (O{sub 2} and SF{sub 6}) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N{sub 2} discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.

  16. Preliminary design and validation of a Real Time model for hardware in the loop testing of bypass valve actuation system

    International Nuclear Information System (INIS)

    Highlights: • A Real Time Model of a turbine bypass system is presented and validated. • An Hardware in the Loop rig is used for calibration of positioneers and turbine bypass regulators. • Testing activities on the proposed test rig, confirm the feasibility of the proposed approach. - Abstract: During the start-up and shut-down phases of steam power plants many components are subjected to pressure and temperature transients that have to be carefully regulated both for safety and reliability reasons. For this reason, there is a growing interest in the optimization of turbine bypass controllers and actuators which are mainly used to regulate the plant during this kind of operations. In this work, a numerically efficient model for Real Time (RT) simulation of a steam plant is presented. In particular, a modular Simulink™ library of components such as valves, turbines and heaters has been developed. In this way it is possible to easily assemble and customize models able to simulate different plants and operating scenarios. The code, which is implemented for a fixed, discrete step solver, can be easily compiled for a RT target (such as a Texas Instrument DSP) in order to be executed in Real Time on a low cost industrial hardware. The proposed model has been used for quite innovative applications such as the development of a Hardware In the Loop (HIL) test rig of turbine bypass controllers and valve positioners. Preliminary experimental activities and results of the proposed test rig developed for Velan ABV are introduced and discussed

  17. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real......-time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed....

  18. Repulsive-force out-of-plane large stroke translation micro electrostatic actuator

    International Nuclear Information System (INIS)

    A repulsive-force out-of-plane large stroke translation micro electrostatic actuator is presented. A model of the actuator is presented and is used to relate the applied voltage to the out-of-plane displacement. Prototypes of the actuator are fabricated using the surface micromachining technology PolyMUMPs. The measured results show that the actuator can achieve a static out-of-plane translation of 86 µm for a driving voltage of 200 V. The measured static performance matches well with the results predicted by the model. The measured bandwidth (–3 dB) for the out-of-plane translation of the micro actuator is 80 and 200 Hz for input sinusoidal driving voltages varying in the ranges of 75–125 V and 125–175 V, respectively. The translation micro actuator can also achieve 2D rotation along any direction within a mechanical rotation range of ±1.5°. Vector display based on the actuator is also demonstrated

  19. CSMP commutation model for design study of a brushless dc motor power conditioner for a cruise missile fin control actuator. Master's thesis

    Energy Technology Data Exchange (ETDEWEB)

    MacMillan, P.N.

    1985-06-01

    Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high-horsepower DC motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight-control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless DC motor fed by a transistorized power conditioner utilizing high speed switching power transistors as final elements is presented. The influence of electronic commutation on instantaneous dynamic motor performance is particularly demonstrated and good correlation between computer simulation and typical experimentally obtained performance data is achieved. The model is implemented in CSMP language and features more accurate air gap flux representation over previous work. Hall-effect sensor rotor position feedback is simulated. Both constant and variable-air-gap flux is modeled and the variable flux model treats the flux as a fundamental and one harmonic.

  20. Generalized Wind Turbine Actuator Disk Parameterization in the Weather Research and Forecasting (WRF) Model for Real-World Simulations

    Science.gov (United States)

    Marjanovic, N.; Mirocha, J. D.; Chow, F. K.

    2013-12-01

    In this work, we examine the performance of a generalized actuator disk (GAD) model embedded within the Weather Research and Forecasting (WRF) atmospheric model to study wake effects on successive rows of turbines at a North American wind farm. These wake effects are of interest as they can drastically reduce down-wind energy extraction and increase turbulence intensity. The GAD, which is designed for turbulence-resolving simulations, is used within downscaled large-eddy simulations (LES) forced with mesoscale simulations and WRF's grid nesting capability. The GAD represents the effects of thrust and torque created by a wind turbine on the atmosphere within a disk representing the rotor swept area. The lift and drag forces acting on the turbine blades are parameterized using blade-element theory and the aerodynamic properties of the blades. Our implementation permits simulation of turbine wake effects and turbine/airflow interactions within a realistic atmospheric boundary layer flow field, including resolved turbulence, time-evolving mesoscale forcing, and real topography. The GAD includes real-time yaw and pitch control to respond realistically to changing flow conditions. Simulation results are compared to SODAR data from operating wind turbines and an already existing WRF mesoscale turbine drag parameterization to validate the GAD parameterization.

  1. Experimental investigation of resonant MEMS switch with ac actuation

    Science.gov (United States)

    Pal, Jitendra; Zhu, Yong; Wang, Boyi; Lu, Junwei; Khan, Fahimullah; Viet Dao, Dzung; Wang, Yifan

    2016-06-01

    In this letter, modeling, analysis, and experimental investigation for a resonant MEMS switch are presented. The resonant switch harnesses its mechanical resonance to lower the required actuation voltage by a substantial factor over the switch with static actuation. With alternating actuation voltage at its mechanical resonance frequency of 6.6 kHz, the average capacitance is tuned by changing the gap between fixed and movable electrodes. Based on the proposed actuation method, the device offers 57.44% lower actuation voltage compared with the switch with static actuation.

  2. Piezocomposite Actuator Arrays for Correcting and Controlling Wavefront Error in Reflectors

    Science.gov (United States)

    Bradford, Samuel Case; Peterson, Lee D.; Ohara, Catherine M.; Shi, Fang; Agnes, Greg S.; Hoffman, Samuel M.; Wilkie, William Keats

    2012-01-01

    Three reflectors have been developed and tested to assess the performance of a distributed network of piezocomposite actuators for correcting thermal deformations and total wave-front error. The primary testbed article is an active composite reflector, composed of a spherically curved panel with a graphite face sheet and aluminum honeycomb core composite, and then augmented with a network of 90 distributed piezoelectric composite actuators. The piezoelectric actuator system may be used for correcting as-built residual shape errors, and for controlling low-order, thermally-induced quasi-static distortions of the panel. In this study, thermally-induced surface deformations of 1 to 5 microns were deliberately introduced onto the reflector, then measured using a speckle holography interferometer system. The reflector surface figure was subsequently corrected to a tolerance of 50 nm using the actuators embedded in the reflector's back face sheet. Two additional test articles were constructed: a borosilicate at window at 150 mm diameter with 18 actuators bonded to the back surface; and a direct metal laser sintered reflector with spherical curvature, 230 mm diameter, and 12 actuators bonded to the back surface. In the case of the glass reflector, absolute measurements were performed with an interferometer and the absolute surface was corrected. These test articles were evaluated to determine their absolute surface control capabilities, as well as to assess a multiphysics modeling effort developed under this program for the prediction of active reflector response. This paper will describe the design, construction, and testing of active reflector systems under thermal loads, and subsequent correction of surface shape via distributed peizeoelctric actuation.

  3. Euler force actuation mechanism for siphon valving in compact disk-like microfluidic chips.

    Science.gov (United States)

    Deng, Yongbo; Fan, Jianhua; Zhou, Song; Zhou, Teng; Wu, Junfeng; Li, Yin; Liu, Zhenyu; Xuan, Ming; Wu, Yihui

    2014-03-01

    Based on the Euler force induced by the acceleration of compact disk (CD)-like microfluidic chip, this paper presents a novel actuation mechanism for siphon valving. At the preliminary stage of acceleration, the Euler force in the tangential direction of CD-like chip takes the primary place compared with the centrifugal force to function as the actuation of the flow, which fills the siphon and actuates the siphon valving. The Euler force actuation mechanism is demonstrated by the numerical solution of the phase-field based mathematical model for the flow in siphon valve. In addition, experimental validation is implemented in the polymethylmethacrylate-based CD-like microfluidic chip manufactured using CO2 laser engraving technique. To prove the application of the proposed Euler force actuation mechanism, whole blood separation and plasma extraction has been conducted using the Euler force actuated siphon valving. The newly introduced actuation mechanism overcomes the dependence on hydrophilic capillary filling of siphon by avoiding external manipulation or surface treatments of polymeric material. The sacrifice for highly integrated processing in pneumatic pumping technique is also prevented by excluding the volume-occupied compressed air chamber.

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

    DEFF Research Database (Denmark)

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

    2014-01-01

    induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...... as a basis for code-generation. The aim is to build protocols with shorter design to implementation time and efforts, along with higher confidence in the protocol designed....

  5. Three-dimensional deformation response of a NiTi shape memory helical-coil actuator during thermomechanical cycling: experimentally validated numerical model

    Science.gov (United States)

    Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.

    2016-09-01

    Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental

  6. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee

    2010-08-01

    There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.

  7. Development of high-rate large-deflection hingeless trailing-edge control surface for the Smart Wing wind tunnel model

    Science.gov (United States)

    Wang, Donny P.; Bartley-Cho, Jonathan D.; Martin, Christopher A.; Hallam, Brian J.

    2001-06-01

    A key objective of the Smart Wing Phase 2, Test 2 is to demonstrate high-rate actuation of hingeless control surfaces using smart material-based actuators. Actuation rates resulting in a minimum of 20 degree(s) flap deflection in 0.33 sec, producing a sweep rate of at least 60 degree(s)/sec, are desired. This sweep rate is similar to those specified for many of the existing military platforms with hinged control surfaces. The ability to deploy control surfaces without discrete hingeline would, however, enhance platform mission by reducing radar cross section and improving aerodynamic performance. Studies on numerous actuation concepts and flexible structures were executed during the early and mid phase of the program in an effort to satisfy these goals. In the first study, several actuation concepts with different transducers were modeled and analyzed. These concepts included distributed piezoelectric stack actuators with and without hydraulic amplifiers and pumps, antagonistic tendon actuation, and eccentuation. The transducers selected for the trade studies included piezoelectric ultrasonic motors, actively cooled SMA, ferromagnetic SMA, and stacks made from piezoelectric ceramic wafer, piezoelectric single crystal wafer, irradiated PVDF-TrFE film, and dielectric elastomer film. Although many of the technologies are not fully mature, they provide a glimpse of what improvements could be possible with their successful development. The studies showed that distributed polymer stacks provided the most elegant solution, but eccentuation was deemed the most realistic and lowest risk approach to attaining the program goals. A common issue to all the concepts was the structural stiffness that the actuators worked against. This was resolved in the second study by developing a flexcore- elastomeric skin trailing edge structure with eccentuation using high power ultrasonic motors. This paper describes the two studies and the final concept in detail.

  8. Smart composite material system with sensor, actuator, and processor functions: a model of holding and releasing a ball

    Science.gov (United States)

    Oishi, Ryutaro; Yoshida, Hitoshi; Nagai, Hideki; Xu, Ya; Jang, Byung-Koog

    2002-07-01

    A smart composite material system which has three smart functions of sensor, actuator and processor has been developed intend to apply to structure of house for controlling ambient temperature and humidity, hands of robot for holding and feeling an object, and so on. A carbon fiber reinforced plastics (CFRP) is used as matrix in the smart composite. The size of the matrix is 120mm x 24mm x 0.45mm. The CFRP plate is combined two Ni-Ti shape memory alloy (SMA) wires with an elastic rubber to construct a composite material. The composite material has a characteristic of reversible response with respect to temperature. A photo-sensor and temperature sensor are embedded in the composite material. The composite material has a processor function to combine with a simple CPU (processor) unit. For demonstrating the capability of the composite material system, a model is built up for controlling certain behaviors such as gripping and releasing a spherical object. The amplitude of gripping force is (3.0 plus/minus 0.3) N in the measurement, which is consistent with our calculation of 2.7 N. Out of a variety of functions to be executed by the CPU, it is shown to exert calculation and decision making in regard to object selection, object holding, and ON-OFF control of action by external commands.

  9. Axelrod's Model with Surface Tension

    CERN Document Server

    Pace, Bruno

    2012-01-01

    In this work we propose a subtle change in Axelrod's model for the dissemination of culture. The mechanism consists of excluding non-interacting neighbours from the set of neighbours out of which an agent is drawn for potential cultural interactions. Although the alteration proposed does not alter topologically the configuration space, it yields significant qualitative changes, specifically the emergence of surface tension, driving the system in some cases to metastable states. The transient behaviour is considerably richer, and cultural regions have become stable leading to the formation of different spatio-temporal structures. A new metastable "glassy" phase emerges between the globalised phase and the polarised, multicultural phase.

  10. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao;

    2012-01-01

    A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...

  11. Modeling and control for PZT micro-displacement Actuator%压电陶瓷微位移驱动器建模与控制

    Institute of Scientific and Technical Information of China (English)

    刘泊; 郭建英; 孙永全

    2013-01-01

    When a white light interferometer is applied to 3D surface microcosmic topographic measurement,the measuring accuracy is effected by the hysteresis and creeping phenomenon generated by the piezoelectric actuator seriously.Therefore,this paper proposes a method to improve the displacement accuracy of the reference mirror along the optical axis direction.The piezoelectric actuator is given,and its displacement detecting circuit,PID closed loop control algorithms,and creep compensation control are studied.First,displacement detecting circuit is established by a position sensitive device and an optical lever,by which the piezoelectric ceramic micro-displacement can be fed back to control the system,then the PID closed-loop control algorithm is established.Furthermore,the creeping characteristics of piezoelectric ceramic is discussed during the measurement.In order to eliminate the creeping phenomenon and improve measurement accuracy,the “voltage creep” compensation model is proposed.Finally,an integer control system based on PID closed-loop control and creep compensation control is established.The micro-displacement of the piezoelectric actuator is measured by a high-precision XL-80 laser interferometer under the two cases of PID closed-loop control and integer control.Experimental results indicate that the displacement error for the former is 0.007 μm,and that for the latter is 0.005 μm,respectively.This method reduces the influence of hysteresis and creeping on measurement results,and meets the requirements of three-dimensioned shape measurement for high accuracy.%考虑利用白光干涉仪进行表面三维形貌测量时压电陶瓷(PZT)的蠕变效应对微位移驱动器位移精度的影响,提出了一种沿参考镜光轴方向提高该驱动器位移精度的方法.系统研究了该驱动器的位移检测回路、PID闭环控制以及蠕变补偿控制;利用光电位置传感器和光学杠杆调节位移检测回路,将压电陶瓷驱动器微位

  12. 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....

  13. Actuator disk model of wind farms based on the rotor average wind speed

    DEFF Research Database (Denmark)

    Han, Xing Xing; Xu, Chang; Liu, De You;

    2016-01-01

    Due to difficulty of estimating the reference wind speed for wake modeling in wind farm, this paper proposes a new method to calculate the momentum source based on the rotor average wind speed. The proposed model applies volume correction factor to reduce the influence of the mesh recognition...

  14. Microfabrication of stacked dielectric elastomer actuator fibers

    Science.gov (United States)

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

    2016-04-01

    Dielectric elastomer actuators (DEA) are one of the best candidate materials for next generation of robotic actuators, soft sensors and artificial muscles due to their fast response, mechanical robustness and compliance. However, high voltage requirements of DEAs have impeded their potential to become widely used in such applications. In this study, we propose a method for fabrication of silicon based multilayer DEA fibers composed of microlevel dielectric layers to improve the actuation ratios of DEAs at lower voltages. A multi-walled carbon nanotube - polydimethylsiloxane (MWCNT/PDMS) composite was used to fabricate mechanically compliant, conductive parallel plates and electrode connections for the DEA actuators. Active surface area and layer thickness were varied to study the effects of these parameters on actuation ratio as a function of applied voltage. Different structures were fabricated to assess the flexibility of the fabrication method for specific user-end applications.

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

    Directory of Open Access Journals (Sweden)

    Rotondo Damiano

    2015-03-01

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

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

    Science.gov (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. Sliding Wear Modeling of Artificial Rough Surfaces

    OpenAIRE

    Imam Syafa’at; Budi Setiyana; Muchammad; Jamari

    2012-01-01

    Surface roughness plays an important role in machine design. In the micro-scale when two engineering surfaces are brought into contact, the real contact area occurs at isolated point of asperity. Wear is one of some effects of contacting surfaces. This paper presents a modeling of sliding wear at asperity level on the artificial rough surfaces. The surface roughness is represented by spherical asperities at the hemispherical pin that is developed from the existing model. The wear model is bas...

  18. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    Data.gov (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....

  19. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert

    2011-01-01

    in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new......This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies...

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

    Directory of Open Access Journals (Sweden)

    Ara Bissal

    2015-12-01

    Full Text Available The challenges of an HVDC breaker are to generate impulsive forces in the order of hundreds of kilonewtons within fractions of a millisecond, to withstand the arising internal mechanical stresses and to transmit these forces via an electrically-insulating device to the contact system with minimum time delay. In this work, several models were developed with different levels of complexity, computation time and accuracy. Experiments were done with two mushroom-shaped armatures to validate the developed simulation models. It was concluded that although the electromagnetic force generation mechanism is highly sensitive to the mechanical response of the system, the developed first order hybrid model is able to predict the performance of the breaker with good accuracy.

  1. Actuator forces in CFD: RANS and LES modeling in OpenFOAM

    International Nuclear Information System (INIS)

    Wind turbine wakes are a very challenging topic for scientific computations, but modern CFD frameworks and latest HPC centers allow setting up numerical computations on the wake induced by the wind turbine. The main issues is that the correct modeling of the wake is related to the correct modeling of the interaction between the blade and the incoming flow. The aim of the proposed work is to estimate the aerodynamic forces acting on the blades in order to correctly generate the rotor wake applying equivalent aerodynamic force source on the flow. The definition of a blade forces is done developing a model able to correctly estimate this aerodynamic forces as a function of the local flow seen by the blade during its revolution

  2. Optimization of Moving Coil Actuators for Digital Displacement Machines

    DEFF Research Database (Denmark)

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

    This paper focuses on deriving an optimal moving coil actuator design, used as force producing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetization direction) are optimized...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...

  3. Simulation of a MW rotor equipped with vortex generators using CFD and an actuator shape model

    DEFF Research Database (Denmark)

    Troldborg, Niels; Zahle, Frederik; Sørensen, Niels N.

    2015-01-01

    This article presents a comparison of CFD simulations of the DTU 10 MW reference wind turbine with and without vortex generators installed on the inboard part of the blades. The vortex generators are modelled by introducing body forces determined using a modified version of the so-called BAY mode...

  4. On electrostatically actuated NEMS/MEMS circular plates

    Science.gov (United States)

    Caruntu, Dumitru I.; Alvarado, Iris

    2011-04-01

    This paper deals with electrostatically actuated micro and nano-electromechanical (MEMS/NEMS) circular plates. The system under investigation consists of two bodies, a deformable and conductive circular plate placed above a fixed, rigid and conductive ground plate. The deformable circular plate is electrostatically actuated by applying an AC voltage between the two plates. Nonlinear parametric resonance and pull-in occur at certain frequencies and relatively large AC voltage, respectively. Such phenomena are useful for applications such as sensors, actuators, switches, micro-pumps, micro-tweezers, chemical and mass sensing, and micro-mirrors. A mathematical model of clamped circular MEMS/NEMS electrostatically actuated plates has been developed. Since the model is in the micro- and nano-scale, surface forces, van der Waals and/or Casimir, acting on the plate are included. A perturbation method, the Method of Multiple Scales (MMS), is used for investigating the case of weakly nonlinear MEMS/NEMS circular plates. Two time scales, fast and slow, are considered in this work. The amplitude-frequency and phase-frequency response of the plate in the case of primary resonance are obtained and discussed.

  5. Designing light responsive bistable arches for rapid, remotely triggered actuation

    Science.gov (United States)

    Smith, Matthew L.; Shankar, M. Ravi; Backman, Ryan; Tondiglia, Vincent P.; Lee, Kyung Min; McConney, Michael E.; Wang, David H.; Tan, Loon-Seng; White, Timothy J.

    2014-03-01

    Light responsive azobenzene functionalized polymer networks enjoy several advantages as actuator candidates including the ability to be remotely triggered and the capacity for highly tunable control via light intensity, polarization, wavelength and material alignments. One signi cant challenge hindering these materials from being employed in applications is their often relatively slow actuation rates and low power densities, especially in the absence of photo-thermal e ects. One well known strategy employed in nature for increasing actuation rate and power output is the storage and quick release of elastic energy (e.g., the Venus ytrap). Using nature as inspiration we have conducted a series of experiments and developed an equilibrium mechanics model for investigating remotely triggered snap-through of bistable light responsive arches made from glassy azobenzene functionalized polymers. After brie y discussing experimental observations we consider in detail a geometrically exact, planar rod model of photomechanical snap-through. Theoretical energy release characteristics and unique strain eld pro les provide insight toward design strategies for improved actuator performance. The bistable light responsive arches presented here are potentially a powerful option for remotely triggered, rapid motion from apparently passive structures in applications such as binary optical switches and positioners, surfaces with morphing topologies, and impulse locomotion in micro or millimeter scale robotics.

  6. Phobos surface spectra mineralogical modeling

    Science.gov (United States)

    Pajola, M.; Lazzarin, M.; Dalle Ore, C. M.; Cruikshank, D. P.; Roush, T. L.; Pendleton, Y.; Bertini, I.; Magrin, S.; Carli, C.; La Forgia, F.; Barbieri, C.

    2014-04-01

    A mineralogical model composed of a mixture of Tagish Lake meteorite (TL) and Pyroxene Glass (PM80) was presented in [1] to explain the surface reflectance of Phobos from 0.25 to 4.0 μm. The positive results we obtained, when comparing the OSIRIS data [2] extended in wavelength to include the [3,4] spectra, forced us to perform a wider comparison between our TL-PM80 model and the CRISM and OMEGA Phobos spectra presented in [5]. Such spectra cover three different regions of interest (ROIs) situated in the Phobos sub-Mars hemisphere: the interior of the Stickney crater, its eastern rim, and its proximity terrain southeast of the Reldresal crater. We decided to vary the percentage mixture of the components of our model (80% TL, 20% PM80), between pure TL and pure PM80, by means of the radiative transfer code based on the [6] formulation of the slab approximation. Once this spectral range was derived, see Fig. 1, we attempted to compare it with the [5] spectra between 0.4 and 2.6 μm, i.e. below the thermal emitted radiation, to see if any spectral match was possible. We observed that CRISM scaled spectra above 1.10 μm fall within pure Tagish Lake composition and the [1] model. The CRISM data below 1.10 μm present more discrepancies with our models, in particular for the Stickney's rim spectrum. Nevertheless the TL and PM80 components seem to be good mineralogical candidates on Phobos. We performed the same analysis with the OMEGA data and, again, we found out that the Stickney's rim spectrum lies out of our model range, while the two remaining spectra still lie between pure TL and 80% TL - 20% PM80, but indicating that a different, more complicated mixture is expected in order to explain properly both the spectral trend and the possible absorption bands located above 2.0 μm. Within this analysis, we point out that a big fraction of TL material (modeled pure or present with a minimum percentage of 80% mixed together with 20% PM80) seems to explain Phobos spectral

  7. Electric wind produced by surface plasma actuators: a new dielectric barrier discharge based on a three-electrode geometry

    International Nuclear Information System (INIS)

    Active flow control is a rapidly developing topic because the associated industrial applications are of immense importance, particularly for aeronautics. Among all the flow control methods, such as the use of mechanical flaps or wall jets, plasma-based devices are very promising devices. The main advantages of such systems are their robustness, their simplicity, their low-power consumption and that they allow a real-time control at high frequency. This paper deals with an experimental study about the electric wind produced by a surface discharge based on a three-electrode geometry. This new device is composed of a typical two-electrode surface barrier discharge excited by an AC high voltage, plus a third electrode at which a DC high voltage is applied in order to extend the discharge region and to accelerate the ion drift velocity. In the first part the electrical current of these different surface discharges is presented and discussed. This shows that the current behaviour depends on the DC component polarity. The second part is dedicated to analysing the electric wind characteristics through Schlieren visualizations and to measuring its time-averaged velocity with a Pitot tube sensor. The results show that an excitation of the electrodes with an AC voltage plus a positive DC component can significantly modify the topology of the electric wind produced by a single DBD. In practice, this DC component allows us to increase the value of the maximum induced velocity (up to +150% at a few centimetres downstream of the discharge) and the plasma extension, to enhance the depression occurring above the discharge region and to increase the discharge-induced mass flow rate (up to +100%), without increasing the electrical power consumption

  8. Dielectric Barrier Discharge Plasma Actuator for Flow Control

    Science.gov (United States)

    Opaits, Dmitry, F.

    2012-01-01

    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.

  9. Modelling of non-steady-state concentration profiles at ISFET-based coulometric sensor—actuator systems

    NARCIS (Netherlands)

    Olthuis, W.; Luo, J.; Schoot, van der B.H.; Bergveld, P.; Bos, M.; Linden, van der W.E.

    1990-01-01

    Acid or base concentrations can be determined very rapidly by performing an acid—base titration with coulometrically generated OH− or H+ ions at a noble metal actuator electrode in close proximity to the pH-sensitive gate of an ion-sensitive field effect transistor (ISFET). The ISFET is used as the

  10. 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)

    Zhang Ying

    2015-02-01

    Full Text Available A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching’ and ‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.

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

    Institute of Scientific and Technical Information of China (English)

    Zhang Ying; Ye Liang; Yang Shuo

    2015-01-01

    A method combining rotor actuator disk model and embedded grid technique is pre-sented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is con-sidered in terms of the momentum it impacts to the fluid around it;transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for‘donor searching’ and‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS) time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.

  12. Enhanced Fault Detection and Isolation in Modern Flight Actuators

    OpenAIRE

    Ossmann, Daniel

    2013-01-01

    Due to their central location in the control system, actuation systems of primary control surfaces in modern, augmented aircraft must show an increased reliability. A traditional approach is based on hardware redundancy. In this way, modern actuation systems of one single control surface consist of up to two actuators and three sensors. These different dynamic subsystems are all prone to faults themselves and can be monitored. This paper presents the setup of a fault detection and diagnosis (...

  13. Experimental Investigation of “Why an AC Dielectric Barrier Discharge Plasma Actuator is Preferred to DC Corona Wind Actuator in Boundary Layer Flow Control?”

    Directory of Open Access Journals (Sweden)

    Gholam reza Tathiri

    2014-01-01

    Full Text Available In this paper, characteristics of the flow induced in the boundary layer by an AC-Dielectric Barrier Discharge (DBD plasma actuator are compared against those of a DC-corona wind actuator. This is achieved by visualization of the induced flow using smoke injection and measuring the horizontal induced velocity. Our measurements show that the maximum induced velocity of an AC-DBD actuator is about one order of magnitude larger than that of a DC-corona actuator. For an AC-DBD actuator, the induced velocity is maximized on the plate surface while for a DC-corona actuator the induced velocity peaks at about 20mm above the surface. Using flow visualization, we demonstrate that the induced velocity of an AC-DBD actuator is parallel to the surface, while the induced velocity of a DC-corona actuator has components perpendicular to surface.

  14. Magnetic actuators and sensors

    CERN Document Server

    Brauer, John R

    2014-01-01

    An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva

  15. High Resolution Actuators

    Directory of Open Access Journals (Sweden)

    Mathieu Grossard

    2016-06-01

    Full Text Available Driven by increasing societal, economic, and technological pressures, high-resolution actuators must achieve ever increasing accuracy requirements and functional integration into the system.[...

  16. Lightweight in-plane actuated deformable mirrors for space telescopes

    Science.gov (United States)

    Shepherd, Michael J.

    This research focused on lightweight, in-plane actuated, deformable mirrors, with the ultimate goal of developing a 20-meter or larger diameter light gathering aperture for space telescopes. Membrane optics is the study of these structures which may be stowed compactly and unfurled in orbit. This effort comprised four research areas: modelling, analytical solutions, surface control strategy, and scaling. Initially, experimental results were compared to theory using a 0.127 meter diameter deformable mirror testbed. The mirror was modelled using finite elements with MSC.Nastran software, where a boundary tension field was determined using laser vibrometer data. A non-linear solution technique was used to incorporate the membrane stiffening from the applied tension. Statically obtained actuator influence functions were compared to experimentally achieved data, and then a least squares approach was used as the basis for creating a quasi-static control algorithm. Experimental simultaneous tracking of Zernike tip, tilt, and defocus modes was successfully demonstrated. The analytical solutions to plate-membrane and beam-string ordinary differential equation representing the deformable mirror equations were developed. A simplified approach to modelling the axisymmetric cases was also presented. Significantly, it was shown both analytically and through numerical analysis that static actuation for a mirror with a discrete electrode pattern and a high tension-to-stiffness ratio was simply a localized piston displacement in the region of the actuator. Next, a novel static control strategy, the Modal Transformation Method, was developed for membrane mirrors. The method was implemented in finite element simulation, and shows the capability of the in-plane actuated mirror to form Zernike surfaces within an interior, or clear aperture, region using a number of statically-actuated structural modes. Lastly, the scaling problem for membrane optics was addressed. Linear modelling was

  17. Development of in-series piezoelectric bimorph bending beam actuators for active flow control applications

    Science.gov (United States)

    Chan, Wilfred K.; Clingman, Dan J.; Amitay, Michael

    2016-04-01

    Piezoelectric materials have long been used for active flow control purposes in aerospace applications to increase the effectiveness of aerodynamic surfaces on aircraft, wind turbines, and more. Piezoelectric actuators are an appropriate choice due to their low mass, small dimensions, simplistic design, and frequency response. This investigation involves the development of piezoceramic-based actuators with two bimorphs placed in series. Here, the main desired characteristic was the achievable displacement amplitude at specific driving voltages and frequencies. A parametric study was performed, in which actuators with varying dimensions were fabricated and tested. These devices were actuated with a sinusoidal waveform, resulting in an oscillating platform on which to mount active flow control devices, such as dynamic vortex generators. The main quantification method consisted of driving these devices with different voltages and frequencies to determine their free displacement, blocking force, and frequency response. It was found that resonance frequency increased with shorter and thicker actuators, while free displacement increased with longer and thinner actuators. Integration of the devices into active flow control test modules is noted. In addition to physical testing, a quasi-static analytical model was developed and compared with experimental data, which showed close correlation for both free displacement and blocking force.

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

    Science.gov (United States)

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

    2015-11-01

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

  19. Modeling and stabilization results for a charge or current-actuated active constrained layer (ACL) beam model with the electrostatic assumption

    Science.gov (United States)

    Özer, Ahmet Özkan

    2016-04-01

    An infinite dimensional model for a three-layer active constrained layer (ACL) beam model, consisting of a piezoelectric elastic layer at the top and an elastic host layer at the bottom constraining a viscoelastic layer in the middle, is obtained for clamped-free boundary conditions by using a thorough variational approach. The Rao-Nakra thin compliant layer approximation is adopted to model the sandwich structure, and the electrostatic approach (magnetic effects are ignored) is assumed for the piezoelectric layer. Instead of the voltage actuation of the piezoelectric layer, the piezoelectric layer is proposed to be activated by a charge (or current) source. We show that, the closed-loop system with all mechanical feedback is shown to be uniformly exponentially stable. Our result is the outcome of the compact perturbation argument and a unique continuation result for the spectral problem which relies on the multipliers method. Finally, the modeling methodology of the paper is generalized to the multilayer ACL beams, and the uniform exponential stabilizability result is established analogously.

  20. Laser surface processing and model studies

    CERN Document Server

    Yilbas, Bekir Sami

    2013-01-01

    This book introduces model studies associated with laser surface processing such as conduction limited heating, surface re-melting, Marangoni flow and its effects on the temperature field, re-melting of multi-layered surfaces, laser shock processing, and practical applications. The book provides insight into the physical processes involved with laser surface heating and phase change in laser irradiated region. It is written for engineers and researchers working on laser surface engineering.

  1. Surface Flux Modeling for Air Quality Applications

    Directory of Open Access Journals (Sweden)

    Limei Ran

    2011-08-01

    Full Text Available For many gasses and aerosols, dry deposition is an important sink of atmospheric mass. Dry deposition fluxes are also important sources of pollutants to terrestrial and aquatic ecosystems. The surface fluxes of some gases, such as ammonia, mercury, and certain volatile organic compounds, can be upward into the air as well as downward to the surface and therefore should be modeled as bi-directional fluxes. Model parameterizations of dry deposition in air quality models have been represented by simple electrical resistance analogs for almost 30 years. Uncertainties in surface flux modeling in global to mesoscale models are being slowly reduced as more field measurements provide constraints on parameterizations. However, at the same time, more chemical species are being added to surface flux models as air quality models are expanded to include more complex chemistry and are being applied to a wider array of environmental issues. Since surface flux measurements of many of these chemicals are still lacking, resistances are usually parameterized using simple scaling by water or lipid solubility and reactivity. Advances in recent years have included bi-directional flux algorithms that require a shift from pre-computation of deposition velocities to fully integrated surface flux calculations within air quality models. Improved modeling of the stomatal component of chemical surface fluxes has resulted from improved evapotranspiration modeling in land surface models and closer integration between meteorology and air quality models. Satellite-derived land use characterization and vegetation products and indices are improving model representation of spatial and temporal variations in surface flux processes. This review describes the current state of chemical dry deposition modeling, recent progress in bi-directional flux modeling, synergistic model development research with field measurements, and coupling with meteorological land surface models.

  2. Flow sensitive actuators for micro-air vehicles

    International Nuclear Information System (INIS)

    A macrofiber piezoelectric composite has been developed for boundary layer management of micro-air vehicles (MAVs). Specifically, a piezoelectric composite that is capable of self-sensing and controlling flow has been modeled, designed, fabricated, and tested in wind tunnel studies to quantify performance characteristics, such as the velocity field response to actuation, which is relevant for actively managing boundary layers (laminar and transition flow control). A nonlinear piezoelectric plate model was utilized to design the active structure for flow control. The dynamic properties of the piezoelectric composite actuator were also evaluated in situ during wind tunnel experiments to quantify sensing performance. Results based on velocity field measurements and unsteady pressure measurements show that these piezoelectric macrofiber composites can sense the state of flow above the surface and provide sufficient control authority to manipulate the flow conditions for transition from laminar to turbulent flow

  3. Modeling, fabrication and plasma actuator coupling of flexible pressure sensors for flow separation detection and control in aeronautical applications

    Science.gov (United States)

    Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.

    2016-06-01

    Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.

  4. Fuzzy B-Spline Surface Modeling

    Directory of Open Access Journals (Sweden)

    Rozaimi Zakaria

    2014-01-01

    Full Text Available This paper discusses the construction of a fuzzy B-spline surface model. The construction of this model is based on fuzzy set theory which is based on fuzzy number and fuzzy relation concepts. The proposed theories and concepts define the uncertainty data sets which represent fuzzy data/control points allowing the uncertainties data points modeling which can be visualized and analyzed. The fuzzification and defuzzification processes were also defined in detail in order to obtain the fuzzy B-spline surface crisp model. Final section shows an application of fuzzy B-spline surface modeling for terrain modeling which shows its usability in handling uncertain data.

  5. Models for Free Granular Surfaces

    OpenAIRE

    Mulet, R.; Herrmann, H

    2000-01-01

    We introduce two sets of continuum equations to describe granular flow on a free surface and study their properties. The equations derived from a microscopic picture that includes jumps and a mobility threshold, account for ripple and crater formation.

  6. Sensors and actuators, Twente

    NARCIS (Netherlands)

    Bergveld, P.

    1989-01-01

    This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,

  7. An electrochemical micro actuator

    NARCIS (Netherlands)

    Hamberg, M.W.; Neagu, C.R.; Gardeniers, J.G.E.; IJntema, D.J.; Elwenspoek, M.C.

    1995-01-01

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

  8. Dynamic Factor Models for the Volatility Surface

    DEFF Research Database (Denmark)

    van der Wel, Michel; Ozturk, Sait R.; Dijk, Dick van

    -based models are both rejected against the general dynamic factor model, (ii) the factors driving the surface are highly persistent, (iii) for the restricted models option Delta is preferred over the more often used strike relative to spot price as measure for moneyness.......The implied volatility surface is the collection of volatilities implied by option contracts for different strike prices and time-to-maturity. We study factor models to capture the dynamics of this three-dimensional implied volatility surface. Three model types are considered to examine desirable...... features for representing the surface and its dynamics: a general dynamic factor model, restricted factor models designed to capture the key features of the surface along the moneyness and maturity dimensions, and in-between spline-based methods. Key findings are that: (i) the restricted and spline...

  9. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  10. 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...

  11. Uncertainties in Surface Layer Modeling

    Science.gov (United States)

    Pendergrass, W.

    2015-12-01

    A central problem for micrometeorologists has been the relationship of air-surface exchange rates of momentum and heat to quantities that can be predicted with confidence. The flux-gradient profile developed through Monin-Obukhov Similarity Theory (MOST) provides an integration of the dimensionless wind shear expression where is an empirically derived expression for stable and unstable atmospheric conditions. Empirically derived expressions are far from universally accepted (Garratt, 1992, Table A5). Regardless of what form of these relationships might be used, their significance over any short period of time is questionable since all of these relationships between fluxes and gradients apply to averages that might rarely occur. It is well accepted that the assumption of stationarity and homogeneity do not reflect the true chaotic nature of the processes that control the variables considered in these relationships, with the net consequence that the levels of predictability theoretically attainable might never be realized in practice. This matter is of direct relevance to modern prognostic models which construct forecasts by assuming the universal applicability of relationships among averages for the lower atmosphere, which rarely maintains an average state. Under a Cooperative research and Development Agreement between NOAA and Duke Energy Generation, NOAA/ATDD conducted atmospheric boundary layer (ABL) research using Duke renewable energy sites as research testbeds. One aspect of this research has been the evaluation of legacy flux-gradient formulations (the ϕ functions, see Monin and Obukhov, 1954) for the exchange of heat and momentum. At the Duke Energy Ocotillo site, NOAA/ATDD installed sonic anemometers reporting wind and temperature fluctuations at 10Hz at eight elevations. From these observations, ϕM and ϕH were derived from a two-year database of mean and turbulent wind and temperature observations. From this extensive measurement database, using a

  12. Fabrication of Electrostatically Actuated MEMS Deformable Mirror with Continuous Surface%静电驱动连续面形微机电系统变形镜的制作

    Institute of Scientific and Technical Information of China (English)

    胡放荣; 马文英; 汪为民

    2011-01-01

    Based on a three-layer polysilicon surface micromachining process and some experience formulas of adaptive optics, an electrostatically actuated microelectromechanical systems (MEMS) deformable mirror (DM) with 16 actuators and continuous surface is designed and fabricated. Both static and dynamic characteristics of the prototype are tested using a scanning white light interferometer ZygoNewView7300. The result from the static test shows that the displacement of the actuator is 0. 667 jim at 150 V, the interaction between the neighboring actuator is 9% , and the position repeatability of the surface of DM is 10%. At the same time, the result from the dynamic test shows that the response time of the prototype is less than 30 fis and a cosine curve is observed under a sine driving signal. The resonance frequency of the actuator is about 36 kHz. This type of DM can be used for free space optical communication, laser beam shaping, wavefront correction, projection, biomedical imaging and human eye aberration correction.%基于三层多晶硅表面加工工艺和自适应光学经验公式,设计并制作了一种静电驱动的16单元连续面形微机电系统(MEMS)变形镜(DM),并用ZygoNewView7300白光干涉仪对样片的静态特性和动态响应特性进行了测试.静态测试结果表明,器件在150 V电压下的最大形变量为0.667 μm,相邻单元之间的交联值为9%,镜面位置重复性为10%.动态测试结果表明,器件对正弦驱动信号的响应时间小于30μs,响应曲线近似为一条余弦曲线,谐振频率为36 kHz.该变形镜可用于自由空间光通信、激光光束整形、波前畸变校正、投影显示、生物医学成像和人眼视差校正等重要领域.

  13. Dynamical Modeling of Surface Tension

    Science.gov (United States)

    Brackbill, Jeremiah U.; Kothe, Douglas B.

    1996-01-01

    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.

  14. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons

    2008-01-01

    Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.

  15. Efficient Hybrid Actuation Using Solid-State Actuators

    Science.gov (United States)

    Leo, Donald J.; Cudney, Harley H.; Horner, Garnett (Technical Monitor)

    2001-01-01

    Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.

  16. Mirrors Containing Biomimetic Shape-Control Actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph; Mouroulis, Pantazis; Bao, Xiaoqi; Sherrit, Stewart

    2003-01-01

    Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call

  17. Evaluation of linear DC motor actuators for control of large space structures

    OpenAIRE

    Ide, Eric Nelson

    1988-01-01

    This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...

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

    OpenAIRE

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

    2007-01-01

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

  19. Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators

    Science.gov (United States)

    Nguyen, Quang Sang; Heo, Seok; Park, Hoon Cheol; Goo, Nam Seo; Byun, Doyoung

    2009-03-01

    The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.

  20. Deformable surface modeling based on dual subdivision

    Institute of Scientific and Technical Information of China (English)

    WANG Huawei; SUN Hanqiu; QIN Kaihuai

    2005-01-01

    Based on dual Doo-Sabin subdivision and the corresponding parameterization, a modeling technique of deformable surfaces is presented in this paper. In the proposed model, all the dynamic parameters are computed in a unified way for both non-defective and defective subdivision matrices, and central differences are used to discretize the Lagrangian dynamics equation instead of backward differences. Moreover, a local scheme is developed to solve the dynamics equation approximately, thus the order of the linear equation is reduced greatly. Therefore, the proposed model is more efficient and faster than the existing dynamic models. It can be used for deformable surface design, interactive surface editing, medical imaging and simulation.

  1. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, David Schramm, Paul Rasmussen, Kevin Mullaly, Ras Labs, LLC, Intelligent Materials for Prosthetics & Automation, Lewis D. Meixler, Daniel Pearlman and Alice Kirk

    2011-05-23

    Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.

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

    Institute of Scientific and Technical Information of China (English)

    Ilmars CELMINS; Frank E.FRESCONI; Bryant P.NELSON

    2014-01-01

    The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating) actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.

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

    Directory of Open Access Journals (Sweden)

    Ilmars Celmins

    2014-06-01

    Full Text Available The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.

  4. Muscle Motion Solenoid Actuator

    Science.gov (United States)

    Obata, Shuji

    It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.

  5. Magnetically Actuated Seal Project

    Data.gov (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...

  6. Implicitly modelled stratigraphic surfaces using generalized interpolation

    Science.gov (United States)

    Hillier, Michael; de Kemp, Eric; Schetselaar, Ernst

    2016-06-01

    Stratigraphic surfaces implicitly modelled using a generalized interpolation approach in various geological settings is presented to demonstrate its modelling capabilities and limitations. The generalized interpolation approach provides a useful mathematical framework in modelling continuous surfaces from scattered data consisting of the following geological constraints: contact locations and planar orientations. Examples are presented to show the effectiveness of the method in generating plausible representations of geological structures in sparse data environments. One of the major advantages of implicit surface modelling has long been claimed as its ability to model geometries with arbitrary topology. It is, however, demonstrated that this is in fact a disadvantage in robustly generating geologically realistic surfaces in structurally complex domains with a known topology.

  7. Combustion powered linear actuator

    Science.gov (United States)

    Fischer, Gary J.

    2007-09-04

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  8. Laser Initiated Actuator study

    Energy Technology Data Exchange (ETDEWEB)

    Watson, B.

    1991-06-27

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

  9. Dielectric Actuation of Polymers

    OpenAIRE

    Niu, Xiaofan

    2013-01-01

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy den...

  10. Generalized Models for Rock Joint Surface Shapes

    Directory of Open Access Journals (Sweden)

    Shigui Du

    2014-01-01

    Full Text Available Generalized models of joint surface shapes are the foundation for mechanism studies on the mechanical effects of rock joint surface shapes. Based on extensive field investigations of rock joint surface shapes, generalized models for three level shapes named macroscopic outline, surface undulating shape, and microcosmic roughness were established through statistical analyses of 20,078 rock joint surface profiles. The relative amplitude of profile curves was used as a borderline for the division of different level shapes. The study results show that the macroscopic outline has three basic features such as planar, arc-shaped, and stepped; the surface undulating shape has three basic features such as planar, undulating, and stepped; and the microcosmic roughness has two basic features such as smooth and rough.

  11. Actuation of polypyrrole nanowires

    Science.gov (United States)

    Lee, Alexander S.; Peteu, Serban F.; Ly, James V.; Requicha, Aristides A. G.; Thompson, Mark E.; Zhou, Chongwu

    2008-04-01

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  12. Actuation of polypyrrole nanowires

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou Chongwu [Laboratory for Molecular Robotics, University of Southern California, Los Angeles, CA 90089 (United States)], E-mail: requicha@usc.edu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 {mu}m, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  13. Actuation of polypyrrole nanowires.

    Science.gov (United States)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou, Chongwu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

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

    NARCIS (Netherlands)

    Saane, Siva Shankar Reddy

    2015-01-01

    Electrochemical nanoporous actuators have low weight, large specific surface areas and low voltage operating capabilities, making them attractive for application in small-scale electromechanical devices. The actuation strain of these materials at the macroscopic scale is a manifestation of microscop

  15. Design of an innovative magnetostrictive patch actuator

    Science.gov (United States)

    Cinquemani, S.; Giberti, H.

    2015-04-01

    Magnetostrictive actuators can be profitably used to reduce vibration in structures. However, this technology has been exploited only to develop inertial actuators, while patches actuators have not been ever used in practice. Patches actuators consist on a layer of magnetostrictive material, which has to be stuck to the surface of the vibrating structure, and on a coil surrounding the layer itself. However, the presence of the winding severely limits the use of such devices. As a matter of fact, the scientific literature reports only theoretical uses of such actuators, but, in practice it does not seem they were ever used. This paper presents an innovative solution to improve the structure of the actuator patches, allowing their use in several practical applications. The principle of operation of these devices is rather simple. The actuator patch is able to generate a local deformation of the surface of the vibrating structure so as to introduce an equivalent damping that dissipates the kinetic energy associated to the vibration. This deformation is related to the behavior of the magnetostrictive material immersed in a variable magnetic field generated by the a variable current flowing in the winding. Contrary to what suggested in the theoretical literature, the designed device has the advantage of generating the variable magnetic field no longer in close proximity of the material, but in a different area, thus allowing a better coupling. The magnetic field is then conveyed through a suitable ferromagnetic structure to the magnetostrictive material. The device has been designed and simulated through FEA. Results confirm that the new configuration can easily overcome all the limits of traditional devices.

  16. Cylinder Flow Control Using Plasma Actuators

    Science.gov (United States)

    Kozlov, Alexey; Thomas, Flint

    2007-11-01

    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. Two optimized quartz dielectric plasma actuators mounted on the cylinder surface utilizing an improved saw-tooth waveform high-voltage generator allowed flow control at Reynolds number approaching supercritical. Using either steady or unsteady actuation, it is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. PIV based flow fields and wake velocity profiles obtained with hot-wire anemometry show large reductions in vortex shedding, wake width and turbulence intensity.

  17. An Improved MUSIC Model for Gibbsite Surfaces

    Energy Technology Data Exchange (ETDEWEB)

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

    2004-06-01

    Here we use gibbsite as a model system with which to test a recently published, bond-valence method for predicting intrinsic pKa values for surface functional groups on oxides. At issue is whether the method is adequate when valence parameters for the functional groups are derived from ab initio structure optimization of surfaces terminated by vacuum. If not, ab initio molecular dynamics (AIMD) simulations of solvated surfaces (which are much more computationally expensive) will have to be used. To do this, we had to evaluate extant gibbsite potentiometric titration data that where some estimate of edge and basal surface area was available. Applying BET and recently developed atomic force microscopy methods, we found that most of these data sets were flawed, in that their surface area estimates were probably wrong. Similarly, there may have been problems with many of the titration procedures. However, one data set was adequate on both counts, and we applied our method of surface pKa int prediction to fitting a MUSIC model to this data with considerable success—several features of the titration data were predicted well. However, the model fit was certainly not perfect, and we experienced some difficulties optimizing highly charged, vacuum-terminated surfaces. Therefore, we conclude that we probably need to do AIMD simulations of solvated surfaces to adequately predict intrinsic pKa values for surface functional groups.

  18. Tubular dielectric elastomer actuator for active fluidic control

    Science.gov (United States)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  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.

    2002-11-15

    The aim of this thesis is the study and the conception of splitted structures of global coil synchronous machines for the maximization of specific torque or thrust. This concept of machine, called multi-air gap, is more precisely applied to the elaboration of a new linear multi-rods actuator. It is clearly connected to the context of direct drive solutions. First, a classification of different electromagnetic actuator families gives the particular place of multi-air gaps actuators. Then, a study, based on geometrical parameters optimizations, underlines the interest of that kind of topology for reaching very high specific forces and mechanical dynamics. A similitude law, governing those actuators, is then extracted. A study of mechanical behaviour, taking into account mechanic (tolerance) and normal forces (guidance), is carried out. Hence, methods for filtering the ripple force, and decreasing the parasitic forces without affecting the useful force are presented. This approach drives to the multi-rods structures. A prototype is then tested and validates the feasibility of that kind of devices, and the accuracy of the magnetic models. This motor, having only eight rods for an active volume of one litre, reaches an electromagnetic force of 1000 N in static conditions. A method for estimate optimal performances of multi-rods actuators under several mechanical stresses is presented. (author)

  20. Carbon nanotube based NEMS actuators and sensors

    Science.gov (United States)

    Forney, Michael; Poler, Jordan

    2011-03-01

    Single-walled carbon nanotubes (SWNTs) have been widely studied due to superior mechanical and electrical properties. We have grown vertically aligned SWNTs (VA-SWNTs) onto microcantilever (MC) arrays, which provides an architecture for novel actuators and sensors. Raman spectroscopy confirms that the CVD-grown nanotubes are SWNTs and SEM confirms aligned growth. As an actuator, this hybrid MC/VA-SWNT system can be electrostatically modulated. SWNTs are excellent electron acceptors, so we can charge up the VA-SWNT array by applying a voltage. The electrostatic repulsion among the charged SWNTs provides a surface stress that induces MC deflection. Simulation results show that a few electrons per SWNT are needed for measureable deflections, and experimental actuators are being characterized by SEM, Raman, and an AFM optical lever system. The applied voltage is sinusoidally modulated, and deflection is measured with a lock-in amplifier. These actuators could be used for nano-manipulation, release of drugs from a capsule, or nano-valves. As a sensor, this MC/VA-SWNT system offers an improved sensitivity for chemical and bio-sensing compared to surface functionalized MC-based sensors. Those sensors only have a 2D sensing surface, but a MC/VA-SWNT system has significantly more sensing surface because the VA-SWNTs extend microns off the MC surface.

  1. Physics-Based Loop Surface Modeling

    Institute of Scientific and Technical Information of China (English)

    秦开怀; 常正义; 王华维; 李登高

    2002-01-01

    Strongly inspired by the research on physics-based dynamic models for sur-faces, we propose a new method for precisely evaluating the dynamic parameters (mass, damp-ing and stiffness matrices, and dynamic forces) for Loop surfaces without recursive subdivisionregardless of regular or irregular faces. It is shown that the thin-plate-energy of Loop surfacescan be evaluated precisely and efficiently, even though there are extraordinary points in theinitial meshes, unlike the previous dynamic Loop surface scheme. Hence, the new methodpresented for Loop surfaces is much more efficient than the previous schemes.

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

    Directory of Open Access Journals (Sweden)

    Janno Torop

    2009-12-01

    Full Text Available Devices using electroactive polymer-supported carbon material can be exploited as alternatives to conventional electromechanical actuators in applications where electromechanical actuators have some serious deficiencies. One of the numerous examples is precise microactuators. In this paper, we show for first time the dilatometric effect in nanocomposite material actuators containing carbide-derived carbon (CDC and polytetrafluoroetylene polymer (PTFE. Transducers based on high surface area carbide-derived carbon electrode materials are suitable for short range displacement applications, because of the proportional actuation response to the charge inserted, and high Coulombic efficiency due to the EDL capacitance. The material is capable of developing stresses in the range of tens of N cm-2. The area of an actuator can be dozens of cm2, which means that forces above 100 N are achievable. The actuation mechanism is based on the interactions between the high-surface carbon and the ions of the electrolyte. Electrochemical evaluations of the four different actuators with linear (longitudinal action response are described. The actuator electrodes were made from two types of nanoporous TiC-derived carbons with surface area (SA of 1150 m2 g-1 and 1470 m2 g-1, respectively. Two kinds of electrolytes were used in actuators: 1.0 M tetraethylammonium tetrafluoroborate (TEABF4 solution in propylene carbonate and pure ionic liquid 1-ethyl-3-methylimidazolium trifluoromethanesulfonate (EMITf. It was found that CDC based actuators exhibit a linear movement of about 1% in the voltage range of 0.8 V to 3.0 V at DC. The actuators with EMITf electrolyte had about 70% larger movement compared to the specimen with TEABF4 electrolyte.

  3. Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source

    Directory of Open Access Journals (Sweden)

    Senzaki Shinji

    2016-01-01

    Full Text Available A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the proposed analytical model can predict the behaviour of the tested actuator.

  4. A Parallel Approach To Optimum Actuator Selection With a Genetic Algorithm

    Science.gov (United States)

    Rogers, James L.

    2000-01-01

    Recent discoveries in smart technologies have created a variety of aerodynamic actuators which have great potential to enable entirely new approaches to aerospace vehicle flight control. For a revolutionary concept such as a seamless aircraft with no moving control surfaces, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements. The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement Maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. Genetic algorithms have been instrumental in achieving good solutions to discrete optimization problems, such as the actuator placement problem. As a proof of concept, a genetic has been developed to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control for a simplified, untapered, unswept wing model. To find the optimum placement by searching all possible combinations would require 1,100 hours. Formulating the problem and as a multi-objective problem and modifying it to take advantage of the parallel processing capabilities of a multi-processor computer, reduces the optimization time to 22 hours.

  5. Casimir and hydrodynamic force influence on microelectromechanical system actuation in ambient conditions

    NARCIS (Netherlands)

    Sedighi Ghozotkhar, Mehdi; Palasantzas, Georgios

    2014-01-01

    Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating

  6. Uncertainty and Sensitivity in Surface Dynamics Modeling

    Science.gov (United States)

    Kettner, Albert J.; Syvitski, James P. M.

    2016-05-01

    Papers for this special issue on 'Uncertainty and Sensitivity in Surface Dynamics Modeling' heralds from papers submitted after the 2014 annual meeting of the Community Surface Dynamics Modeling System or CSDMS. CSDMS facilitates a diverse community of experts (now in 68 countries) that collectively investigate the Earth's surface-the dynamic interface between lithosphere, hydrosphere, cryosphere, and atmosphere, by promoting, developing, supporting and disseminating integrated open source software modules. By organizing more than 1500 researchers, CSDMS has the privilege of identifying community strengths and weaknesses in the practice of software development. We recognize, for example, that progress has been slow on identifying and quantifying uncertainty and sensitivity in numerical modeling of earth's surface dynamics. This special issue is meant to raise awareness for these important subjects and highlight state-of-the-art progress.

  7. Effect of actuation sequence on flow rates of peristaltic micropumps with PZT actuators.

    Science.gov (United States)

    Jang, Ling-Sheng; Shu, Kuan; Yu, Yung-Chiang; Li, Yuan-Jie; Chen, Chiun-Hsun

    2009-02-01

    Many biomedical applications require the administration of drugs at a precise and preferably programmable rate. The flow rate generated by the peristaltic micropumps used in such applications depends on the actuation sequence. Accordingly, the current study performs an analytical and experimental investigation to determine the correlation between the dynamic response of the diaphragms in the micropump and the actuation sequence. A simple analytical model of a peristaltic micropump is established to analyze the shift in the resonant frequency of the diaphragms caused by the viscous damping effect. The analytical results show that this damping effect increases as the oscillation frequency of the diaphragm increases. A peristaltic micropump with three piezoelectric actuators is fabricated on a silicon substrate and is actuated using 2-, 3-, 4- and 6-phase actuation sequences via a driving system comprising a microprocessor and a phase controller. A series of experiments is conducted using de-ionized water as the working fluid to determine the diaphragm displacement and the flow rates induced by each of the different actuation sequences under phase frequencies ranging from 50 Hz to 1 MHz. The results show that the damping effect of actuation sequences influences diaphragm resonant frequency, which in turn affects the profiles of flow rates. PMID:18821016

  8. TECHNICAL NOTE: The formulation of a refined hybrid enhanced assumed strain solid shell element and its application to model smart structures containing distributed piezoelectric sensors/actuators

    Science.gov (United States)

    Zheng, Shijie; Wang, Xinwei; Chen, Wanji

    2004-08-01

    In the present paper, a novel refined hybrid piezoelectric element formulation is developed for mechanical analysis and active vibration control of laminated structures bonded to piezoelectric sensors and actuators. By invoking the electrical field potential equation, a 'quasi-decoupling' method for treating the coupling electromechanical effects is presented and a modified generalized variational principle with a weaker interelement continuity condition is proposed. On the basis of this functional, a general formulation for a refined hybrid piezoelectric element method is established by incorporating an orthogonal interpolation approach and enhanced assumed strain (EAS) modes. A linearly distributed transverse EAS in the thickness direction is adopted to overcome the thickness locking of solid shell elements. Compared with the conventional incompatible brick element approach, the present formulation is very reliable, more accurate, computationally efficient and can be used to model the response of thin plates and shell structures.

  9. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

    2014-09-01

    There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator

  10. Investigations of electronic amplifiers supplying a piezobimorph actuator

    Science.gov (United States)

    Milecki, Andrzej; Regulski, Roman

    2016-10-01

    Piezoelectric bending actuators, also known as bimorphs, are characterized by very good dynamic properties and by displacements in a range of a few millimeters. Therefore these actuators are used in a wide range of applications. However their usage is limited because they require supplying amplifiers with output voltage of about 200 V, which are rather expensive. This paper presents investigation results of such amplifiers with high voltage output. The model of a piezobending actuator is proposed and implemented in Matlab-Simulink software in order to simulate the behavior of the actuator supplied by the amplifiers. The simulation results are presented and compared with investigation results of high voltage amplifier used for supplying a piezoactuator. The influence of current limitation of operational amplifier on the actuator current is tested. Finally, a low cost audio power amplifier is proposed to control the piezobender actuator (as a cheaper alternative to the high-voltage amplifier) and its investigations results are presented in the paper.

  11. Modeling and Inversion of Scattered Surface waves

    NARCIS (Netherlands)

    Riyanti, C.D.

    2005-01-01

    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 estimat

  12. Design and demonstration of a biomimetic wing section using lightweight piezoceramic composite actuator (LIPCA)

    Science.gov (United States)

    Lim, Sahng M.; Lee, Sangki; Park, Hoon C.; Yoon, Kwang J.; Goo, Nam Seo

    2003-08-01

    Biomimetic wing sections actuated by piezoceramics actuator LIPCA have been designed and their actuation displacements estimated by using the thermal analogy and MSC/NASTRAN based on the linear elasticity. The wing sections are fabricated as the design and tested for evaluation. Measured actuation displacements were larger than the estimated values mainly due to the material non-linearity of the PZT wafer. The biomimetic wing sections can be used for control surfaces of small scale UAVs.

  13. Computer Modelling of 3D Geological Surface

    CERN Document Server

    Kodge, B G

    2011-01-01

    The geological surveying presently uses methods and tools for the computer modeling of 3D-structures of the geographical subsurface and geotechnical characterization as well as the application of geoinformation systems for management and analysis of spatial data, and their cartographic presentation. The objectives of this paper are to present a 3D geological surface model of Latur district in Maharashtra state of India. This study is undertaken through the several processes which are discussed in this paper to generate and visualize the automated 3D geological surface model of a projected area.

  14. Actuator and method for positioning an object

    NARCIS (Netherlands)

    Van Schieveen, J.P.; Spronck, J.W.

    2010-01-01

    The invention relates to an actuator for positioning an object in a first direction of movement, comprising a base, at least three positioning members, wherein each of the at least three positioning members has a contact surface which is configured to bear against the object under prestress, and a c

  15. Vibration analysis of magnetostrictive thin-film composite cantilever actuator

    Science.gov (United States)

    Xu, Yan; Shang, Xinchun

    2016-09-01

    The transverse vibration of a composed cantilever beam with magnetostrictive layer is analyzed, which is employed to simulate dynamic response of an actuator. The high-order shear deformation theory of beam and the coupling magnetoelastic constitutive relationship are introduced to construct the governing equations, all interface conditions between magnetostrictive film and elastic substrate as well as the free stress condition on the top and bottom surfaces of the beam can be satisfied. In order to demonstrate validity of the presented mathematical modeling, the verification examples are also given. Furthermore, the effect of geometry and material parameters on dynamic characteristics of magnetostrictive cantilever beam, such as the nature frequency and amplitude, is discussed. Moreover, through computing the magneto-mechanical coupling factor of the beam structure, the variation tendency curves of the factor along with different parameters and frequencies of magnetostrictive cantilever beam actuator have been presented. These numerical results should be useful for the design of beam-type with magnetostrictive thin-film actuators.

  16. Actuated Hybrid Mirrors for Space Telescopes

    Science.gov (United States)

    Hickey, Gregory; Ealey, Mark; Redding, David

    2010-01-01

    This paper describes new, large, ultra-lightweight, replicated, actively controlled mirrors, for use in space telescopes. These mirrors utilize SiC substrates, with embedded solid-state actuators, bonded to Nanolaminate metal foil reflective surfaces. Called Actuated Hybrid Mirrors (AHMs), they use replication techniques for high optical quality as well as rapid, low cost manufacturing. They enable an Active Optics space telescope architecture that uses periodic image-based wavefront sensing and control to assure diffraction-limited performance, while relaxing optical system fabrication, integration and test requirements. The proposed International Space Station Observatory seeks to demonstrate this architecture in space.

  17. NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY

    Institute of Scientific and Technical Information of China (English)

    KE Zunrong; ZHU Yuquan; LING Xuan

    2007-01-01

    A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.

  18. Land-surface modelling in hydrological perspective

    DEFF Research Database (Denmark)

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

    2006-01-01

    The purpose of this paper is to provide a review of the different types of energy-based land-surface models (LSMs) and discuss some of the new possibilities that will arise when energy-based LSMs are combined with distributed hydrological modelling. We choose to focus on energy-based approaches......, and the difficulties inherent in various evaluation procedures are presented. Finally, the dynamic coupling of hydrological and atmospheric models is explored, and the perspectives of such efforts are discussed......., 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...

  19. Optimization of ultrasonic transducers for selective guided wave actuation

    Science.gov (United States)

    Miszczynski, Mateusz; Packo, Pawel; Zbyrad, Paulina; Stepinski, Tadeusz; Uhl, Tadeusz; Lis, Jerzy; Wiatr, Kazimierz

    2016-04-01

    The application of guided waves using surface-bonded piezoceramic transducers for nondestructive testing (NDT) and Structural Health Monitoring (SHM) have shown great potential. However, due to difficulty in identification of individual wave modes resulting from their dispersive and multi-modal nature, selective mode excitement methods are highly desired. The presented work focuses on an optimization-based approach to design of a piezoelectric transducer for selective guided waves generation. The concept of the presented framework involves a Finite Element Method (FEM) model in the optimization process. The material of the transducer is optimized in topological sense with the aim of tuning piezoelectric properties for actuation of specific guided wave modes.

  20. Electroactive Dielectric Elastomer Planar Actuation Modeling Based on Strain-Energy Functions%基于应变能模型的电活性弹胶物平面机电驱动特性

    Institute of Scientific and Technical Information of China (English)

    祁新梅; 宗志坚; 郑寿森

    2012-01-01

    This paper applied the material parameters obtained and evaluated from uniaxial extension test regression and fitting in our previous work to further study dielectric elastomer(DE) planar actuation modeling based on strain energy functions. Actuation experiments with a few prestretch values are performed and are presented coMPared with the Ogden,Mooney-Rivlin and Yeoh actuation models.The result shows that the material constants are reasonable and the Ogden models with N=2 and N=3 and Yeoh model are good and applicable to the DE actuation,but Mooney-Rivlin model does not fit.Future work will be focus on the application of the Ogden and Yeoh models in the actuator device.%利用前期工作由单轴拉伸实验获取并验证的材料常数,进一步研究Mooney-Rivlin、Ogden和Yeoh三种应变能模型在绝缘弹胶物(DE)材料的平面机电响应建模。根据实际试验中的平面双向预拉伸、两面加电场的边界条件,确定机电驱动模型,根据在一系列预拉伸值下进行的系列平面机电驱动试验,研究材料常数的合理性和机电驱动模型的可行性。研究结果表明,4参数、6参数的Ogden模型及Yeoh模型均可反映DE材料的机电响应特性;模型参数合理可行;Mooney-Rivlin模型不适合DE材料的机电驱动。

  1. Characterization of a 3D multi-mechanism SMA material model for the prediction of the cyclic "evolutionary" response of NiTi for use in actuations

    Science.gov (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

  2. A continuum method for modeling surface tension

    Science.gov (United States)

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

    1992-01-01

    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.

  3. Radiative transfer modeling of surface chemical deposits

    Science.gov (United States)

    Reichardt, Thomas A.; Kulp, Thomas J.

    2016-05-01

    Remote detection of a surface-bound chemical relies on the recognition of a pattern, or "signature," that is distinct from the background. Such signatures are a function of a chemical's fundamental optical properties, but also depend upon its specific morphology. Importantly, the same chemical can exhibit vastly different signatures depending on the size of particles composing the deposit. We present a parameterized model to account for such morphological effects on surface-deposited chemical signatures. This model leverages computational tools developed within the planetary and atmospheric science communities, beginning with T-matrix and ray-tracing approaches for evaluating the scattering and extinction properties of individual particles based on their size and shape, and the complex refractive index of the material itself. These individual-particle properties then serve as input to the Ambartsumian invariant imbedding solution for the reflectance of a particulate surface composed of these particles. The inputs to the model include parameters associated with a functionalized form of the particle size distribution (PSD) as well as parameters associated with the particle packing density and surface roughness. The model is numerically inverted via Sandia's Dakota package, optimizing agreement between modeled and measured reflectance spectra, which we demonstrate on data acquired on five size-selected silica powders over the 4-16 μm wavelength range. Agreements between modeled and measured reflectance spectra are assessed, while the optimized PSDs resulting from the spectral fitting are then compared to PSD data acquired from independent particle size measurements.

  4. Applications of dielectric elastomer actuators

    Science.gov (United States)

    Pelrine, Ron; Sommer-Larsen, Peter; Kornbluh, Roy D.; Heydt, Richard; Kofod, Guggi; Pei, Qibing; Gravesen, Peter

    2001-07-01

    Dielectric elastomer actuators, based on the field-induced deformation of elastomeric polymers with compliant electrodes, can produce a large strain response, combined with a fast response time and high electromechanical efficiency. This unique performance, combined with other factors such as low cost, suggests many potential applications, a wide range of which are under investigation. Applications that effectively exploit the properties of dielectric elastomers include artificial muscle actuators for robots; low-cost, lightweight linear actuators; solid- state optical devices; diaphragm actuators for pumps and smart skins; acoustic actuators; and rotary motors. Issues that may ultimately determine the success or failure of the actuation technology for specific applications include the durability of the actuator, the performance of the actuator under load, operating voltage and power requirements, and electronic driving circuitry, to name a few.

  5. FLUTTER SUPPRESSION USING DISTRIBUTED PIEZOELECTRIC ACTUATORS

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    The Flutter suppression using distributed piezoelectric actuators has been analyzed and tested. In constructing the finite element equation, effects of piezoelectric matrices are investigated. LQG method is used in designing the control law. In reducing the order of the control law, both balance realization and LK methods are used. For the rational approximation of the unsteady aerodynamic forces LS method is improved. In determining the piezoelectric constants d31 a new dynamic response method is developed. Laser vibrameter is used to pick up the model response and in ground resonance test the model is excited by piezoelectric actuators. Reasonable agreement of the wind tunnel flutter suppression test with calculated results is obtained.

  6. Numerical simulation of mechatronic sensors and actuators

    CERN Document Server

    Kaltenbacher, Manfred

    2007-01-01

    Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.

  7. Performance evaluation of an improved fish robot actuated by piezoceramic actuators

    Science.gov (United States)

    Nguyen, Q. S.; Heo, S.; Park, H. C.; Byun, D.

    2010-03-01

    This paper presents an improved fish robot actuated by four lightweight piezocomposite actuators. Our newly developed actuation mechanism is simple to fabricate because it works without gears. With the new actuation mechanism, the fish robot has a 30% smaller cross section than our previous model. Performance tests of the fish robot in water were carried out to measure the tail-beat angle, the thrust force, the swimming speed for various tail-beat frequencies from 1 to 5 Hz and the turning radius at the optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s - 1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming direction of the fish robot can be controlled by changing the duty ratio of the driving voltage; the fish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn.

  8. Aerodynamic Optimization for Distributed Electro Mechanical Actuators Project

    Data.gov (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,...

  9. Impact-Actuated Digging Tool for Lunar Excavation Project

    Data.gov (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...

  10. Overview on permanent magnetic actuator

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Permanent magnetic actuator (PMA), as a new electronic actuator of vacuum circuit breakers, certainly will be used to replace the traditional mechanical actuator. It has such advantages as simple structure, high reliability, free maintenance, and so on. This paper summarizes the development, structure, magnetic analysis, character analysis, and control strategy of PMA, and also predicts the future trend of PMA development

  11. Advances in tokamak control: from multi-actuator MHD control to model-based current profile tailoring

    Science.gov (United States)

    Felici, Federico

    2012-10-01

    Recent experiments on TCV have demonstrated integrated control of the sawtooth and Neoclassical Tearing Mode (NTM) instabilities in a combined preemption-suppression strategy. This strategy is enabled by new sawtooth control methods (sawtooth pacing) in which modulation of sawtooth-stabilizing electron cyclotron power during the sawtooth cycle stimulates the advent of the crash. Rather than controlling the average sawtooth period, the precise timing of each individual crash can now be prescribed. Using this knowledge, efficient preemptive stabilization of NTMs becomes possible by applying power on the rational surface only at the instant of the crash-generating seed island. TCV experiments demonstrate that this approach, reinforced by NTM stabilization as a backup strategy, is effectively failsafe. This opens the road to inductive H-mode scenarios with long sawteeth providing longer inter-crash periods of high density and temperature. Also Edge Localized Modes are susceptible to EC modulation and it is shown that individual ELM events can be controlled using similar techniques. For advanced tokamak scenarios, MHD control is to be combined with optimization and control of the plasma kinetic and magnetic profile evolution in time. Real-time simulation of a physical model (RAPTOR) of current transport, including bootstrap current, neoclassical conductivity and auxiliary current drive, yields complete knowledge of the relevant profiles at any given time. The pilot implementation on TCV shows that these calculations can indeed be done in real-time and the resulting profiles have been included in feedback control schemes. Integration of this model with time-varying equilibria and internal current profile diagnostics provides a new framework for real-time interpretation of diagnostic data for plasma prediction, scenario monitoring, disruption prevention and feedback control.

  12. A Magnetic Bead Actuator

    NARCIS (Netherlands)

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

    2006-01-01

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

  13. The Actuated Guitar

    DEFF Research Database (Denmark)

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

    2013-01-01

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

  14. Piezoelectric actuator renaissance

    Science.gov (United States)

    Uchino, Kenji

    2015-03-01

    This paper resumes the content of the invited talk of the author, read at the occasion of the International Workshop on Relaxor Ferroelectrics, IWRF 14, held on October 12-16, 2014 in Stirin, Czech Republic. It reviews the recent advances in materials, designing concepts, and new applications of piezoelectric actuators, as well as the future perspectives of this area.

  15. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

    Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research

  16. Development of microfabricated magnetic actuators for removing cellular occlusion

    International Nuclear Information System (INIS)

    Here we report on the development of torsional magnetic microactuators for displacing biological materials in implantable catheters. Static and dynamic behaviors of the devices were characterized in air and in fluid using optical experimental methods. The devices were capable of achieving large deflections (>60°) and had resonant frequencies that ranged from 70 Hz to 1.5 kHz in fluid. The effect of long-term actuation (>2.5 × 108 cycles) was quantified using resonant shift as the metric (f < 2%). The cell-clearing capabilities of the devices were evaluated by examining the effect of actuation on a layer of aggressively growing adherent cells. On average, actuated microdevices removed 37.4% of the adherent cell layer grown over the actuator surface. The effects of actuation time, deflection angle and beam geometry were evaluated. The experimental results indicate that physical removal of adherent cells at the microscale is feasible using magnetic microactuation

  17. Quantitative Modeling of Earth Surface Processes

    Science.gov (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 www.cambridge.org/9780521855976. Assuming some knowledge of calculus and basic programming experience, this quantitative textbook is designed for advanced geomorphology courses and as a reference book for professional researchers in Earth and planetary science looking for a quantitative approach to Earth surface processes. More details...

  18. Surface tension in Kac glass models

    International Nuclear Information System (INIS)

    In this paper we study a distance-dependent surface tension, defined as the free-energy cost for putting metastable states at a given distance. This will be done in the framework of a disordered microscopic model with Kac interactions that can be solved in the mean-field limit

  19. Surface Tension in Kac Glass Models

    OpenAIRE

    Zarinelli, Elia; Franz, Silvio

    2009-01-01

    In this paper we study a distance-dependent surface tension, defined as the free-energy cost to put metastable states at a given distance. This will be done in the framework of a disordered microscopic model with Kac interactions that can be solved in the mean-field limit.

  20. Minimal model for spoof acoustoelastic surface states

    DEFF Research Database (Denmark)

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

    2014-01-01

    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...

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

    Science.gov (United States)

    Gutfrind, Christophe; Dufour, Laurent; Liebart, Vincent; Vannier, Jean-Claude; Vidal, Pierre

    2016-01-01

    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. PMID:27213398

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

    Science.gov (United States)

    Gutfrind, Christophe; Dufour, Laurent; Liebart, Vincent; Vannier, Jean-Claude; Vidal, Pierre

    2016-05-20

    The purpose of this article is to describe the design of a limited stroke actuator and the corresponding prototype to drive a Low Pressure (LP) Exhaust Gas Recirculation (EGR) valve for use in Internal Combustion Engines (ICEs). The direct drive actuator topology is an axial flux machine with two air gaps in order to minimize the rotor inertia and a bipolar surface-mounted permanent magnet in order to respect an 80° angular stroke. Firstly, the actuator will be described and optimized under constraints of a 150 ms time response, a 0.363 N·m minimal torque on an angular range from 0° to 80° and prototyping constraints. Secondly, the finite element method (FEM) using the FLUX-3D(®) software (CEDRAT, Meylan, France) will be used to check the actuator performances with consideration of the nonlinear effect of the iron material. Thirdly, a prototype will be made and characterized to compare its measurement results with the analytical model and the FEM model results. With these electromechanical behavior measurements, a numerical model is created with Simulink(®) in order to simulate an EGR system with this direct drive actuator under all operating conditions. Last but not least, the energy consumption of this machine will be estimated to evaluate the efficiency of the proposed EGR electromechanical system.

  3. Evolutionary flight and enabling smart actuator devices

    Science.gov (United States)

    Manzo, Justin; Garcia, Ephrahim

    2007-04-01

    Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.

  4. Finite element analysis of multilayer DEAP stack-actuators

    Science.gov (United States)

    Kuhring, Stefan; Uhlenbusch, Dominik; Hoffstadt, Thorben; Maas, Jürgen

    2015-04-01

    Dielectric elastomers (DE) are thin polymer films belonging to the class of electroactive polymers (EAP). They are coated with compliant and conductive electrodes on each side, which make them performing a relative high amount of deformation with considerable force generation under the influence of an electric field. Because the realization of high electric fields with a limited voltage level requests single layer polymer films to be very thin, novel multilayer actuators are utilized to increase the absolute displacement and force. In case of a multilayer stack-actuator, many actuator films are mechanically stacked in series and electrically connected in parallel. Because there are different ways to design such a stack-actuator, this contribution considers an optimization of some design parameters using the finite element analysis (FEA), whereby the behavior and the actuation of a multilayer dielectric electroactive polymer (DEAP) stack-actuator can be improved. To describe the material behavior, first different material models are compared and necessary material parameters are identified by experiments. Furthermore, a FEA model of a DEAP film is presented, which is expanded to a multilayer DEAP stack-actuator model. Finally, the results of the FEA are discussed and conclusions for design rules of optimized stack-actuators are outlined.

  5. Global modelling of Cryptosporidium in surface water

    Science.gov (United States)

    Vermeulen, Lucie; Hofstra, Nynke

    2016-04-01

    Introduction Waterborne pathogens that cause diarrhoea, such as Cryptosporidium, pose a health risk all over the world. In many regions quantitative information on pathogens in surface water is unavailable. Our main objective is to model Cryptosporidium concentrations in surface waters worldwide. We present the GloWPa-Crypto model and use the model in a scenario analysis. A first exploration of global Cryptosporidium emissions to surface waters has been published by Hofstra et al. (2013). Further work has focused on modelling emissions of Cryptosporidium and Rotavirus to surface waters from human sources (Vermeulen et al 2015, Kiulia et al 2015). A global waterborne pathogen model can provide valuable insights by (1) providing quantitative information on pathogen levels in data-sparse regions, (2) identifying pathogen hotspots, (3) enabling future projections under global change scenarios and (4) supporting decision making. Material and Methods GloWPa-Crypto runs on a monthly time step and represents conditions for approximately the year 2010. The spatial resolution is a 0.5 x 0.5 degree latitude x longitude grid for the world. We use livestock maps (http://livestock.geo-wiki.org/) combined with literature estimates to calculate spatially explicit livestock Cryptosporidium emissions. For human Cryptosporidium emissions, we use UN population estimates, the WHO/UNICEF JMP sanitation country data and literature estimates of wastewater treatment. We combine our emissions model with a river routing model and data from the VIC hydrological model (http://vic.readthedocs.org/en/master/) to calculate concentrations in surface water. Cryptosporidium survival during transport depends on UV radiation and water temperature. We explore pathogen emissions and concentrations in 2050 with the new Shared Socio-economic Pathways (SSPs) 1 and 3. These scenarios describe plausible future trends in demographics, economic development and the degree of global integration. Results and

  6. Olkiluoto surface and near-surface hydrological modelling in 2010

    International Nuclear Information System (INIS)

    The modeling approaches carried out with the Olkiluoto surface hydrological model (SHYD) include palaeohydrological evolution of the Olkiluoto Island, examination of the boundary condition at the geosphere-biosphere interface zone, simulations related to infiltration experiment, prediction of the influence of ONKALO on hydraulic head in shallow and deep bedrock and optimisation of the shallow monitoring network. A so called short-term prediction system was developed for continuous updating of the estimated drawdowns caused by ONKALO. The palaeohydrological simulations were computed for a period starting from the time when the highest hills on Olkiluoto Island rose above sea level around 2 500 years ago. The input data needed in the model were produced by the UNTAMO-toolbox. The groundwater flow evolution is primarily driven by the postglacial land uplift and the uncertainty in the land uplift model is the biggest single factor that influences the accuracy of the results. The consistency of the boundary condition at the geosphere-biosphere interface zone (GBIZ) was studied during 2010. The comparison carried out during 2010 showed that pressure head profiles computed with the SHYD model and deep groundwater flow model FEFTRA are in good agreement with each other in the uppermost 100 m of the bedrock. This implies that flux profiles computed with the two approaches are close to each other and hydraulic heads computed at level z=0 m with the SHYD can be used as head boundary condition in the deep groundwater flow model FEFTRA. The surface hydrological model was used to analyse the results of the infiltration experiment. Increase in bedrock recharge inside WCA explains around 60-63 % from the amount of water pumped from OL-KR14 and 37-40 % of the water pumped from OL-KR14 flows towards pumping section via the hydrogeological zones. Pumping from OL-KR14 has only a minor effect on heads and fluxes in zones HZ19A and HZ19C compared to responses caused by leakages into

  7. Architecture Optimization of More Electric Aircraft Actuation System

    Institute of Scientific and Technical Information of China (English)

    QI Haitao; FU Yongling; QI Xiaoye; LANG Yan

    2011-01-01

    The optional types of power source and actuator in the aircraft are more and more diverse due to fast development in more electric technology,which makes the combinations of different power sources and actuators become extremely complex in the architecture optimization process of airborne actuation system.The traditional “trial and error” method cannot satisfy the design demands.In this paper,firstly,the composition of more electric aircraft(MEA) flight control actuation system(FCAS) is introduced,and the possible architecture quantity is calculated.Secondly,the evaluation criteria of FCAS architecture with respect to safe reliability,weight and efficiency are proposed,and the evaluation criteria values are calculated in the case that each control surface adopts the same actuator configuration.Finally,the optimization results of MEA FCAS architecture are obtained by applying genetic algorithm(GA).Compared to the traditional actuation system architecture,which only adopts servo valve controlled hydraulic actuators,the weight of the optimized more electric actuation system architecture can be reduced by 6%,and the efficiency can be improved by 30% based on the safe reliability requirements.

  8. Modeling aspects of the surface reconstruction problem

    Science.gov (United States)

    Toth, Charles K.; Melykuti, Gabor

    1994-08-01

    The ultimate goal of digital photogrammetry is to automatically produce digital maps which may in turn form the basis of GIS. Virtually all work in surface reconstruction deals with various kinds of approximations and constraints that are applied. In this paper we extend these concepts in various ways. For one, matching is performed in object space. Thus, matching and densification (modeling) is performed in the same reference system. Another extension concerns the solution of the second sub-problem. Rather than simply densifying (interpolating) the surface, we propose to model it. This combined top-down and bottom-up approach is performed in scale space, whereby the model is refined until compatibility between the data and expectations is reached. The paper focuses on the modeling aspects of the surface reconstruction problem. Obviously, the top-down and bottom-up model descriptions ought to be in a form which allows the generation and verification of hypotheses. Another crucial question is the degree of a priori scene knowledge necessary to constrain the solution space.

  9. Dielectric Actuation of Polymers

    Science.gov (United States)

    Niu, Xiaofan

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy densities, high coupling efficiency, quiet operation, and light weight. One focus of this dissertation is on the design of DE materials with high performance and easy processing. UV radiation curing of reactive species is studied as a generic synthesis methodology to provide a platform for material scientists to customize their own DE materials. Oligomers/monomers, crosslinkers, and other additives are mixed and cured at appropriate ratios to control the stress-strain response, suppress electromechanical instability of the resulting polymers, and provide stable actuation strains larger than 100% and energy densities higher than 1 J/g. The processing is largely simplified in the new material system by removal of the prestretching step. Multilayer stack actuators with 11% linear strain are demonstrated in a procedure fully compatible with industrial production. A multifunctional DE derivative material, bistable electroactive polymer (BSEP), is invented enabling repeatable rigid-to-rigid deformation without bulky external structures. Bistable actuation allows the polymer actuator to have two distinct states that can support external load without device failure. Plasticizers are used to lower the glass transition temperature to 45 °C. Interpenetrating polymer network structure is established inside the BSEP to suppress electromechanical instability, providing a breakdown field of 194 MV/m and a stable bistable strain as large as 228% with a 97% strain fixity. The application of BSEP

  10. Failure of cargo aileron’s actuator

    Directory of Open Access Journals (Sweden)

    G. Zucca

    2014-10-01

    Full Text Available During a ferry flight, in a standard operation condition and at cruising level, a military cargo experienced a double hydraulic system failure due to a structural damage of the dual booster actuator. The booster actuator is the main component in mechanism of aileron’s deflection. The crew was able to arrange an emergency landing thanks to the spare oil onboard: load specialists refilled the hydraulic reservoirs. Due to safety concerns and in order to prevent the possibility of other similar incidents, a technical investigation took place. The study aimed to carry out the analysis of root causes of the actuator failure. The Booster actuator is composed mainly by the piston rod and its aluminum external case (AA7049. The assembly has two bronze caps on both ends. These are fixed in position by means of two retainers. At one end of the actuator case is placed a trunnion: a cylindrical protrusion used as a pivoting point on the aircraft. The fracture was located at one end of the case, on the trunnion side, in correspondence to the cap and over the retainer. One of the two fracture surfaces was found separated to the case and with the cap entangled inside. The fracture surfaces of the external case indicated fatigue crack growth followed by ductile separation. The failure analysis was performed by means of optical, metallographic, digital and electronic microscopy. The collected evidences showed a multiple initiation fracture mechanism. Moreover, 3D scanner reconstruction and numerical simulation demonstrated that dimensional non conformances and thermal loads caused an abnormal stress concentration. Stress concentration was located along the case assy outer surface where the fatigue crack originated. The progressive rupture mechanism grew under cyclical axial load due to the normal operations. Recommendations were issued in order to improve dimensional controls and assembly procedures during production and overhaul activities.

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

    Directory of Open Access Journals (Sweden)

    Keng Huat Koh

    2014-06-01

    Full Text Available This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force and V (driving voltage within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

  12. Optimal actuator placement on an active reflector using a modified simulated annealing technique

    Science.gov (United States)

    Kuo, Chin-Po; Bruno, Robin

    1991-01-01

    The development of a lightweight actuation system for maintaining the surface accuracy of a composite honeycomb panel using piezoelectric actuators is discussed. A modified simulated annealing technique is used to optimize the problem with both combinatorial and continuous criteria and with inequality constraints. Near optimal solutions for the location of the actuators, using combinatorial optimization, and for the required actuator forces, employing continuous optimization, are sought by means of the modified simulated annealing technique. The actuator locations are determined by first seeking a near optimum solution using the modified simulated annealing technique. The final actuator configuration consists of an arrangement wherein the piezoelectric actuators are placed along six radial lines. Numerical results showing the achievable surface correction by means of this configuration are presented.

  13. Time series modelling of surface pressure data

    Science.gov (United States)

    Al-Awadhi, Shafeeqah; Jolliffe, Ian

    1998-03-01

    In this paper we examine time series modelling of surface pressure data, as measured by a barograph, at Herne Bay, England, during the years 1981-1989. Autoregressive moving average (ARMA) models have been popular in many fields over the past 20 years, although applications in climatology have been rather less widespread than in some disciplines. Some recent examples are Milionis and Davies (Int. J. Climatol., 14, 569-579) and Seleshi et al. (Int. J. Climatol., 14, 911-923). We fit standard ARMA models to the pressure data separately for each of six 2-month natural seasons. Differences between the best fitting models for different seasons are discussed. Barograph data are recorded continuously, whereas ARMA models are fitted to discretely recorded data. The effect of different spacings between the fitted data on the models chosen is discussed briefly.Often, ARMA models can give a parsimonious and interpretable representation of a time series, but for many series the assumptions underlying such models are not fully satisfied, and more complex models may be considered. A specific feature of surface pressure data in the UK is that its behaviour is different at high and at low pressures: day-to-day changes are typically larger at low pressure levels than at higher levels. This means that standard assumptions used in fitting ARMA models are not valid, and two ways of overcoming this problem are investigated. Transformation of the data to better satisfy the usual assumptions is considered, as is the use of non-linear, specifically threshold autoregressive (TAR), models.

  14. Integration of Heterogenous Digital Surface Models

    Science.gov (United States)

    Boesch, R.; Ginzler, C.

    2011-08-01

    The application of extended digital surface models often reveals, that despite an acceptable global accuracy for a given dataset, the local accuracy of the model can vary in a wide range. For high resolution applications which cover the spatial extent of a whole country, this can be a major drawback. Within the Swiss National Forest Inventory (NFI), two digital surface models are available, one derived from LiDAR point data and the other from aerial images. Automatic photogrammetric image matching with ADS80 aerial infrared images with 25cm and 50cm resolution is used to generate a surface model (ADS-DSM) with 1m resolution covering whole switzerland (approx. 41000 km2). The spatially corresponding LiDAR dataset has a global point density of 0.5 points per m2 and is mainly used in applications as interpolated grid with 2m resolution (LiDAR-DSM). Although both surface models seem to offer a comparable accuracy from a global view, local analysis shows significant differences. Both datasets have been acquired over several years. Concerning LiDAR-DSM, different flight patterns and inconsistent quality control result in a significantly varying point density. The image acquisition of the ADS-DSM is also stretched over several years and the model generation is hampered by clouds, varying illumination and shadow effects. Nevertheless many classification and feature extraction applications requiring high resolution data depend on the local accuracy of the used surface model, therefore precise knowledge of the local data quality is essential. The commercial photogrammetric software NGATE (part of SOCET SET) generates the image based surface model (ADS-DSM) and delivers also a map with figures of merit (FOM) of the matching process for each calculated height pixel. The FOM-map contains matching codes like high slope, excessive shift or low correlation. For the generation of the LiDAR-DSM only first- and last-pulse data was available. Therefore only the point distribution can

  15. Nanopositioner actuator energy cost and performance

    NARCIS (Netherlands)

    Engelen, J.B.C.; Khatib, M.G.; Abelmann, L.; Elwenspoek, M.C.

    2013-01-01

    We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and per

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

    Directory of Open Access Journals (Sweden)

    Xavier Arouette

    2010-03-01

    Full Text Available We have developed a hydraulic displacement amplification mechanism (HDAM and studied its dynamic response when combined with a piezoelectric actuator. The HDAM consists of an incompressible fluid sealed in a microcavity by two largely deformable polydimethylsiloxane (PDMS membranes. The geometry with input and output surfaces having different cross-sectional areas creates amplification. By combining the HDAM with micro-actuators, we can amplify the input displacement generated by the actuators, which is useful for applications requiring large deformation, such as tactile displays. We achieved a mechanism offering up to 18-fold displacement amplification for static actuation and 12-fold for 55 Hz dynamic actuation.

  17. Dynamic characteristics of a hydraulic amplification mechanism for large displacement actuators systems.

    Science.gov (United States)

    Arouette, Xavier; Matsumoto, Yasuaki; Ninomiya, Takeshi; Okayama, Yoshiyuki; Miki, Norihisa

    2010-01-01

    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. PMID:22319281

  18. Improving land surface models with FLUXNET data

    Directory of Open Access Journals (Sweden)

    M. Williams

    2009-03-01

    Full Text Available There is a growing consensus that land surface models (LSMs that simulate terrestrial biosphere exchanges of matter and energy must be better constrained with data to quantify and address their uncertainties. FLUXNET, an international network of sites that measure the land surface exchanges of carbon, water and energy using the eddy covariance technique, is a prime source of data for model improvement. Here we outline a multi-stage process for fusing LSMs with FLUXNET data to generate better models with quantifiable uncertainty. First, we describe FLUXNET data availability, and its random and systematic biases. We then introduce methods for assessing LSM model runs against FLUXNET observations in temporal and spatial domains. These assessments are a prelude to more formal model-data fusion (MDF. MDF links model to data, based on error weightings. In theory, MDF produces optimal analyses of the modelled system, but there are practical problems. We first discuss how to set model errors and initial conditions. In both cases incorrect assumptions will affect the outcome of the MDF. We then review the problem of equifinality, whereby multiple combinations of parameters can produce similar model output. Fusing multiple independent data provides a means to limit equifinality. We then show how parameter probability density functions (PDFs from MDF can be used to interpret model process validity, and to propagate errors into model outputs. Posterior parameter distributions are a useful way to assess the success of MDF, combined with a determination of whether model residuals are Gaussian. If the MDF scheme provides evidence for temporal variation in parameters, then that is indicative of a critical missing dynamic process. A comparison of parameter PDFs generated with the same model from multiple FLUXNET sites can provide insights into the concept and validity of plant functional types (PFT – we would expect similar parameter estimates among sites

  19. Improving land surface models with FLUXNET data

    Directory of Open Access Journals (Sweden)

    Y. -P. Wang

    2009-07-01

    Full Text Available There is a growing consensus that land surface models (LSMs that simulate terrestrial biosphere exchanges of matter and energy must be better constrained with data to quantify and address their uncertainties. FLUXNET, an international network of sites that measure the land surface exchanges of carbon, water and energy using the eddy covariance technique, is a prime source of data for model improvement. Here we outline a multi-stage process for "fusing" (i.e. linking LSMs with FLUXNET data to generate better models with quantifiable uncertainty. First, we describe FLUXNET data availability, and its random and systematic biases. We then introduce methods for assessing LSM model runs against FLUXNET observations in temporal and spatial domains. These assessments are a prelude to more formal model-data fusion (MDF. MDF links model to data, based on error weightings. In theory, MDF produces optimal analyses of the modelled system, but there are practical problems. We first discuss how to set model errors and initial conditions. In both cases incorrect assumptions will affect the outcome of the MDF. We then review the problem of equifinality, whereby multiple combinations of parameters can produce similar model output. Fusing multiple independent and orthogonal data provides a means to limit equifinality. We then show how parameter probability density functions (PDFs from MDF can be used to interpret model validity, and to propagate errors into model outputs. Posterior parameter distributions are a useful way to assess the success of MDF, combined with a determination of whether model residuals are Gaussian. If the MDF scheme provides evidence for temporal variation in parameters, then that is indicative of a critical missing dynamic process. A comparison of parameter PDFs generated with the same model from multiple FLUXNET sites can provide insights into the concept and validity of plant functional types (PFT – we would expect similar parameter

  20. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2010-01-01

    Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.

  1. Modeling heterogeneous chemical processes on aerosol surface

    Institute of Scientific and Technical Information of China (English)

    Junjun Deng; Tijian Wang; Li Liu; Fei Jiang

    2010-01-01

    To explore the possible impact of heterogeneous chemical processes on atmospheric trace components,a coupled box model including gas-phase chemical processes,aerosol thermodynamic equilibrium processes,and heterogeneous chemical processes on the surface of dust,black carbon(BC)and sea salt is set up to simulate the effects of heterogeneous chemistry on the aerosol surface,and analyze the primary factors affecting the heterogeneous processes.Results indicate that heterogeneous chemical processes on the aerosol surface in the atmosphere will affect the concentrations of trace gases such as H2O2,HO2,O3,NO2,NO3,HNO3 and SO2,and aerosols such as SO42-,NO3-and NH4+.Sensitivity tests suggest that the magnitude of the impact of heterogeneous processes strongly depends on aerosol concentration and the surface uptake coefficients used in the box model.However,the impact of temperature on heterogeneous chemical processes is considerably less.The"renoxification"of HNO3 will affect the components of the troposphere such as nitrogen oxide and ozone.

  2. Integrated design and analysis of smart actuators for hybrid assistive knee bracese-fla

    Science.gov (United States)

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

    2009-03-01

    The objective of this paper is to develop smart actuators for knee braces as assistive devices for helping disabled people to recover their mobility. The actuator functions as motor, clutch, and brake. In the design, magnetorheological (MR) fluids are utilized to generate controllable torque. To decrease the size of the actuator, motor and MR fluids are integrated. MR fluids are filled inside the DC motor based actuator. Additional design factors of smart actuators including influence of permanent magnet on MR fluids and dynamic sealing are also considered. Finite element model of the smart actuator is built and analyzed. A prototype of the smart actuator with two different inner armatures is fabricated and their characteristics are investigated. Torques are compared between simulation and experiments. The results show that the developed smart actuator with multiple functions is promising for assistive knee braces.

  3. Active Polymer Gel Actuators

    OpenAIRE

    Shuji Hashimoto; Ryo Yoshida; Yusuke Hara; Shingo Maeda

    2010-01-01

    Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of he...

  4. Stepper Motor Actuated Microvalve

    OpenAIRE

    Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko

    2006-01-01

    We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized wi...

  5. Modeling of ESD events from polymeric surfaces

    Energy Technology Data Exchange (ETDEWEB)

    Pfeifer, Kent Bryant

    2014-03-01

    Transient electrostatic discharge (ESD) events are studied to assemble a predictive model of discharge from polymer surfaces. An analog circuit simulation is produced and its response is compared to various literature sources to explore its capabilities and limitations. Results suggest that polymer ESD events can be predicted to within an order of magnitude. These results compare well to empirical findings from other sources having similar reproducibility.

  6. Combining Model-Based and Feature-Driven Diagnosis Approaches – A Case Study on Electromechanical Actuators

    Data.gov (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...

  7. Improvements on Mean Free Wave Surface Modeling

    Institute of Scientific and Technical Information of China (English)

    董国海; 滕斌; 程亮

    2002-01-01

    Some new results of the modeling of mean free surface of waves or wave set-up are presented. The stream function wave theory is applied to incident short waves. The limiting wave steepness is adopted as the wave breaker index in the calculation of wave breaking dissipation. The model is based on Roelvink (1993), but the numerical techniques used in the solution are based on the Weighted-Average Flux (WAF) method (Watson et al., 1992), with Time-Operator-Splitting (TOS) used for the treatment of the source terms. This method allows a small number of computational points to be used, and is particularly efficient in modeling wave set-up. The short wave (or incident primary wave) energy equation issolved by use of a traditional Lax-Wendroff technique. The present model is found to be satisfactory compared with the measurements conducted by Stive (1983).

  8. Self-Actuation of Liquid Metal via Redox Reaction.

    Science.gov (United States)

    Gough, Ryan C; Dang, Jonathan H; Moorefield, Matthew R; Zhang, George B; Hihara, Lloyd H; Shiroma, Wayne A; Ohta, Aaron T

    2016-01-13

    Presented here is a method for actuating a gallium-based liquid-metal alloy without the need for an external power supply. Liquid metal is used as an anode to drive a complementary oxygen reduction reaction, resulting in the spontaneous growth of hydrophilic gallium oxide on the liquid-metal surface, which induces flow of the liquid metal into a channel. The extent and duration of the actuation are controllable throughout the process, and the induced flow is both reversible and repeatable. This self-actuation technique can also be used to trigger other electrokinetic or fluidic mechanisms. PMID:26693856

  9. Piezoelectric stack actuator parameter extraction with hysteresis compensation

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Mangeot, Charles; Andersen, Michael A. E.;

    2014-01-01

    The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...... exhibited by piezoelectric ceramics causes losses. Therefore, this paper presents a straightforward method to measure piezoelectric stack actuator equiv- alent parameters that includes nonlinearities. By folding the nonlinearities into a newly-defined cou- pling coefficient, the inherent hysteretic behavior...... of piezoelectric stack actuators can be greatly reduced through precompensation. Experimental results show a fitting accuracy of 98.8 % between the model and measurements and a peak absolute error reduction by a factor of 10 compared to the manufacturer- provided parameter. This method improves both the static...

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

    Directory of Open Access Journals (Sweden)

    Ganesha Udupa

    2014-01-01

    Full Text Available The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary. In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects. The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results. The actuator is fabricated using compression molding process that includes micromachining of the molds. Experiments conducted show the bending characteristics of the actuator at different pressures. The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity. The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.

  11. Mechanisms and actuators for rotorcraft blade morphing

    Science.gov (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

  12. Physics-model-based nonlinear actuator trajectory optimization and safety factor profile feedback control for advanced scenario development in DIII-D

    Science.gov (United States)

    Barton, J. E.; Boyer, M. D.; Shi, W.; Wehner, W. P.; Schuster, E.; Ferron, J. R.; Walker, M. L.; Humphreys, D. A.; Luce, T. C.; Turco, F.; Penaflor, B. G.; Johnson, R. D.

    2015-09-01

    DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, a first-principles-driven (FPD), physics-based model of the q profile and normalized beta ({β\\text{N}} ) dynamics is first embedded into a numerical optimization algorithm to design feedforward actuator trajectories that steer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and {β\\text{N}} . Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Second, a feedback algorithm for q profile control is designed following an FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when {β\\text{N}} is relatively close to the target, indicating the need for integrated q profile and {β\\text{N}} control to further enhance the ability to achieve robust scenario execution. The ability of an integrated q profile + {β\\text{N}} feedback controller to track a desired target is demonstrated through simulation.

  13. Experimental study on the use of synthetic jet actuators for lift control

    Science.gov (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

  14. Liquid surface model for carbon nanotube energetics

    DEFF Research Database (Denmark)

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

    2008-01-01

    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....

  15. 纳秒脉冲表面介质阻挡等离子体激励唯象学仿真∗%Phenomenological mo deling of nanosecond pulsed surface dielectric barrier discharge plasma actuation for flow control

    Institute of Scientific and Technical Information of China (English)

    赵光银; 李应红; 梁华; 化为卓; 韩孟虎

    2015-01-01

    One-zone inhomogeneous phenomenological nanosecond dielectric barrier discharge (NS-DBD) actuation model used for flow control simulation is established to investigate the flow control mechanisms, based on experiments and theoretical analysis. When the inhomogeneous phenomenological model is applied to a plate, the formation of spanwise vorticity is analyzed through the vorticity transport equation, and the spanwise vorticity is mainly engendered due to the baroclinicity of pressure gradient and density gradient, also due to the vorticity transfer by the flow convection in the vicinity of the actuation region. Agreement of the simulation with experiments on a column shows that the inhomogeneous phenomenological NS-DBD actuation model is reasonable. Separation control over NACA 0015 airfoil at high angle of attack indicates that the spanwise vortices induced by plasma actuation make the separated shear layer instable, promote interaction between shear layers, and downstream the separation point. Different excitation frequency has different effect on the lift, with the optimum reduced frequency F+≈6 in current simulation.%结合NS-DBD实验数据和理论分析,建立NS-DBD单区非均匀唯象学模型,旨在通过合理的模型进行流动控制仿真,揭示流动控制机理.在平板无来流时,运用单区非均匀唯象学模型,通过引入涡量输运方程,求解涡量方程各项,分析展向涡形成机理.展向涡主要是由压力升诱导激励区压力梯度和密度梯度的不正交性产生的,其次是激励区附近流场的对流引起的涡量转移.圆柱上的激励仿真得到与实验一致的压缩波结构和冲击波位置,验证了模型合理性. NACA 0015翼型大迎角分离控制的仿真表明,激励诱导展向涡促使主流和分离流相互作用,使分离点移向下游;脉冲激励频率通过诱导展向涡的数量对流动分离产生不同的作用效果,本文最佳的无量纲激

  16. Deflection of Cross-Ply Composite Laminates Induced by Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    Chi-Sheng Lin

    2010-01-01

    Full Text Available The coupling effects between the mechanical and electric properties of piezoelectric materials have drawn significant attention for their potential applications as sensors and actuators. In this investigation, two piezoelectric actuators are symmetrically surface bonded on a cross-ply composite laminate. Electric voltages with the same amplitude and opposite sign are applied to the two symmetric piezoelectric actuators, resulting in the bending effect on the laminated plate. The bending moment is derived by using the classical laminate theory and piezoelectricity. The analytical solution of the flexural displacement of the simply supported composite plate subjected to the bending moment is solved by using the plate theory. The analytical solution is compared with the finite element solution to show the validation of present approach. The effects of the size and location of the piezoelectric actuators on the response of the composite laminate are presented through a parametric study. A simple model incorporating the classical laminate theory and plate theory is presented to predict the deformed shape of the simply supported laminate plate.

  17. Direct computations of a synthetic jet actuator

    OpenAIRE

    Hayes-McCoy, Declan

    2012-01-01

    This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University. Synthetic jet actuators have previously been defined as having potential use in both internal and external aerodynamic applications. The formation of a jet flow perpendicular to the surface of an aerofoil or in a duct of diffuser has a range of potential flow control benefits. These benefits can include both laminar to turbulent transition control, which is associated with a drag reduction in...

  18. BIMORPH PIEZOELECTRIC ACTUATOR FOR SMALL PIPE ROBOT

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    An experimental bimorph piezoelectric element (PZT) actuator for small pipe robot is developed. The robotcan move in φ 20 mm pipe, and can carry a CCD camera for detecting cracks or fine holes on inner surface of pipe. Thevelocity of the robot can reach 17~22 mm/s for vertical pipe up/down, respectively. Moving principle and its perfor-mance characteristics are presented.

  19. Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots

    Science.gov (United States)

    Do, T. N.; Tjahjowidodo, T.; Lau, M. W. S.; Phee, S. J.

    2015-08-01

    Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons.

  20. Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages

    International Nuclear Information System (INIS)

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

  1. Design of sensor and actuator multi model fault detection and isolation system using state space neural networks

    Science.gov (United States)

    Czajkowski, Andrzej

    2015-11-01

    This paper deals with the application of state space neural network model to design a Fault Detection and Isolation diagnostic system. The work describes approach based on multimodel solution where the SIMO process is decomposed into simple models (SISO and MISO). With such models it is possible to generate different residual signals which later can be evaluated with simple thresholding method into diagnostic signals. Further, such diagnostic signals with the application of Binary Diagnostic Table (BDT) can be used to fault isolation. All data used in experiments is obtain from the simulator of the real-time laboratory stand of Modular Servo under Matlab/Simulink environment.

  2. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    International Nuclear Information System (INIS)

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

  3. An Experimental Study on Active Flow Control Using Synthetic Jet Actuators over S809 Airfoil

    Science.gov (United States)

    Gul, M.; Uzol, O.; Akmandor, I. S.

    2014-06-01

    This study investigates the effect of periodic excitation from individually controlled synthetic jet actuators on the dynamics of the flow within the separation and re-attachment regions of the boundary layer over the suction surface of a 2D model wing that has S809 airfoil profile. Experiments are performed in METUWIND's C3 open-loop suction type wind tunnel that has a 1 m × 1 m cross-section test section. The synthetic jet array on the wing consists of three individually controlled actuators driven by piezoelectric diaphragms located at 28% chord location near the mid-span of the wing. In the first part of the study, surface pressure, Constant Temperature Anemometry (CTA) and Particle Image Velocimetry (PIV) measurements are performed over the suction surface of the airfoil to determine the size and characteristics of the separated shear layer and the re-attachment region, i.e. the laminar separation bubble, at 2.3x105 Reynolds number at zero angle of attack and with no flow control as a baseline case. For the controlled case, CTA measurements are carried out under the same inlet conditions at various streamwise locations along the suction surface of the airfoil to investigate the effect of the synthetic jet on the boundary layer properties. During the controlled case experiments, the synthetic jet actuators are driven with a sinusoidal frequency of 1.45 kHz and 300Vp-p. Results of this study show that periodic excitation from the synthetic jet actuators eliminates the laminar separation bubble formed over the suction surface of the airfoil at 2.3x105 Reynolds number at zero angle of attack.

  4. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-12-31

    Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.

  5. Investigation on the Mechanical and Electrical Behavior of a Tuning Fork-Shaped Ionic Polymer Metal Composite Actuator with a Continuous Water Supply Mechanism.

    Science.gov (United States)

    Feng, Guo-Hua; Huang, Wei-Lun

    2016-01-01

    This paper presents an innovative tuning fork-shaped ionic polymer metal composite (IPMC) actuator. With an integrated soft strain gauge and water supply mechanism (WSM), the surface strain of the actuator can be sensed in situ, and providing a continuous water supply maintains the water content inside the IPMC for long-term operation in air. The actuator was fabricated using a micromachining technique and plated with a nickel electrode. The device performance was experimentally characterized and compared with an actuator without a WSM. A large displacement of 1.5 mm was achieved for a 6 mm-long prong with 7-V dc actuation applied for 30 s. The measured current was analyzed using an electrochemical model. The results revealed that the faradaic current plays a crucial role during operation, particularly after 10 s. The measured strain confirms both the bending and axial strain generation during the open-and-close motion of the actuator prongs. Most of the water loss during device operation was due to evaporation rather than hydrolysis. The constructed WSM effectively maintained the water content inside the IPMC for long-term continuous operation. PMID:27023549

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

    Directory of Open Access Journals (Sweden)

    Aleksanin Sergei Andreevich

    2013-11-01

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

  7. Piezoelectric actuated gimbal

    Science.gov (United States)

    Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard

    2011-09-13

    A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.

  8. Laser Actuated Presentation System

    CERN Document Server

    Chowdhary, Atul; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given threshold value. Measured Reliability, Accuracy and Latency of our system are 90%, 10 pixels (in the worst case) and 38 ms respectively.

  9. Laser Actuated Presentation System

    OpenAIRE

    Chowdhary, Atul; Agrawal, Vivek; Karmakar, Subhajit; Sarkar, Sandip

    2009-01-01

    We present here a pattern sensitive PowerPoint presentation scheme. The presentation is actuated by simple patterns drawn on the presentation screen by a laser pointer. A specific pattern corresponds to a particular command required to operate the presentation. Laser spot on the screen is captured by a RGB webcam with a red filter mounted, and its location is identified at the blue layer of each captured frame by estimating the mean position of the pixels whose intensity is above a given thre...

  10. Pneumatically actuated micropipetting device

    Science.gov (United States)

    Szita, Nicolas; Buser, Rudolf A.

    1998-03-01

    We have realized a valveless micropipetting device with an integrated sensor which can aspirate and dispense liquid volumes without any valves, hence without any reflow or dead volume. With an external pneumatic actuation, we have demonstrated aspirating and dispensing from 190nl of 6 (mu) l of water. Measurements showed a standard deviation of down to 1 percent. An integrated capacitive sensor will allow monitoring of the pressure throughout the pipetting process and detect malfunctions, e.g. clotting of the pipetting tip. It is our intention to use this demonstrated precise aspiration mechanism in combination with a micromachined reaction chamber and a miniaturized optical analysis system.

  11. The Actuated Guitar

    DEFF Research Database (Denmark)

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

    2014-01-01

    People with a physical handicap are often not able to engage and embrace the world of music on the same terms as normal functioning people. Traditional musical instruments have been refined over the last centuries, developing highly specialized and powerful interfaces; but nearly all require two...... functioning limbs, such as a foot, knee or the head to activate a motorized fader moving a pick back and forth across the strings. This approach employs the flexibility of a programmable digital system which allows us to scale and map different ranges of data from various sensors to the motion of the actuator...

  12. 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

    2014-01-01

    We present here a computational fluid dynamics (CFD) simulation of Lillgrund offshore wind farm, which is located in the {\\O}resund Strait between Sweden and Denmark. The simulation combines a dynamic representation of wind turbines embedded within a Large-Eddy Simulation CFD solver, and uses hr-adaptive meshing to increase or decrease mesh resolution where required. This allows the resolution of both large scale flow structures around the wind farm, and local flow conditions at individual turbines; consequently, the response of each turbine to local conditions can be modelled, as well as the resulting evolution of the turbine wakes. This paper provides a detailed description of the turbine model which simulates interactions between the wind, turbine rotors, and turbine generators by calculating the forces on the rotor, the body forces on the air, and instantaneous power output. This model was used to investigate a selection of key wind speeds and directions, investigating cases where a row of turbines would ...

  13. Development and Analysis of Flexible Thin Actuator with a Built-in Fluid Pressure Source

    OpenAIRE

    Senzaki Shinji; Akagi Tetsuya; Dohta Shujiro; Fujiwara Yuto

    2016-01-01

    A flexible thin actuator using gas-liquid phase-change of a low boiling point liquid that can generate large force was proposed and tested in the previous study. The tested actuator is an envelope-type actuator that is made of laminating plastic sheets, low boiling point liquid and a flexible heater. In this paper, the analytical model of the flexible thin actuator was proposed and tested. The system parameters of the actuator were also identified. As a result, it was confirmed that the propo...

  14. Experimental Investigation of Flow Separation Control Using Dielectric Barrier Discharge Plasma Actuators

    Institute of Scientific and Technical Information of China (English)

    LI Gang; NIE Chaoqun; LI Yiming; ZHU Junqiang; XU Yanji

    2008-01-01

    Influence of plasma actuators as a flow separation control device was investigated experimentally.Hump model was used to demonstrate the effect of plasma actuators on external flow separation,while for internal flow separation a set of compressor cascade was adopted.In order to investigate the modification of the flow structure by the plasma actuator,the flow field was examined non-intrusively by particle image velocimetry measurements in the hump model experiment and by a hot film probe in the compressor cascade experiment.The results showed that the plasma actuator could be effective in controlling the flow separation both over the hump and in the compressor cascade when the incoming velocity was low.As the incoming velocity increased,the plasma actuator was less effective. It is urgent to enhance the intensity of the plasma actuator for its better application.Methods to increase the intensity of plasma actuator were also studied.

  15. A Complete Analysis for Pump Controlled Single Rod Actuators

    OpenAIRE

    Çalışkan,Hakan; Balkan, Tuna; Platin, Bülent E.

    2016-01-01

    In the current study a variable speed pump controlled hydrostatic circuit where an underlapped shuttle valve is utilized to compensate the unequal flow rate of a single rod actuator is analyzed. Parameters of the shuttle valve are included in the system analysis, rather than treating it as an ideal switching element as handled in literature. A linearized model of the system is obtained. An inverse kinematic model, which calculates the required pump drive speed for a desired actuator speed and...

  16. Finite element formulation of laminated plate with flexible piezoelectric actuators and vibration control analysis

    Science.gov (United States)

    Gopinath, Thamilselvan; Raja, Samikannu; Ikeda, Tadashige

    2011-03-01

    The use of surface bonded (MFC) and embedded (SAFC) piezoelectric composite actuators is examined through a numerical study. Modelling schemes are therefore developed by applying the isoparametric finite element approach to idealize normal strain to electric field and shear strain to electric field relations. A four noded coupled finite element is developed to compute the electro-mechanical responses of the active plate. A linear quadratic regulator is employed to perform the active vibration control studies. The system matrices of the smart plate structure are obtained and used in the state-space control model. Two elastic modes are considered, namely bending and torsion of the active plate. The emphasis is given to evaluate the performance of two different kinds of flexible piezoelectric actuators in vibration control application.

  17. Development of ICPF Actuated Underwater Microrobots

    Institute of Scientific and Technical Information of China (English)

    Xiuo-Fen Ye; Bao-Feng Gao; Shu-Xiang Guo; Li-Quan Wang

    2006-01-01

    It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF) are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1. It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.

  18. Elastic Cube Actuator with Six Degrees of Freedom Output

    Directory of Open Access Journals (Sweden)

    Pengchuan Wang

    2015-09-01

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

  19. Performance Comparison of Sweeping/Steady Jet Actuators

    Science.gov (United States)

    Hirsch, Damian; Mercier, Justin; Noca, Flavio; Gharib, Morteza

    2015-11-01

    Flow control through the use of steady jet actuators has been used on various aircraft models since the late 1950's. However, the focus of recent studies has shifted towards the use of sweeping jets (fluidic oscillators) rather than steady jet actuators. In this work, experiments using various jet actuator designs were conducted at GALCIT's Lucas Wind Tunnel on a NACA 0012 vertical tail model similar to that of the Boeing 767 vertical stabilizer at Reynolds numbers ranging from 0.5 to 1.2 million. The rudder angle was fixed at 20 degrees. A total of 32 jet actuators were installed along the wingspan perpendicular to the trailing edge and the rudder shoulder of the vertical stabilizer. It is known that these types of flow control prevent separation. However, the goal of this work is to compare different jet designs and evaluate their performance. Parameters such as the number of actuators, their volumetric flow, and the wind tunnel speed were varied. The lift generation capabilities of steady and sweeping jet actuators were then compared. Another set of experiments was conducted to compare a new sweeping jet actuator design with one of the standard versions. Supported by Boeing.

  20. 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;

    2016-01-01

    The flow around an isolated horizontal-axis wind turbine is estimated by means of a new vortex code based on the Biot–Savart law with constant circulation along the blades. The results have been compared with numerical simulations where the wind turbine blades are replaced with actuator lines. Two...... good, validating the analytical method for more general conditions. The present results show that a simple vortex code is able to provide an estimation of the flow around the wind turbine similar to the actuator-line approach but with a negligible computational effort. Copyright © 2015 John Wiley...

  1. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

    Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

  2. Bioadhesion to model thermally responsive surfaces

    Science.gov (United States)

    Andrzejewski, Brett Paul

    This dissertation focuses on the characterization of two surfaces: mixed self-assembled monolayers (SAMs) of hexa(ethylene glycol) and alkyl thiolates (mixed SAM) and poly(N-isopropylacrylamide) (PNIPAAm). The synthesis of hexa(ethylene gylcol) alkyl thiol (C11EG 6OH) is presented along with the mass spectrometry and nuclear magnetic resonance results. The gold substrates were imaged prior to SAM formation with atomic force micrscopy (AFM). Average surface roughness of the gold substrate was 0.44 nm, 0.67 nm, 1.65 nm for 15, 25 and 60 nm gold thickness, respectively. The height of the mixed SAM was measured by ellipsometry and varied from 13 to 28°A depending on surface mole fraction of C11EG6OH. The surface mole fraction of C11EG6OH for the mixed SAM was determined by X-ray photoelectron spectroscopy (XPS) with optimal thermal responsive behavior in the range of 0.4 to 0.6. The mixed SAM surface was confirmed to be thermally responsive by contact angle goniometry, 35° at 28°C and ˜55° at 40°C. In addition, the mixed SAM surfaces were confirmed to be thermally responsive for various aqueous mediums by tensiometry. Factors such as oxygen, age, and surface mole fraction and how they affect the thermal responsive of the mixed SAM are discussed. Lastly, rat fibroblasts were grown on the mixed SAM and imaged by phase contrast microscopy to show inhibition of attachment at temperatures below the molecular transition. Qualitative and quantitative measurements of the fibroblast adhesion data are provided that support the hypothesis of the mixed SAM exhibits a dominantly non-fouling molecular conformation at 25°C whereas it exhibits a dominantly fouling molecular conformation at 40°C. The adhesion of six model proteins: bovine serum albumin, collagen, pyruvate kinase, cholera toxin subunit B, ribonuclease, and lysozyme to the model thermally responsive mixed SAM were examined using AFM. All six proteins possessed adhesion to the pure component alkyl thiol, in

  3. A novel actuator phasing method for ultrasonic de-icing of aircraft structures

    Science.gov (United States)

    Borigo, Cody J.

    Aircraft icing is a critical concern for commercial and military rotorcraft and fixed-wing aircraft. In-flight icing can lead to dramatic decreases in lift and increases in drag that have caused more than a thousand deaths and hundreds of accidents over the past three decades alone. Current ice protection technologies have substantial drawbacks due to weight, power consumption, environmental concerns, or incompatibility with certain structures. In this research, an actuator phasing method for ultrasonic de-icing of aircraft structures was developed and tested using a series of finite element models, 3D scanning laser Doppler vibrometer measurements, and experimental de-icing tests on metallic and composite structures including plates and airfoils. An independent actuator analysis method was developed to allow for practical evaluation of many actuator phasing scenarios using a limited number of finite element models by properly calculating the phased stress fields and electromechanical impedance curves using a complex coupled impedance model. A genetic algorithm was utilized in conjunction with a series of finite element models to demonstrate that phase inversion, in which only in-phase and anti-phase signal components are applied to actuators, can be utilized with a small number of phasing combinations to achieve substantial improvements in de-icing system coverage. Finite element models of a 48"-long airfoil predicted that phase inversion with frequency sweeping can provide an improvement in the shear stress coverage levels of up to 90% compared to frequency sweeping alone. Experimental evaluation of the phasing approach on an icing grid showed a 189% improvement in de-icing coverage compared to frequency sweeping alone at comparable power levels. 3D scanning laser Doppler vibrometer measurements confirmed the increased variation in the surface vibration field induced by actuator phasing compared to unphased frequency sweeping. Additional contributions were made

  4. MERGING DIGITAL SURFACE MODELS IMPLEMENTING BAYESIAN APPROACHES

    Directory of Open Access Journals (Sweden)

    H. Sadeq

    2016-06-01

    Full Text Available In this research different DSMs from different sources have been merged. The merging is based on a probabilistic model using a Bayesian Approach. The implemented data have been sourced from very high resolution satellite imagery sensors (e.g. WorldView-1 and Pleiades. It is deemed preferable to use a Bayesian Approach when the data obtained from the sensors are limited and it is difficult to obtain many measurements or it would be very costly, thus the problem of the lack of data can be solved by introducing a priori estimations of data. To infer the prior data, it is assumed that the roofs of the buildings are specified as smooth, and for that purpose local entropy has been implemented. In addition to the a priori estimations, GNSS RTK measurements have been collected in the field which are used as check points to assess the quality of the DSMs and to validate the merging result. The model has been applied in the West-End of Glasgow containing different kinds of buildings, such as flat roofed and hipped roofed buildings. Both quantitative and qualitative methods have been employed to validate the merged DSM. The validation results have shown that the model was successfully able to improve the quality of the DSMs and improving some characteristics such as the roof surfaces, which consequently led to better representations. In addition to that, the developed model has been compared with the well established Maximum Likelihood model and showed similar quantitative statistical results and better qualitative results. Although the proposed model has been applied on DSMs that were derived from satellite imagery, it can be applied to any other sourced DSMs.

  5. Merging Digital Surface Models Implementing Bayesian Approaches

    Science.gov (United States)

    Sadeq, H.; Drummond, J.; Li, Z.

    2016-06-01

    In this research different DSMs from different sources have been merged. The merging is based on a probabilistic model using a Bayesian Approach. The implemented data have been sourced from very high resolution satellite imagery sensors (e.g. WorldView-1 and Pleiades). It is deemed preferable to use a Bayesian Approach when the data obtained from the sensors are limited and it is difficult to obtain many measurements or it would be very costly, thus the problem of the lack of data can be solved by introducing a priori estimations of data. To infer the prior data, it is assumed that the roofs of the buildings are specified as smooth, and for that purpose local entropy has been implemented. In addition to the a priori estimations, GNSS RTK measurements have been collected in the field which are used as check points to assess the quality of the DSMs and to validate the merging result. The model has been applied in the West-End of Glasgow containing different kinds of buildings, such as flat roofed and hipped roofed buildings. Both quantitative and qualitative methods have been employed to validate the merged DSM. The validation results have shown that the model was successfully able to improve the quality of the DSMs and improving some characteristics such as the roof surfaces, which consequently led to better representations. In addition to that, the developed model has been compared with the well established Maximum Likelihood model and showed similar quantitative statistical results and better qualitative results. Although the proposed model has been applied on DSMs that were derived from satellite imagery, it can be applied to any other sourced DSMs.

  6. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh

    2014-01-01

    actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...

  7. Vibration analysis of composite laminate plate excited by piezoelectric actuators.

    Science.gov (United States)

    Her, Shiuh-Chuan; Lin, Chi-Sheng

    2013-01-01

    Piezoelectric materials can be used as actuators for the active vibration control of smart structural systems. In this work, piezoelectric patches are surface bonded to a composite laminate plate and used as vibration actuators. A static analysis based on the piezoelectricity and elasticity is conducted to evaluate the loads induced by the piezoelectric actuators to the host structure. The loads are then employed to develop the vibration response of a simply supported laminate rectangular plate excited by piezoelectric patches subjected to time harmonic voltages. An analytical solution of the vibration response of a simply supported laminate rectangular plate under time harmonic electrical loading is obtained and compared with finite element results to validate the present approach. The effects of location and exciting frequency of piezoelectric actuators on the vibration response of the laminate plate are investigated through a parametric study. Numerical results show that modes can be selectively excited, leading to structural vibration control.

  8. 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

    2013-01-01

    Full Text Available Modeling and analysis for the static behavior and collapse instabilities of a MEMS cantilever switch subjected to both electrical and thermal loadings are presented. The thermal loading forces can be as a result of a huge amount of switching contact of the microswitch. The model considers the microbeam as a continuous medium and the electric force as a nonlinear function of displacement and accounts for its fringing-field effect. The electric force is assumed to be distributed over specific lengths underneath the microbeam. A boundary-value solver is used to study the collapse instability, which brings the microbeam from its unstuck configuration to touch the substrate and gets stuck in the so-called pinned configuration. We have found negligible influence of the temperature on the static stability of the switch. We then investigate the effect of the thermal heating due to the current flow on the cantilever switch while it is in the on position (adhered position. We also found slight effect on the static stability of the switch.

  9. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  10. Considerations for Electroactive Polymeric Materials and Actuators

    International Nuclear Information System (INIS)

    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.

  11. Printing low-voltage dielectric elastomer actuators

    Science.gov (United States)

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

    2015-12-01

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

  12. Dielectric elastomer actuators for octopus inspired suction cups.

    Science.gov (United States)

    Follador, M; Tramacere, F; Mazzolai, B

    2014-09-25

    Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms.

  13. Contribution of crosstalk to the uncertainty of electrostatic actuator calibrations.

    Science.gov (United States)

    Shams, Qamar A; Soto, Hector L; Zuckerwar, Allan J

    2009-09-01

    Crosstalk in electrostatic actuator calibrations is defined as the ratio of the microphone response to the actuator excitation voltage at a given frequency with the actuator polarization voltage turned off to the response, at the excitation frequency, with the polarization voltage turned on. It consequently contributes to the uncertainty of electrostatic actuator calibrations. Two sources of crosstalk are analyzed: the first attributed to the stray capacitance between the actuator electrode and the microphone backplate, and the second to the ground resistance appearing as a common element in the actuator excitation and microphone input loops. Measurements conducted on 1/4, 1/2, and 1 in. air condenser microphones reveal that the crosstalk has no frequency dependence up to the membrane resonance frequency and that the level of crosstalk lies at about -60 dB for all three microphones-conclusions that are consistent with theory. The measurements support the stray capacitance model. The contribution of crosstalk to the measurement standard uncertainty of an electrostatic actuator calibration is therewith 0.01 dB. PMID:19739723

  14. Dielectric elastomer actuators for octopus inspired suction cups

    International Nuclear Information System (INIS)

    Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms. (paper)

  15. Numerical Simulation of High-Power Synthetic Jet Actuator Flowfield and its Influence on Mixing Control

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Detailed two-dimensional unsteady numerical simulation is carried out to investigate a high-power synthetic jet actuator flow field and its design characteristic. Simultaneously, mixing control mechanism of coaxial jets with actuators is also studied. Firstly, excitation frequency (rotating speed), piston displacement and its exit slot width have effect on the controlling ability and controlling efficiency of actuator. With the invariable model and concerned parameters, the actuator becomes more desirable as the rotating speed increases. Average velocity and maximal velocity at the actuator exit section increase as the piston displacement enlarges or the exit slot width decreases. But the actuator does not always exhibit good performance with the narrower exit. Secondly, the synthetic jets also have the "push" effect on the coaxial jets, which results in the fluctuation of vorticity and temperature distribution of mixing fiowfield. Finally, the employment of synthetic jet actuator can achieve mixing enhancement significantly.

  16. A surface hydrology model for regional vector borne disease models

    Science.gov (United States)

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

    2016-04-01

    Small, sun-lit temporary pools that form during the rainy season are important breeding sites for many key mosquito vectors responsible for the transmission of malaria and other diseases. The representation of this surface hydrology in mathematical disease models is challenging, due to their small-scale, dependence on the terrain and the difficulty of setting soil parameters. Here we introduce a model that represents the temporal evolution of the aggregate statistics of breeding sites in a single pond fractional coverage parameter. The model is based on a simple, geometrical assumption concerning the terrain, and accounts for the processes of surface runoff, pond overflow, infiltration and evaporation. Soil moisture, soil properties and large-scale terrain slope are accounted for using a calibration parameter that sets the equivalent catchment fraction. The model is calibrated and then evaluated using in situ pond measurements in Ghana and ultra-high (10m) resolution explicit simulations for a village in Niger. Despite the model's simplicity, it is shown to reproduce the variability and mean of the pond aggregate water coverage well for both locations and validation techniques. Example malaria simulations for Uganda will be shown using this new scheme with a generic calibration setting, evaluated using district malaria case data. Possible methods for implementing regional calibration will be briefly discussed.

  17. Output constrained IMC controllers in control systems of electromechanical actuators

    Institute of Scientific and Technical Information of China (English)

    Piotr M MARUSAK; Suwat KUNTANAPREEDA

    2015-01-01

    Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator.

  18. On reliable control system designs. Ph.D. Thesis; [actuators

    Science.gov (United States)

    Birdwell, J. D.

    1978-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Somashekhar S. Hiremath

    2010-01-01

    Full Text Available This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interaction (FSI is established between the piston and the fluid cavities at the piston end. The fluid cavities were modeled with special purpose hydrostatic fluid elements while the piston is modeled with brick elements. The finite element method is used to simulate the variation of cavity pressure, cavity volume, mass flow rate, and the actuator velocity. The finite element analysis is extended to study the system's linearized response to harmonic excitation using direct solution steady-state dynamics. It was observed from the analysis that the natural frequency of the actuator depends upon the position of the piston in the cylinder. This is a close match with theoretical and simulation results. The effect of bulk modulus is also presented in the paper.

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

    Directory of Open Access Journals (Sweden)

    Ruzairi Abdul Rahim

    2012-09-01

    Full Text Available This paper demonstrates a modular architecture of a non-contact actuation micropump setup. Rapid hot embossing prototyping was employed in micropump fabrication by using printed circuit board (PCB as a mold material in polymer casting. Actuator-membrane gap separation was studied, with experimental investigation of three separation distances: 2.0 mm, 2.5 mm and 3.5 mm. To enhance the micropump performance, interaction surface area between plunger and membrane was modeled via finite element analysis (FEA. The micropump was evaluated against two frequency ranges, which comprised a low driving frequency range (0–5 Hz, with 0.5 Hz step increments and a nominal frequency range (0–80 Hz, with 10 Hz per step increments. The low range frequency features a linear relationship of flow rate with the operating frequency function, while two magnitude peaks were captured in the flow rate and back pressure characteristic in the nominal frequency range. Repeatability and reliability tests conducted suggest the pump performed at a maximum flow rate of 5.78 mL/min at 65 Hz and a backpressure of 1.35 kPa at 60 Hz.

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

    Directory of Open Access Journals (Sweden)

    Harshal Arun Sonar

    2016-01-01

    Full Text Available The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid surfaces. Although there has been various research efforts in creating tactile feedback to improve various haptic interfaces and master-slave manipulators, we are yet to see a comprehensive device that can both supply vibratory actuation and tactile sensing. This paper describes a soft pneumatic actuator (SPA based, SPA-skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. We describe the design and fabrication of a 1.4 mm-thick vibratory SPA - skin that is integrated with piezoelectric sensors. We examine in detail the mechanical performance compared to the SPA model and the sensitivity of the sensors for the application in vibrotactile feedback. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop.

  2. Influence of Segmentation of Ring-Shaped NdFeB Magnets with Parallel Magnetization on Cylindrical Actuators

    Directory of Open Access Journals (Sweden)

    Paulo Roberto Eckert

    2014-07-01

    Full Text Available This work analyses the effects of segmentation followed by parallel magnetization of ring-shaped NdFeB permanent magnets used in slotless cylindrical linear actuators. The main purpose of the work is to evaluate the effects of that segmentation on the performance of the actuator and to present a general overview of the influence of parallel magnetization by varying the number of segments and comparing the results with ideal radially magnetized rings. The analysis is first performed by modelling mathematically the radial and circumferential components of magnetization for both radial and parallel magnetizations, followed by an analysis carried out by means of the 3D finite element method. Results obtained from the models are validated by measuring radial and tangential components of magnetic flux distribution in the air gap on a prototype which employs magnet rings with eight segments each with parallel magnetization. The axial force produced by the actuator was also measured and compared with the results obtained from numerical models. Although this analysis focused on a specific topology of cylindrical actuator, the observed effects on the topology could be extended to others in which surface-mounted permanent magnets are employed, including rotating electrical machines.

  3. Actuation precision control of SMA actuators used for shape control of inflatable SAR antenna

    Science.gov (United States)

    Peng, Fujun; Jiang, Xin-Xiang; Hu, Yan-Ru; Ng, Alfred

    2008-09-01

    Shape memory alloy (SMA) actuators have found a wide range of applications due to their unique properties such as high force, long stroke, small size, light weight, silent operation, etc. However, their poor stability and controllability make them a challenge to achieve accurate actuation. This paper presents a simple control strategy based on the idea of adjusting the SMA wire temperature as fast as possible. This strategy is simple, stable, and requires no hysteresis model or thermal model. This strategy is tested with displacement output, and the effects of updating rate and input current on control accuracy are also discussed. Tests are also performed in a thermal vacuum chamber, and the results indicate that the required current for effectively activating SMA actuator is smaller than that in air environment. This control strategy is then used for adjusting boundary tensions of a small membrane synthetic aperture radar (SAR) antenna model. Results show that, under this control strategy, SMA wire actuators can exert desired tensions with very good accuracy.

  4. Pneumatic actuator with hydraulic control

    Science.gov (United States)

    Everett, Hobart R., Jr.

    1992-11-01

    The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston. The maximum translation of the piston within the bore of the second double-acting hydraulic actuator provides a volumetric displacement V2, where V2=V1. A pair of fluid ports in each of the first and second double-acting hydraulic cylinders are operably connected by fluid conduits, one of which includes a valve circuit which may be used to control the velocity of the output rod or to lock the output rod in a static position by regulating the flow of hydraulic fluid between the double-acting cylinders.

  5. High-frequency jet nozzle actuators for noise reduction

    Science.gov (United States)

    Davis, Christopher L.; Calkins, Frederick T.; Butler, George W.

    2003-08-01

    Rules governing airport noise levels are becoming more restrictive and will soon affect the operation of commercial air traffic. Sound produced by jet engine exhaust, particularly during takeoff, is a major contributor to the community noise problem. The noise spectrum is broadband in character and is produced by turbulent mixing of primary, secondary, and ambient streams of the jet engine exhaust. As a potential approach to controlling the noise levels, piezoelectric bimorph actuators have been tailored to enhance the mixing of a single jet with its quiescent environment. The actuators are located at the edge of the nozzle and protrude into the exhaust stream. Several actuator configurations were considered to target two excitation frequencies, 250 Hz and 900 Hz, closely coupled to the naturally unstable frequencies of the mixing process. The piezoelectric actuators were constructed of 10 mil thick d31 poled wafer PZT-5A material bonded to either 10 or 20 mil thick spring steel substrates. Linear analytical beam models and NASTRAN finite element models were used to predict and assess the dynamic performance of the actuators. Experimental mechanical and electrical performance measurements were used to validate the models. A 3 inch diameter nozzle was fitted with actuators and tested in the Boeing Quiet Air Facility with the jet velocity varied from 50 to 1000 ft/s. Performance was evaluated using near-field and far-field acoustic data, flow visualization, and actuator health data. The overall sound pressure level produced from the 3 inch diameter jet illustrates the effect of both static and active actuators.

  6. Quadric surface projection model for fish-eye cameras

    Institute of Scientific and Technical Information of China (English)

    Tiantian Meng; Jintao Jiang; Ming Yang

    2012-01-01

    The curved surface projection model in fisheye image correction algorithm is presented.To analyze the causes of distortion in existing models,we establish an ideal surface projection model and compare its surface with the surfaces of existing models.Subsequently,feature points are obtained on the ideal surface according to the relationship of coordinates of fish-eye image points and their ideal three-dimentional (3D)points.Finally,the least square method is used to obtain a quadric surface and presents a quadric surface projection model.The experiment shows that the corrected image of the new model is more similar to the actual scene than the corrected images of previous models.

  7. Climbing robot actuated by meso-hydraulic artificial muscles

    Science.gov (United States)

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

    2014-03-01

    This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

  8. MOSFET Switching Circuit Protects Shape Memory Alloy Actuators

    Science.gov (United States)

    Gummin, Mark A.

    2011-01-01

    A small-footprint, full surface-mount-component printed circuit board employs MOSFET (metal-oxide-semiconductor field-effect transistor) power switches to switch high currents from any input power supply from 3 to 30 V. High-force shape memory alloy (SMA) actuators generally require high current (up to 9 A at 28 V) to actuate. SMA wires (the driving element of the actuators) can be quickly overheated if power is not removed at the end of stroke, which can damage the wires. The new analog driver prevents overheating of the SMA wires in an actuator by momentarily removing power when the end limit switch is closed, thereby allowing complex control schemes to be adopted without concern for overheating. Either an integral pushbutton or microprocessor-controlled gate or control line inputs switch current to the actuator until the end switch line goes from logic high to logic low state. Power is then momentarily removed (switched off by the MOSFET). The analog driver is suited to use with nearly any SMA actuator.

  9. Synthetic jet actuation for load control

    Science.gov (United States)

    de Vries, H.; van der Weide, E. T. A.; Hoeijmakers, H. W. M.

    2014-12-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local changes in aerodynamic performance. This paper investigates the use of synthetic jets for smart rotor control. Synthetic jets are formed by ingesting low-momentum fluid from the boundary layer along the blade into a cavity and subsequently ejecting this fluid with a higher momentum. We focus on the observed flow phenomena and the ability to use these to obtain the desired changes of the aerodynamic properties of a blade section. To this end, numerical simulations and wind tunnel experiments of synthetic jet actuation on a non-rotating NACA0018 airfoil have been performed. The synthetic jets are long spanwise slits, located close to the trailing edge and directed perpendicularly to the surface of the airfoil. Due to limitations of the present experimental setup in terms of performance of the synthetic jets, the main focus is on the numerical flow simulations. The present results show that high-frequency synthetic jet actuation close to the trailing edge can induce changes in the effective angle of attack up to approximately 2.9°.

  10. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy

    2016-01-01

    Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive

  11. Energy-Efficient Variable Stiffness Actuators

    NARCIS (Netherlands)

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

    2011-01-01

    Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated

  12. Eigenstress model for electrochemistry of solid surfaces.

    Science.gov (United States)

    Ma, Hongxin; Xiong, Xilin; Gao, Panpan; Li, Xi; Yan, Yu; Volinsky, Alex A; Su, Yanjing

    2016-01-01

    Thermodynamic analysis and molecular dynamics simulations were conducted to systematically study the size-dependent electrochemical response of solids. By combining the generalized Young-Laplace equation with the popular Butler-Volmer formulation, the direct influence of surface stress on solid film electrochemical reactions was isolated. A series of thermodynamic formulas were developed to describe the size-dependent electrochemical properties of the solid surface. These formulas include intrinsic surface elastic parameters, such as surface eigenstress and surface elastic modulus. Metallic films of Au, Pt, Ni, Cu and Fe were studied as examples. The anodic current density of the metal film increased, while the equilibrium potential decreased with increasing solid film thickness.

  13. Development of Active Orthosis for Lumbago Relief- Improvement of Pneumatic Textile Actuator for Orthosis

    Directory of Open Access Journals (Sweden)

    Fujimoto Shinsaku

    2016-01-01

    Full Text Available It is important to develop the orthosis which improves the Quality of Life (QOL and maintains health conditions. As one of the treatment methods done to lumbago(low back pain, the waist fixation method with the spinal brace or the orthosis is prescribed. A waist active orthosis implemented with pneumatic flexible actuators have been developed. However, several problems of the previous actuator were that the strain and the generated force were small for the orthosis.Thus, this paper proposesthe improved actuator for the orthosis. Theimproved actuator is modeled and the reliability of static and dynamic model is validated through experiment. As a result, it was confirmed that the improved actuator had the strain of 2 times and the generated force of 1.3 times, in comparison with the previous actuator. And the dynamic model including volume of actuatorcould be represented by a second-order form with a dead time.

  14. An amphibious vibration-driven microrobot with a piezoelectric actuator

    Science.gov (United States)

    Becker, Felix; Zimmermann, Klaus; Volkova, Tatiana; Minchenya, Vladimir T.

    2013-01-01

    This article concerns microrobots for solid and liquid environments. A short overview of microrobotics, suitable actuators and energy systems is given. The principles of terrestrial and aquatic locomotion are discussed and illustrated with examples from the literature on robotics. The state of the art with a focus on piezo microrobots for solid and liquid environments is presented. Furthermore, we report an amphibious prototype, which can move on flat solid ground and on the free surface of water. The design, characteristic parameters and experiments on locomotion are described. The robot is characterized by a light and simple design and can perform twodimensional locomotion in different environments with a speed up to 30 mm/s. An analytical model to predict the maximum carrying capacity of the robot on water is solved numerically.

  15. Dynamics of a microliquid prism actuated by electrowetting.

    Science.gov (United States)

    Lee, Duck-Gyu; Park, Jaebum; Bae, Jungmok; Kim, Ho-Young

    2013-01-21

    A microliquid prism is a microchannel filled with two immiscible liquids, whose interface acts as a refractive surface. To steer a light beam that constructs optical images, the interface profile or the contact angle is modulated through electrowetting on a dielectric. Accurate, yet agile actuation of the liquid prism critically depends on the understanding of dynamics of the fluid interface. Here we fabricate liquid prisms, visualize the shape evolution of the interface, and theoretically model its dynamics. By comparing the magnitude of capillary forces to those of viscous, inertial and hydrostatic forces, we find that the meniscus motion within submillimetric channels is dominated by the capillary effect. The theoretical predictions for microscale meniscus dynamics are shown to agree well with the experimental measurements. We then discuss the formation of waves in millimetric liquid prisms, which may significantly limit fast and reliable operation of the optofluidic device. PMID:23165931

  16. 饱和非线性时滞系统约束预测控制%Constrained model predictive control for nonlinear system subject to actuator saturation

    Institute of Scientific and Technical Information of China (English)

    徐莉; 刘飞

    2011-01-01

    Aiming at a class of discrete-time nonlinear systems subject to actuator saturation and output constraint, a novel fuzzy predictive control method is proposed in this paper.Firstly,the approximation of a practical nonlinear system is realized by utilizing the T-S fuzzy model.Then,the above system is further converted into convex combinations of a series of linear subsystems by Parallel Distributed Compensation(PDC) scheme.Secondly,a state feedback predictive controller is obtained by optimizing an infinite time "min-max" performance index at each sampling instantA sufficient condition for the Lyapunov asymptotical stability is obtained and it is further transformed into positive Semi-definite Programming(SDP) which can be easily solved by means of Linear Matrix Inequality (LMI).Finally, the availability and feasibility of the proposed method are both verified by specific numerical examples,respectively.%针对一类具有执行器饱和与输出约束的离散非线性时滞系统,提出新的模糊预测控制方法.首先,采用T-S模糊模型来逼近实际非线性系统,运用平行分步补偿(PDC)原理将该系统转化为一系列线性系统的凸组合.其次,通过每个采样时刻优化无穷时域的“min-max”性能指标来求解状态反馈预测控制器,得到系统满足Lyapunov渐近稳定的充分条件,并进一步将该条件转化为基于线性矩阵不等式(LMI)技术的半正定规划(SDP)问题.最后,通过数值仿真验证该方法的有效性.

  17. Considerations For Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-02-29

    Electroactive polymers (EAPs) that bend, swell, ripple (first generation materials), and now contract with low electric input (new development) have been produced. The mechanism of contraction is not well understood. Radionuclide-labeled experiments, molecular modeling, electrolyte experiments, pH experiments, and an ionic concentration experiment were used to determine the chain of events that occur during contraction and, reciprocally, expansion when the polarity is reversed, in these ionic EAPs. Plasma treatment of the electrodes, along with other strategies, allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface, analogous to nerves and tendons moving with muscles during movement. Challenges involved with prototyping actuation using contractile EAPs are also discussed.

  18. Closed surface modeling with helical line measurement data

    Institute of Scientific and Technical Information of China (English)

    LI Ruqiong; LI Guanghu; WANG Yuhan

    2007-01-01

    Models for surface modeling of free-form surface and massive data points are becoming an important feature in commercial computer aided design/computer-aided manu- facturing software. However, there are many problems to be solved in this area, especially for closed free-form surface modeling. This article presents an effective method for cloud data closed surface modeling from asynchronous profile modeling measurement. It includes three steps: first, the cloud data are preprocessed for smoothing; second, a helical line is segmented to form triangle meshes; and third, Bezier surface patches are created over a triangle mesh and trimmed to shape on an entire surface. In the end, an illustrative example of shoe last surface modeling is given to show the availability of this method.

  19. Hysteresis Error Compensation of AFM Piezo-ceramic Actuator Based on PI Model%基于PI模型的AFM压电陶瓷执行器迟滞误差补偿

    Institute of Scientific and Technical Information of China (English)

    邱宗瑞

    2015-01-01

    Complex nonlinear hysteresis exists in Atomic force microscopy (AFM),which can lead to the accuracy re-duction of scanned image easily. Hysteresis error model of piezo-ceramic actuator was established accurately in AFM based on micro-displacement measurement method. An appropriate error compensation method is also presented. Firstly, a series of features of the scanned sample image are obtained by AFM as a measurement tool. The micro-displacement of the piezo-ceramic actuator is calculated through the image data. Hysteresis error model of piezo-ceramic actuator is established in AFM system based on the micro-displacement data. Finally, compensation method of hysteresis error is studied by resolving the inverse solution of the PI (Prandtl-Ishlinskii) hysteresis error model. Experimental results show PI model can describe the hysteresis error phenomenon in AFM piezo-ceramic actuator accurately. The compensation control method based on the model can reduce the hysteresis error effectively and improve the positioning accuracy of piezo-ceramic actuator. It’s a kind of effective method to improve the positioning accuracy of piezo-ceramic actuator in AFM system.%本文针对原子力显微镜(Atomic Force Microscopy,简称AFM)迟滞特性易降低扫描图像精度,根据微位移测量的方法建立了可以精确描述AFM系统中压电陶瓷器执行器(Piezoelectric Ceramic Transducer,简称PZT)迟滞误差模型并提出了合适的误差补偿方法。首先,原子力显微镜作为测量工具,获得一系列特征样品的扫描图像,通过计算扫描图像数据计算出压电陶瓷的微位移。接着,依据微位移数据建立AFM系统中压电陶瓷执行器迟滞误差模型。最后,通过对压电陶瓷PI (Prandtl-Ishlinskii)迟滞误差模型解析求逆进行补偿控制方法研究。实验结果证明,PI迟滞误差模型可以精确描述AFM系统中压电陶瓷执行器的迟滞现象,基于该模型的补偿控

  20. NEW PRECISION PIEZOELECTRIC STEP ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    LIU Jianfang; YANG Zhigang; FAN Zunqiang; CHENG Guangming

    2006-01-01

    A new precision piezoelectric actuator is proposed to improve its drive capabilities. The actuator is based on the piezoelectric technology. It adopts the principle of bionics and works with a new method of stator initiative anchoring/loosen and a distortion structure of double-side thin flexible hinge. It solves the problem of anchoring/loosen, frequency, journey, resolution and velocity. The experiment shows that the new linear piezoelectric actuator works with high frequency (100 Hz), high speed (502 μm/s), large travel (>10 mm), high resolution (0.05 μm) and high load (100 N). This kind of new piezoelectric actuator will be applied for large travel and high resolution driving device, optics engineering, precision positioning and some micromanipulation field.

  1. Novel Cryogenic Actuator Development Project

    Data.gov (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...

  2. Polypyrrole Actuators for Tremor Suppression

    DEFF Research Database (Denmark)

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse;

    2003-01-01

    Neurological tremor affecting limbs can be divided into at least 6 different types with frequencies ranging from 2 to about 20 Hz. In order to alleviate the symptoms by suppressing the tremor, sensing and actuation systems able to perform at these frequencies are needed. Electroactive polymers...... exemplify 'soft actuator' technology that may be especially suitable for use in conjunction with human limbs. The electrochemical and mechanical properties of polypyrrole dodecyl benzene sulphonate actuator films have been studied with this application in mind. The results show that the time constants...... for the change of length and for the stiffness change are significantly different - the stiffness change being about 10 times faster. Both force measurements and Electrochemical Quartz Crystal Microbalance measurements indicate that the actuation process is complex and involves at least two different processes...

  3. Surface CUrrents from a Diagnostic model (SCUD): Pacific

    Data.gov (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...

  4. A Parylene Bellows Electrochemical Actuator

    OpenAIRE

    Li, Po-Ying; Sheybani, Roya; Gutierrez, Christian A.; Kuo, Jonathan T. W.; Meng, Ellis

    2010-01-01

    We present the first electrochemical actuator with Parylene bellows for large-deflection operation. The bellows diaphragm was fabricated using a polyethylene-glycol-based sacrificial molding technique followed by coating in Parylene C. Bellows were mechanically characterized and integrated with a pair of interdigitated electrodes to form an electrochemical actuator that is suitable for low-power pumping of fluids. Pump performance (gas generation rate and pump efficiency) was optimized throug...

  5. Miniature Phase-Transistion Actuators

    OpenAIRE

    Klintberg, Lena

    2002-01-01

    Clearly, there is a need for simple, strong actuators capable of large strokes in miniaturized systems such as valves and optical shutters. The basis for this work is the microstructure technology with processing techniques adopted from the integrated circuit industry. In many cases alternative techniques have been developed to obtain features not achievable with conventional silicon technology. Techniques to fabricate thermally activated phase transition actuators capable of large strokes, a...

  6. Mathematical Model of the Identical Slope Surface

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The formation of the identical slope surface and the method of construction are discussed. Onthe basement of building the parameter equation of variable-radius circle family envelope, the frequentlyused parameter equation of the identical slope surface of the top of taper moving along column helix,horizental arc and line is built. The equation can be used to construct the identical slope surface's con-tours, gradient lines and three dimensional figures correctly.

  7. Surface and near-surface hydrological model of Olkiluoto island

    International Nuclear Information System (INIS)

    The aim of the study was to develop a 3D-model that calculates the overall water balance components of Olkiluoto Island in the present-day condition utilizing the existing extensive data sets available. The model links the unsaturated and saturated soil water in the overburden and groundwater in bedrock to a continuous pressure system. The parameterization of land use and vegetation was done in such a way that the model can later on be used for description of the past evolution of the overburden hydrology at the site and overburden's hydrological evolution in the future. Measured groundwater level in overburden tubes, pressure heads in shallow bedrock holes, snow depth, soil temperature, frost depth and discharge measurements were used in assessing the performance of the models in the calibration period (01.05.2001- 31.12.2005). Computed groundwater level variation can be characterized by variables ΔHMEAS and ΔHCOMP, which are the difference between maximum and minimum measured and computed groundwater level value during the calibration period. Average ΔHMEAS for all tubes located in fine-textured till soil was 1.99 m and the corresponding computed value ΔHCOMP was 1.83 m. Average ΔHMEAS for all tubes located in sandy till soil was 2.12 m and the corresponding computed value ΔHCOMP was 1.93 m. The computed results indicate that in future studies it is necessary to divide the two most important soil types into several subclasses. In the present study the uncertainty and sensitivity analysis was carried out through a parameter uncertainty framework known as GLUE. According to the uncertainty analysis the average yearly runoff was around 175 mm a-1 and 50 % confidence limits were 155 and 195 mm a-1. Measured average yearly runoff during the calibration period was 190 mm a-1. Average yearly evapotranspiration estimate was 310 mm a-1 and the 50 % confidence limits were 290 and 330 mm a-1. Average value for recharge through the bedrock system was 1.7 % from the

  8. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  9. Large Scale Magnetostrictive Valve Actuator

    Science.gov (United States)

    Richard, James A.; Holleman, Elizabeth; Eddleman, David

    2008-01-01

    Marshall Space Flight Center's Valves, Actuators and Ducts Design and Development Branch developed a large scale magnetostrictive valve actuator. The potential advantages of this technology are faster, more efficient valve actuators that consume less power and provide precise position control and deliver higher flow rates than conventional solenoid valves. Magnetostrictive materials change dimensions when a magnetic field is applied; this property is referred to as magnetostriction. Magnetostriction is caused by the alignment of the magnetic domains in the material s crystalline structure and the applied magnetic field lines. Typically, the material changes shape by elongating in the axial direction and constricting in the radial direction, resulting in no net change in volume. All hardware and testing is complete. This paper will discuss: the potential applications of the technology; overview of the as built actuator design; discuss problems that were uncovered during the development testing; review test data and evaluate weaknesses of the design; and discuss areas for improvement for future work. This actuator holds promises of a low power, high load, proportionally controlled actuator for valves requiring 440 to 1500 newtons load.

  10. 30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

    Science.gov (United States)

    2010-07-01

    ... 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...

  11. Multiwalled Carbon Nanotube Deposition on Model Environmental Surfaces

    Science.gov (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...

  12. Design of Packaging for Microballoon Actuators and Feasibility of their Integration within Aerodynamic Flight Vehicle

    Directory of Open Access Journals (Sweden)

    A. Linga Murthy

    2009-09-01

    Full Text Available The microballoon actuators are used for the active flow control in turbulent boundary layer for aerodynamic control of flight vehicles. The packaging, interfacing, and integration of the microballoon actuators within the flight vehicle play a key role for functioning of the microballoon actuators during the flight conditions. This paper addresses the design and analysis of packaging and integration aspects and associated issues. The use of microballoon actuators on the control surfaces and nose cone of flight vehicles has the positive influence of delaying the flow separation from the aerodynamic surface. This results in enhancing aerodynamic effectiveness and lift as well as reduction of drag. A typical control surface is configured with eight microballoon actuators symmetric wrt the hinge line of the control surface and embedded within the control surface. Provision of the Pneumatic feed line system for inflation and deflation of the microballoons within the control surface has been made. The nose cone has been designed to have 32 such actuators at the circular periphery. The design is found to be completely feasible for the incorporation of microballoon actuators, both in the nose cone and in the control surface.Defence Science Journal, 2009, 59(5, pp.485-493, DOI:http://dx.doi.org/10.14429/dsj.59.1549

  13. Finite Element Analysis and Vibration Control of a Deep Composite Cylindrical Shell Using MFC Actuators

    Directory of Open Access Journals (Sweden)

    Gangolu Vijay Kumar

    2012-01-01

    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.

  14. Design and implementation of an active rectangular aerostatic thrust bearing stage with electromagnetic actuators

    Institute of Scientific and Technical Information of China (English)

    MAO JunHong; LI LiChuan

    2009-01-01

    The design and implementation of an active rectangular aerostaUc thrust bearing stage with electro-magnetic actuators are presented. The stage is fundamentally precise and simple since the out-of-plane degree-of-freedoms (DOF) of a thrust air bearing are closed-loop controlled by electromagnetic actua-tors. The design is one-moving-part with mechanical symmetry, and a commercially available air bear-ing is rigidly attached to the table. The actuators are four independent coils mounted to the guiding surface of the table with iron cores, which are directly machined on the table. A bench level prototype system is developed and out-of-plane axes decoupled models of the system are derived. A control al-gorithm synthesized by arbitrarily placing closed-loop poles according to the model with air bearing dynamics neglected is implemented by C programming language running on the DOS platform. The stage is capable of vertical direction precision micro-positioning and guiding 3-DOF plane motions without limiting the working range of plane motions. Positioning accuracy of the stage no longer de-pends upon design and manufacturing of an air bearing, while passive preload of the stage for a flat film aerostatic thrust bearing is eliminated.

  15. Simulation of an actuator & drive of a wire drawing machine's mechatronic system using Matlab/Simulink

    International Nuclear Information System (INIS)

    Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)

  16. Surface tension in the dilute Ising model. The Wulff construction

    OpenAIRE

    Wouts, Marc

    2008-01-01

    We study the surface tension and the phenomenon of phase coexistence for the Ising model on $\\mathbbm{Z}^d$ ($d \\geqslant 2$) with ferromagnetic but random couplings. We prove the convergence in probability (with respect to random couplings) of surface tension and analyze its large deviations : upper deviations occur at volume order while lower deviations occur at surface order. We study the asymptotics of surface tension at low temperatures and relate the quenched value $\\tau^q$ of surface t...

  17. Analysis of the giant magnetostrictive actuator with strong bias magnetic field

    International Nuclear Information System (INIS)

    Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically

  18. Analysis of the giant magnetostrictive actuator with strong bias magnetic field

    Energy Technology Data Exchange (ETDEWEB)

    Xue, Guangming, E-mail: yy0youxia@163.com; He, Zhongbo; Li, Dongwei; Yang, Zhaoshu; Zhao, Zhenglong

    2015-11-15

    Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically.

  19. Soft mobile robots driven by foldable dielectric elastomer actuators

    Science.gov (United States)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong

    2016-08-01

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  20. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    KAUST Repository

    Hajjaj, Amal Z.

    2016-03-30

    This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341

  1. Model castings with composite surface layer - application

    Directory of Open Access Journals (Sweden)

    J. Szajnar

    2008-10-01

    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.

  2. The Linear and Nonlinear Electro-MechanicalFin Actuator

    Directory of Open Access Journals (Sweden)

    Zeina A. Abdul Redha

    2011-01-01

    Full Text Available Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spy-fly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (-3000 to 3000 and the damping ratio is varied from (0.4 to 0.8. The comparison between linear and nonlinear fin actuator response results shows that for linear model, the maximum overshoot is about 10%, rising time is 0.23 sec. and steady state occur at 0.51 sec., while For nonlinear model the maximum overshoot is about 5%, rising time is 0.26 sec. and steady state occurs at 2 sec.; i.e., the nonlinear fin actuator system gives faster and more accurate response than does the linear fin actuator system.

  3. Trajectory Tracking Control for a GMM Actuator Based on a Heuristic ILC Method

    Institute of Scientific and Technical Information of China (English)

    SONG Zhao-qing; ZHOU Shao-lei; SHI Xian-jun

    2006-01-01

    A heuristic iterative learning control (ILC) method is presented and applied to the trajectory tracking control of a giant magnetostrictive material (GMM) actuator. A GMM actuator is used as experimental equipment for micro-displacement trajectory tracking control. The advantage of the presented approach lies in quitting the model of the GMM actuator. The experimental results attest to the high efficiency of the presented method for the micro-displacement trajectory tracking control.

  4. Model for the Evolving Bed Surface around an Offshore Monopile

    DEFF Research Database (Denmark)

    Hartvig, Peres Akrawi

    2012-01-01

    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...... general parametrized surface. The model also accounts for sliding of sediment particles when the angle of the local bed slope exceeds the angle of repose....

  5. 基于神经网络的超磁致伸缩传感执行器磁滞模型%Study on Hysteresis Model of Giant Magnetostrictive Sensing Actuator Based on Neural Network

    Institute of Scientific and Technical Information of China (English)

    刘慧芳; 贾振元; 王福吉

    2011-01-01

    依据超磁致伸缩材料Joule效应和Villari效应之间的耦合关系,提出一种超磁致伸缩传感执行器,该执行器利用Villari效应和Faraday效应产生的感应电动势驱动超磁致伸缩材料发生Joule效应而产生应变,给出了该传感执行器的结构和工作原理.为了解决材料的磁滞对超磁致伸缩传感执行器输出特性的影响,测量了在不同预紧力和最大工作电流作用下的磁滞回线,采用BP神经网络建立了磁化滞回模型.计算结果表明该模型能很好地描述在任意预紧力和最大工作电流等工作条件下的磁滞特性.%Based on the coupling relationship between Joule effect and Villari effect of the giant magnetostrictive materials, it proposed a giant magnetostrictive sensing actuator which used induced electromotive force generated by Villari effect and Faraday effect to drive giant magnetostrictive materials occurring Joule effect and generating strain.Its structure and working principle were presented herein.Meanwhile, in order to solve the hysteresis characteristics of the material in giant magnetostrictive sensing actuator, hysteresis loop under different pre-tightening force and maximum working current were measured.Moreover, it put forward establishing the magnetization hysteresis model of the giant magnetostrictive sensing actuator by BP neural networks.The calculation results show that the model can describe hysteresis characteristics under arbitrary pre-tightening force and maximum working current well.It provides evidence for hysteresis compensation of giant magnetostrictive sensing actuator.

  6. Modelling global fresh surface water temperature

    NARCIS (Netherlands)

    Beek, L.P.H. van; Eikelboom, T.; Vliet, M.T.H. van; Bierkens, M.F.P.

    2011-01-01

    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 concentrati

  7. An Eigenstructure Assignment Approach to FDI for the Industrial Actuator Benchmark Test

    DEFF Research Database (Denmark)

    Jørgensen, R.B.; Patton, R.J.; Chen, J.

    1995-01-01

    This paper examines the robustness in modelling uncertainties of an observer-based fault detection and isolation scheme applied to the industrial actuator benchmark problem.......This paper examines the robustness in modelling uncertainties of an observer-based fault detection and isolation scheme applied to the industrial actuator benchmark problem....

  8. Bi-Spectrum Scattering Model for Conducting Randomly Rough Surface

    Institute of Scientific and Technical Information of China (English)

    刘宁; 李宗谦

    2002-01-01

    A scattering model is developed to predict the scattering coefficient of a conducting randomly rough surface by analyzing the randomly rough surface in the spectral domain using the bi-spectrum method. For common randomly rough surfaces without obvious two-scale characteristics, a scale-compression filter can divide the auto-correlation spectrum into two parts with different correlation lengths. The Kirchhoff approximation and the small perturbation method are used to obtain the surface field, then a bistatic scattering model, the bi-spectrum model (BSM), is used to derive an explicit expression from the surface field. Examples using the integral equation model (IEM), finite difference of the time domain (FDTD) method, and BSM show that the BSM accuracy is acceptable and its range of validity is similar to IEM. BSM can also be extended to a scattering model for dielectric randomly rough surfaces.

  9. Bi-Spectrum Scattering Model for Dielectric Randomly Rough Surface

    Institute of Scientific and Technical Information of China (English)

    刘宁; 李宗谦

    2003-01-01

    The bistatic scattering model is offen used for remote microwave sensing. The bi-spectrum model (BSM) for conducting surfaces was used to develop a scattering model for dielectric randomly rough surfaces to estimate their bistatic scattering coefficients. The model for dielectric rough surfaces differs from the BSM for a conducting surface by including Fresnell reflection and transmission from dielectric rough surfaces. The bistatic scattering coefficients were defined to satisfy the reciprocal theorem. Values calculated using the BSM for dielectric randomly rough surfaces compare well with those of the integral equation model (IEM) and with experimental data, showing that the BSM accuracy is acceptable and its range of validity is similar to that of IEM while the BSM expression is simpler than that of IEM.

  10. Flutter and vibration control of an aluminum plate wing by piezoceramic actuators

    Science.gov (United States)

    Sanda, Tomio; Takahashi, Kosaku

    1998-07-01

    We carried out tests and analysis of flutter and vibration control of rectangular aluminum plate wing. The dimensions of the plate wing (420.0 X 140.0 X 1.0 mmt) were determined based on the wind tunnel size and blowing air velocity. The plate wing was driven by eight piezoceramic actuators bonded on the surfaces at the wing root part. Acceleration sensor was located at the wing tip and the signal was sent to digital signal processor through filters and control signal was sent to power amplifier. Amplified signal drove the piezoceramic actuator and suppressed vibration of the plate wing. System consist of structure, piezoceramic actuator and unsteady aerodynamic force was modeled into the standard form of modern control theory. Piezoceramic actuator's force was modeled using analogy of thermal analysis. Unsteady aerodynamic force in case of flutter control was calculated by DLM (frequency domain), then transformed to Roger's approximation for the purpose of time domain analysis. Full order control law consist of optimum regulator and Kalman's filter was reduced to low order law for practical use. First, we carried out the test for vibration control. In this case, structural damping ratio of the system increased remarkably in both case of gain control and reduced LQG control. Using gain control, that of the system increased up to 0.3. Second, we carried out the wind tunnel test of flutter control. Flutter speed at test increased about 2.9 m/s (10.8%, in calculation 12.2%) using reduced LQG controller.

  11. A New Type of Magnetic Actuator Capable of Wall-Climbing Movement Using Inertia Force

    Directory of Open Access Journals (Sweden)

    H. Yaguchi

    2014-01-01

    Full Text Available This paper proposes a new type of a magnetic actuator that operates on a resonance energy of a mass-spring model by using an electromagnetic force. The magnetic actuator is moved by the difference in an inertia force during one period of vibration. Experimental result demonstrates that a horizontal speed of the magnetic actuator was 7.4 mm/s with load mass of 50 g. We considered a method of a cable-free movement of the actuator by using two iron rails and four permanent magnets. The magnetic actuator is able to move stably a ceiling plane and a wall plane. This actuator is able to move on the plane of the magnetic materials only a function generator and a power amplifier.

  12. APPLICATION OF FEA TO THE COLLOCATION OF ACTUATOR/SENSOR IN THE INTELLIGENT STRUCTURES

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The piezothermoelectric actuator/sensor collocation for advanced intelligent structure is studied. The quasi-static equations of piezothermoelasticity are used to analyze the coupling effects between the displacement, temperature and electric fields of piezothermoelasticity continua and the governing equations for piezothermoelectric continua are derived to discuss the effects of coupling factors on the control/sensing performance in intelligent structure. Based on those analyses,a finite element analysis model of distributed piezothermoelectric continua is developed later. The thermal stress and deformation of a beam are calculated by FEA method so as to determine the optimal actuator/sensor placement. Based on the results of the optimal analysis procedure of actuator/sensor placement, some conclusions of actuator/sensor placement are obtained. Thus, the optimal actuator/sensor placement for piezothermoelectric intelligent structure can be found from the actuator/sensor placements available so that intelligent system will have the best controllability and observability.

  13. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    Science.gov (United States)

    Li, Donghai; Choi, Hyunchul; Cho, Sunghoon; Jeong, Semi; Jin, Zhen; Lee, Cheong; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2015-08-01

    In this paper, we propose a new concept for a hybrid actuated microrobot for tumor-targeting therapy. For drug delivery in tumor therapy, various electromagnetic actuated microrobot systems have been studied. In addition, bacteria-based microrobot (so-called bacteriobot), which use tumor targeting and the therapeutic function of the bacteria, has also been proposed for solid tumor therapy. Compared with bacteriobot, electromagnetic actuated microrobot has larger driving force and locomotive controllability due to their position recognition and magnetic field control. However, because electromagnetic actuated microrobot does not have self-tumor targeting, they need to be controlled by an external magnetic field. In contrast, the bacteriobot uses tumor targeting and the bacteria's own motility, and can exhibit self-targeting performance at solid tumors. However, because the propulsion forces of the bacteria are too small, it is very difficult for bacteriobot to track a tumor in a vessel with a large bloodstream. Therefore, we propose a hybrid actuated microrobot combined with electromagnetic actuation in large blood vessels with a macro range and bacterial actuation in small vessels with a micro range. In addition, the proposed microrobot consists of biodegradable and biocompatible microbeads in which the drugs and magnetic particles can be encapsulated; the bacteria can be attached to the surface of the microbeads and propel the microrobot. We carried out macro-manipulation of the hybrid actuated microrobot along a desired path through electromagnetic field control and the micro-manipulation of the hybrid actuated microrobot toward a chemical attractant through the chemotaxis of the bacteria. For the validation of the hybrid actuation of the microrobot, we fabricated a hydrogel microfluidic channel that can generate a chemical gradient. Finally, we evaluated the motility performance of the hybrid actuated microrobot in the hydrogel microfluidic channel. We expect

  14. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    Science.gov (United States)

    Li, Donghai; Choi, Hyunchul; Cho, Sunghoon; Jeong, Semi; Jin, Zhen; Lee, Cheong; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2015-08-01

    In this paper, we propose a new concept for a hybrid actuated microrobot for tumor-targeting therapy. For drug delivery in tumor therapy, various electromagnetic actuated microrobot systems have been studied. In addition, bacteria-based microrobot (so-called bacteriobot), which use tumor targeting and the therapeutic function of the bacteria, has also been proposed for solid tumor therapy. Compared with bacteriobot, electromagnetic actuated microrobot has larger driving force and locomotive controllability due to their position recognition and magnetic field control. However, because electromagnetic actuated microrobot does not have self-tumor targeting, they need to be controlled by an external magnetic field. In contrast, the bacteriobot uses tumor targeting and the bacteria's own motility, and can exhibit self-targeting performance at solid tumors. However, because the propulsion forces of the bacteria are too small, it is very difficult for bacteriobot to track a tumor in a vessel with a large bloodstream. Therefore, we propose a hybrid actuated microrobot combined with electromagnetic actuation in large blood vessels with a macro range and bacterial actuation in small vessels with a micro range. In addition, the proposed microrobot consists of biodegradable and biocompatible microbeads in which the drugs and magnetic particles can be encapsulated; the bacteria can be attached to the surface of the microbeads and propel the microrobot. We carried out macro-manipulation of the hybrid actuated microrobot along a desired path through electromagnetic field control and the micro-manipulation of the hybrid actuated microrobot toward a chemical attractant through the chemotaxis of the bacteria. For the validation of the hybrid actuation of the microrobot, we fabricated a hydrogel microfluidic channel that can generate a chemical gradient. Finally, we evaluated the motility performance of the hybrid actuated microrobot in the hydrogel microfluidic channel. We expect

  15. Active control of structural vibration by piezoelectric stack actuators

    Institute of Scientific and Technical Information of China (English)

    NIU Jun-chuan; ZHAO Guo-qun; HU Xia-xia

    2005-01-01

    This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.

  16. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar

    2016-01-01

    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full...

  17. Modeling laser-induced periodic surface structures: an electromagnetic approach

    NARCIS (Netherlands)

    Skolski, Johann Zbigniew Pierre

    2014-01-01

    This thesis presents and discusses laser-induced periodic surface structures (LIPSSs), as well as a model explaining their formation. LIPSSs are regular wavy surface structures with dimensions usually in the submicrometer range, which can develop on the surface of many materials exposed to laser rad

  18. Modelling Catalyst Surfaces Using DFT Cluster Calculations

    Directory of Open Access Journals (Sweden)

    Oliver Kröcher

    2009-09-01

    Full Text Available We review our recent theoretical DFT cluster studies of a variety of industrially relevant catalysts such as TiO2, γ-Al2O3, V2O5-WO3-TiO2 and Ni/Al2O3. Aspects of the metal oxide surface structure and the stability and structure of metal clusters on the support are discussed as well as the reactivity of surfaces, including their behaviour upon poisoning. It is exemplarily demonstrated how such theoretical considerations can be combined with DRIFT and XPS results from experimental studies.

  19. Modelling catalyst surfaces using DFT cluster calculations.

    Science.gov (United States)

    Czekaj, Izabela; Wambach, Jörg; Kröcher, Oliver

    2009-11-20

    We review our recent theoretical DFT cluster studies of a variety of industrially relevant catalysts such as TiO(2), gamma-Al(2)O(3), V(2)O(5)-WO(3)-TiO(2) and Ni/Al(2)O(3). Aspects of the metal oxide surface structure and the stability and structure of metal clusters on the support are discussed as well as the reactivity of surfaces, including their behaviour upon poisoning. It is exemplarily demonstrated how such theoretical considerations can be combined with DRIFT and XPS results from experimental studies.

  20. A TECHNIQUE OF DIGITAL SURFACE MODEL GENERATION

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    It is usually a time-consuming process to real-time set up 3D digital surface mo del(DSM) of an object with complex sur face.On the basis of the architectural survey proje ct of“Chilin Nunnery Reconstruction",this paper investigates an easy and feasi ble way,that is,on project site,applying digital close range photogrammetry an d CAD technique to establish the DSM for simulating ancient architectures with c omplex surface.The method has been proved very effective in practice.