A new class of actuator surface models for wind turbines
Yang, Xiaolei; Sotiropoulos, Fotis
2018-05-01
Actuator line model has been widely employed in wind turbine simulations. However, the standard actuator line model does not include a model for the turbine nacelle which can significantly impact turbine wake characteristics as shown in the literature. Another disadvantage of the standard actuator line model is that more geometrical features of turbine blades cannot be resolved on a finer mesh. To alleviate these disadvantages of the standard model, we develop a new class of actuator surface models for turbine blades and nacelle to take into account more geometrical details of turbine blades and include the effect of turbine nacelle. In the actuator surface model for blade, the aerodynamic forces calculated using the blade element method are distributed from the surface formed by the foil chords at different radial locations. In the actuator surface model for nacelle, the forces are distributed from the actual nacelle surface with the normal force component computed in the same way as in the direct forcing immersed boundary method and the tangential force component computed using a friction coefficient and a reference velocity of the incoming flow. The actuator surface model for nacelle is evaluated by simulating the flow over periodically placed nacelles. Both the actuator surface simulation and the wall-resolved large-eddy simulation are carried out. The comparison shows that the actuator surface model is able to give acceptable results especially at far wake locations on a very coarse mesh. It is noted that although this model is employed for the turbine nacelle in this work, it is also applicable to other bluff bodies. The capability of the actuator surface model in predicting turbine wakes is assessed by simulating the flow over the MEXICO (Model experiments in Controlled Conditions) turbine and a hydrokinetic turbine.
Numerical Study of Wind Turbine Wake Modeling Based on a Actuator Surface Model
DEFF Research Database (Denmark)
Zhou, Huai-yang; Xu, Chang; Han, Xing Xing
2017-01-01
In the Actuator Surface Model (ALM), the turbine blades are represented by porous surfaces of velocity and pressure discontinuities to model the action of lifting surfaces on the flow. The numerical simulation is implemented on FLUENT platform combined with N-S equations. This model is improved o...
The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations
DEFF Research Database (Denmark)
Shen, Wen Zhong; Zhang, J.H.; Sørensen, Jens Nørkær
2009-01-01
This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along ....... In the last part, the actuator surface technique is applied to compute the flow past a two-bladed vertical axis wind turbine equipped with NACA 0012 airfoils. Comparisons with experimental data show an encouraging performance of the method.......This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along...
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.
Modeling and control of precision actuators
Kiong, Tan Kok
2013-01-01
IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict
Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB
Reaves, Mercedes C.; Horta, Lucas G.
2003-01-01
This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.
Simulation of actuated synthetic cilia expelling microorganisms from a surface
Shum, Henry; Tripathi, Anurag; Yeomans, Julia; Balazs, Anna
2013-11-01
The continual motion of cilia provides a defense against biofouling for a variety of marine organisms. Inspired by this natural solution, we perform numerical simulations to study the interactions between actuated, biomimetic cilia and model microswimmers that are hydrodynamically attracted to bare surfaces and therefore behave similarly to fouling organisms. The 3-dimensional fluid flow is coupled to the motion of the cilia and swimmers using an integrated lattice Boltzmann and immersed boundary method. We show that a sparse array of actuated cilia, through which the organisms are able to swim, is able to robustly expel swimmers. The average residence time of the swimmers in the ciliary layer is reduced if the motion of the cilia generates a net fluid flow, but for relatively fast swimmers, the steric interaction with the moving cilia alone is sufficient to ``knock'' the organisms away from the surface. As the demonstrated mechanisms for antifouling do not rely on specific chemical or physical properties of the surface or swimmer, actuated cilia can potentially protect microfluidic devices, filtration membranes or ship hulls from a wide range of fouling species.
Cfd modeling of a synthetic jet actuator
International Nuclear Information System (INIS)
Dghim, Marouane; Ben Chiekh, Maher; Ben Nasrallah, Sassi
2009-01-01
Synthetic jet actuators show good promise as an enabling technology for innovative boundary layer flow control applied to external surfaces, like airplane wings, and to internal flows, like those occurring in a curved engine inlet. The appealing characteristics of a synthetic jet are zero-net-mass flux operation and an efficient control effect that takes advantages of unsteady fluid phenomena. The formation of a synthetic jet in a quiescent external air flow is only beginning to be understood and a rational understanding of these devices is necessary before they can be applied to the control of flows outside of the laboratory. The synthetic jet flow generated by a planar orifice is investigated here using computational approach. Computations of the 2D synthetic jet are performed with unsteady RANS modeled with the Realizable κ - ε turbulence model available in FLUENT environment. In this present work, the ability of the first order turbulence model, employed in our computations, to model the formation of the counter-rotating-vortex pair (CVP) that appears in the flow-field was investigated. Computational results were in good agreement with experimental measurements. The effectiveness of such control actuator was tested on separated boundary layer. Preliminary investigation were presented and discussed
Large displacement bi-directional out-of-plane Lorentz actuator array for surface manipulation
International Nuclear Information System (INIS)
Park, Byoungyoul; Afsharipour, Elnaz; Chrusch, Dwayne; Shafai, Cyrus; Andersen, David; Burley, Greg
2017-01-01
This paper presents a large displacement out-of-plane Lorentz actuator array for surface manipulation. Actuators are formed from single crystal silicon flexible serpentine springs on either side of a rigid crossbar containing a narrow contact pillar. A rigid mounting rail system was employed to enable a 5 × 5 array, which offers scalability of the array size. Analytical and finite element models were used to optimize actuator design. Individual actuators were tested to show linear deflection response of ±150 µ m motion, using a ±14.7 mA current in the presence of a 0.48 T magnetic field. This actuator array is suitable for various 2D surface modification applications due to its large deformation with low current and temperature of operation, and narrow contact area to a target surface. (paper)
A survey on pneumatic muscle actuators modeling
Kelasidi, Eleni; Andrikopoulos, Georgios; Nikolakopoulos, George; Manesis, Stamatis
2012-01-01
The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in...
Nonlinear Model-Based Fault Detection for a Hydraulic Actuator
Van Eykeren, L.; Chu, Q.P.
2011-01-01
This paper presents a model-based fault detection algorithm for a specific fault scenario of the ADDSAFE project. The fault considered is the disconnection of a control surface from its hydraulic actuator. Detecting this type of fault as fast as possible helps to operate an aircraft more cost
A magnetorheological actuation system: test and model
International Nuclear Information System (INIS)
John, Shaju; Chaudhuri, Anirban; Wereley, Norman M
2008-01-01
Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data
Electrochemical fabrication and modelling of mechanical behavior of a tri-layer polymer actuator
International Nuclear Information System (INIS)
Kaynak, Akif; Yang Chunhui; Lim, Yang C.; Kouzani, Abbas
2011-01-01
Stability and performance of electrochemically synthesized tri-layer polypyrrole based actuators were reported. Concentrations were optimized as 0.05 M pyrrole and 0.05 M tetrabutylammonium hexaflurophosphate in propylene carbonate (PC). The force output of the actuators ranged from 0.2 to 0.4 mN. Cyclic deflection tests on PC based actuators for a duration of 3 h indicated that the displacement decreased by 60%. However, actuation could be regenerated by immersing the actuator into the electrolyte solution. Surface resistivity measurements on the actuators prior to and after 3 h continuous deflection did not show any significant change in the resistivity of the PPy layer. A triple-layer model of the polymer actuator was developed based on the classic bending beam theory by considering strain continuity between PPy and PVDF. Results predicted by the model were in good agreement with the experimental data.
Thermocapillary droplet actuation on structured solid surfaces
Karapetsas, George; Chamakos, Nikolaos T.; Papathanasiou, Athanasios G.
2017-11-01
The present work investigates, through 2D and 3D finite element simulations, the thermocapillary-driven flow inside a droplet which resides on a non-uniformly heated patterned surface. We employ a recently proposed sharp-interface scheme capable of efficiently modelling the flow over complicate surfaces and consider a wide range of substrate wettabilities, i.e. from hydrophilic to super-hydrophobic surfaces. Our simulations indicate that due to the presence of the solid structures and the induced effect of contact angle hysteresis, inherently predicted by our model, a critical thermal gradient arises beyond which droplet migration is possible, in line with previous experimental observations. The migration velocity as well as the direction of motion depends on the combined action of the net mechanical force along the contact line and the thermocapillary induced flow at the liquid-air interface. We also show that through a proper control and design of the substrate wettability, the contact angle hysteresis and the induced flow field it is possible to manipulate the droplet dynamics, e.g. controlling its motion along a predefined track or entrapping by a wetting defect a droplet based on its size as well as providing appropriate conditions for enhanced mixing inside the droplet. Funding from the European Research Council under the Europeans Community's Seventh Framework Programme (FP7/2007-2013)/ERC Grant agreement no. [240710] is acknowledged.
Mathematical modeling of a V-stack piezoelectric aileron actuation
Directory of Open Access Journals (Sweden)
Ioan URSU
2016-12-01
Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.
Analytical dynamic modeling of fast trilayer polypyrrole bending actuators
International Nuclear Information System (INIS)
Amiri Moghadam, Amir Ali; Moavenian, Majid; Tahani, Masoud; Torabi, Keivan
2011-01-01
Analytical modeling of conjugated polymer actuators with complicated electro-chemo-mechanical dynamics is an interesting area for research, due to the wide range of applications including biomimetic robots and biomedical devices. Although there have been extensive reports on modeling the electrochemical dynamics of polypyrrole (PPy) bending actuators, mechanical dynamics modeling of the actuators remains unexplored. PPy actuators can operate with low voltage while producing large displacement in comparison to robotic joints, they do not have friction or backlash, but they suffer from some disadvantages such as creep and hysteresis. In this paper, a complete analytical dynamic model for fast trilayer polypyrrole bending actuators has been proposed and named the analytical multi-domain dynamic actuator (AMDDA) model. First an electrical admittance model of the actuator will be obtained based on a distributed RC line; subsequently a proper mechanical dynamic model will be derived, based on Hamilton's principle. The purposed modeling approach will be validated based on recently published experimental results
Bucky gel actuator displacement: experiment and model
International Nuclear Information System (INIS)
Ghamsari, A K; Zegeye, E; Woldesenbet, E; Jin, Y
2013-01-01
Bucky gel actuator (BGA) is a dry electroactive nanocomposite which is driven with a few volts. BGA’s remarkable features make this tri-layered actuator a potential candidate for morphing applications. However, most of these applications would require a better understanding of the effective parameters that influence the BGA displacement. In this study, various sets of experiments were designed to investigate the effect of several parameters on the maximum lateral displacement of BGA. Two input parameters, voltage and frequency, and three material/design parameters, carbon nanotube type, thickness, and weight fraction of constituents were selected. A new thickness ratio term was also introduced to study the role of individual layers on BGA displacement. A model was established to predict BGA maximum displacement based on the effect of these parameters. This model showed good agreement with reported results from the literature. In addition, an important factor in the design of BGA-based devices, lifetime, was investigated. (paper)
Evaluation of Breaking Performance in Vibration-Assisted Electrostatic Surface Induction Actuator
DEFF Research Database (Denmark)
Nemoto, Takeru; Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio
2015-01-01
This paper evaluates breaking performance of an electrostatic surface induction actuator. The actuator is equipped with piezoelectric vibrator such that the friction between the slider and the stator electrodes can be dramatically reduced by squeeze-film effect. In such an actuator, the friction...... conditions. The result clearly shows the effect of friction change in breaking performance of the actuator....
Liquid metal actuator driven by electrochemical manipulation of surface tension
Russell, Loren; Wissman, James; Majidi, Carmel
2017-12-01
We examine the electrocapillary properties of a fluidic actuator composed of a liquid metal droplet that is submerged in electrolytic solution and attached to an elastic beam. The beam deflection is controlled by electrochemically driven changes in the surface energy of the droplet. The metal is a eutectic gallium-indium alloy that is liquid at room temperature and forms an nm-thin Ga2O3 skin when oxidized. The effective surface tension of the droplet changes dramatically with oxidation and reduction, which are reversibly controlled by applying low voltage to the electrolytic bath. Wetting the droplet to two copper pads allows for a controllable tensile force to be developed between the opposing surfaces. We demonstrate the ability to reliably control force by changing the applied oxidizing voltage. Actuator forces and droplet geometries are also examined by performing a computational fluid mechanics simulation using Surface Evolver. The theoretical predictions are in qualitative agreement with the experimental measurements and provide additional confirmation that actuation is driven by surface tension.
Surface acoustic wave actuated cell sorting (SAWACS).
Franke, T; Braunmüller, S; Schmid, L; Wixforth, A; Weitz, D A
2010-03-21
We describe a novel microfluidic cell sorter which operates in continuous flow at high sorting rates. The device is based on a surface acoustic wave cell-sorting scheme and combines many advantages of fluorescence activated cell sorting (FACS) and fluorescence activated droplet sorting (FADS) in microfluidic channels. It is fully integrated on a PDMS device, and allows fast electronic control of cell diversion. We direct cells by acoustic streaming excited by a surface acoustic wave which deflects the fluid independently of the contrast in material properties of deflected objects and the continuous phase; thus the device underlying principle works without additional enhancement of the sorting by prior labelling of the cells with responsive markers such as magnetic or polarizable beads. Single cells are sorted directly from bulk media at rates as fast as several kHz without prior encapsulation into liquid droplet compartments as in traditional FACS. We have successfully directed HaCaT cells (human keratinocytes), fibroblasts from mice and MV3 melanoma cells. The low shear forces of this sorting method ensure that cells survive after sorting.
Pneumatic Artificial Muscle Actuation and Modeling
Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.
2009-10-01
A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.
Measurements and Simulations of Surface Dielectric Barrier Discharges Used as Plasma Actuators
Hoskinson, Alan R.
2012-01-01
This report is a Ph.D. dissertation performed under NRA cooperative agreement and submitted as part of the final report. Asymmetric surface dielectric barrier discharges (DBDs) have shown promise for use as aerodynamic actuators for active flow control. In this project we studied DBD actuators experimentally and numerically. Our DBDs used a symmetric triangular high voltage waveform to generate plasma in atmospheric pressure air. Time-averaged measurements indicated that the induced force of a single barrier actuator design (one electrode insulated from the plasma) can be increased exponentially above the results of previous studies by decreasing both the length and thickness of the electrode exposed to the plasma. This increased force may allow these devices to control flow separation in a wider range of flow environments. Experiments using an intensified digital camera to examine the plasma on time scales of a few nanoseconds showed that, in addition to the previously-observed filamentary and jet-like plasma structures, discharges with very thin exposed electrodes exhibited a weak but constant plasma immediately adjacent to those electrodes. In double-barrier actuators (both electrodes insulated), decreasing the diameter of the narrower electrode lead to increasing forces, and recorded images showed the simultaneous existence of both filamentary and jet-like plasma structures. The development and application of a time-dependent, two-dimensional computational fluid plasma model has aided in understanding the detailed physics of surface DBDs at all-time scales. For simulated single-barrier discharges, the model qualitatively reproduced the filamentary and jet-like micro-discharge structures. The model was somewhat successful in reproducing the observed characteristics of double-barrier actuators. For both actuator geometries, the model indicated that the majority of the forces induced on the neutral gas occur in between micro-discharges as the plasmas decay.
Modeling Populations of Thermostatic Loads with Switching Rate Actuation
DEFF Research Database (Denmark)
Totu, Luminita Cristiana; Wisniewski, Rafal; Leth, John-Josef
2015-01-01
We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...... simulations. The actuation mechanism and subsequent modeling result are relevant for power system operation....
Tip vortices in the actuator line model
Martinez, Luis; Meneveau, Charles
2017-11-01
The actuator line model (ALM) is a widely used tool to represent the wind turbine blades in computational fluid dynamics without the need to resolve the full geometry of the blades. The ALM can be optimized to represent the `correct' aerodynamics of the blades by choosing an appropriate smearing length scale ɛ. This appropriate length scale creates a tip vortex which induces a downwash near the tip of the blade. A theoretical frame-work is used to establish a solution to the induced velocity created by a tip vortex as a function of the smearing length scale ɛ. A correction is presented which allows the use of a non-optimal smearing length scale but still provides the downwash which would be induced using the optimal length scale. Thanks to the National Science Foundation (NSF) who provided financial support for this research via Grants IGERT 0801471, IIA-1243482 (the WINDINSPIRE project) and ECCS-1230788.
Multiscale modeling and topology optimization of poroelastic actuators
DEFF Research Database (Denmark)
Andreasen, Casper Schousboe; Sigmund, Ole
2012-01-01
This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc...
Modelling the nonlinearity of piezoelectric actuators in active ...
African Journals Online (AJOL)
Piezoelectric actuators have great capabilities as elements of intelligent structures for active vibration cancellation. One problem with this type of actuator is its nonlinear behaviour. In active vibration control systems, it is important to have an accurate model of the control branch. This paper demonstrates the ability of neural ...
Analytical model for an electrostatically actuated miniature diaphragm compressor
International Nuclear Information System (INIS)
Sathe, Abhijit A; Groll, Eckhard A; Garimella, Suresh V
2008-01-01
This paper presents a new analytical approach for quasi-static modeling of an electrostatically actuated diaphragm compressor that could be employed in a miniature scale refrigeration system. The compressor consists of a flexible circular diaphragm clamped at its circumference. A conformal chamber encloses the diaphragm completely. The membrane and the chamber surfaces are coated with metallic electrodes. A potential difference applied between the diaphragm and the chamber pulls the diaphragm toward the chamber surface progressively from the outer circumference toward the center. This zipping actuation reduces the volume available to the refrigerant gas, thereby increasing its pressure. A segmentation technique is proposed for analysis of the compressor by which the domain is divided into multiple segments for each of which the forces acting on the diaphragm are estimated. The pull-down voltage to completely zip each individual segment is thus obtained. The required voltage for obtaining a specific pressure rise in the chamber can thus be determined. Predictions from the model compare well with other simulation results from the literature, as well as to experimental measurements of the diaphragm displacement and chamber pressure rise in a custom-built setup
Ankit, Ankit; Nguyen, Anh Chien; Mathews, Nripan
2017-04-01
Tactile feedback devices and microfluidic devices have huge significance in strengthening the area of robotics, human machine interaction and low cost healthcare. Dielectric Elastomer Actuators (DEAs) are an attractive alternative for both the areas; offering the advantage of low cost and simplistic fabrication in addition to the high actuation strains. The inplane deformations produced by the DEAs can be used to produce out-of-plane deformations by what is known as the thickness mode actuation of DEAs. The thickness mode actuation is achieved by adhering a soft passive layer to the DEA. This enables a wide area of applications in tactile applications without the need of complex systems and multiple actuators. But the thickness mode actuation has not been explored enough to understand how the deformations can be improved without altering the material properties; which is often accompanied with increased cost and a trade off with other closely associated material properties. We have shown the effect of dimensions of active region and non-active region in manipulating the out-of-plane deformation. Making use of this, we have been able to demonstrate large area devices and complex patterns on the passive top layer for the surface texture change on-demand applications. We have also been able to demonstrate on-demand microfluidic channels and micro-chambers without the need of actually fabricating the channels; which is a cost incurring and cumbersome process.
Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.
Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai
2013-11-01
Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
A finite element model of rigid body structures actuated by dielectric elastomer actuators
Simone, F.; Linnebach, P.; Rizzello, G.; Seelecke, S.
2018-06-01
This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.
Modeling and design of a high-performance hybrid actuator
Aloufi, Badr; Behdinan, Kamran; Zu, Jean
2016-12-01
This paper presents the model and design of a novel hybrid piezoelectric actuator which provides high active and passive performances for smart structural systems. The actuator is composed of a pair of curved pre-stressed piezoelectric actuators, so-called commercially THUNDER actuators, installed opposite each other using two clamping mechanisms constructed of in-plane fixable hinges, grippers and solid links. A fully mathematical model is developed to describe the active and passive dynamics of the actuator and investigate the effects of its geometrical parameters on the dynamic stiffness, free displacement and blocked force properties. Among the literature that deals with piezoelectric actuators in which THUNDER elements are used as a source of electromechanical power, the proposed study is unique in that it presents a mathematical model that has the ability to predict the actuator characteristics and achieve other phenomena, such as resonances, mode shapes, phase shifts, dips, etc. For model validation, the measurements of the free dynamic response per unit voltage and passive acceleration transmissibility of a particular actuator design are used to check the accuracy of the results predicted by the model. The results reveal that there is a good agreement between the model and experiment. Another experiment is performed to teste the linearity of the actuator system by examining the variation of the output dynamic responses with varying forces and voltages at different frequencies. From the results, it can be concluded that the actuator acts approximately as a linear system at frequencies up to 1000 Hz. A parametric study is achieved here by applying the developed model to analyze the influence of the geometrical parameters of the fixable hinges on the active and passive actuator properties. The model predictions in the frequency range of 0-1000 Hz show that the hinge thickness, radius, and opening angle parameters have great effects on the frequency dynamic
Design-based modeling of magnetically actuated soft diaphragm materials
Jayaneththi, V. R.; Aw, K. C.; McDaid, A. J.
2018-04-01
Magnetic polymer composites (MPC) have shown promise for emerging biomedical applications such as lab-on-a-chip and implantable drug delivery. These soft material actuators are capable of fast response, large deformation and wireless actuation. Existing MPC modeling approaches are computationally expensive and unsuitable for rapid design prototyping and real-time control applications. This paper proposes a macro-scale 1-DOF model capable of predicting force and displacement of an MPC diaphragm actuator. Model validation confirmed both blocked force and displacement can be accurately predicted in a variety of working conditions i.e. different magnetic field strengths, static/dynamic fields, and gap distances. The contribution of this work includes a comprehensive experimental investigation of a macro-scale diaphragm actuator; the derivation and validation of a new phenomenological model to describe MPC actuation; and insights into the proposed model’s design-based functionality i.e. scalability and generalizability in terms of magnetic filler concentration and diaphragm diameter. Due to the lumped element modeling approach, the proposed model can also be adapted to alternative actuator configurations, and thus presents a useful tool for design, control and simulation of novel MPC applications.
Actuator Line Modeling of Wind Turbine Wakes
DEFF Research Database (Denmark)
Troldborg, Niels
2009-01-01
This thesis contains a comprehensive 3D Navier-Stokes computational study of the characteristics of wakes of wind turbines operating in various flow conditions including interacting wakes between a row of turbines. The computations were carried out using the actuator line technique combined...
Park, Jungwoo; Yoo, Ji Wang; Seo, Hee Won; Lee, Youngkwan; Suhr, Jonghwan; Moon, Hyungpil; Koo, Ja Choon; Ryeol Choi, Hyouk; Hunt, Robert; Kim, Kwang Jin; Kim, Soo Hyun; Nam, Jae-Do
2017-03-01
As a new class of thermally activated actuators based on polymeric fibers, we investigated polyethylene terephthalate (PET) yarns for the development of a twisted-coiled polymer fiber actuator (TCA). The PET yarn TCA exhibited the maximum linear actuation up to 8.9% by external heating at above the glass transition temperature, 160 °C-180 °C. The payload of the actuator was successfully correlated with the preload and training-load conditions by an empirical equation. Furthermore, the PET-based TCA was electrically driven by Joule heating after the PET surface was metallization with silver. For the fast and precise control of PET yarn TCA, electroless silver plating was conducted to form electrical conductive layers on the PET fiber surface. The silver plated PET-based TCA was tested by Joule heating and the tensile actuation was increased up to 12.1% (6 V) due to the enhanced surface hardness and slippage of PET fibers. Overall, silver plating of the polymeric yarn provided a fast actuation speed and enhanced actuation performance of the TCA actuator by Joule heating, providing a great potential for being used in artificial muscle for biomimetic machines including robots, industrial actuators and powered exoskeletons.
Modelling and characterization of dielectric elastomer stack actuators
International Nuclear Information System (INIS)
Haus, Henry; Matysek, Marc; Mößinger, Holger; Schlaak, Helmut F
2013-01-01
This paper aims to establish and evaluate an electrical and mechanical model for dielectric elastomer stack actuators. Based on the structure of an electrically interconnected actuator a simplified electrical and mechanical network is deduced. The electrical model results in a low-pass filter. The model is evaluated by measurements of the electrical impedance and contact, electrode and parallel resistances. Measurement results show good agreement of the model with the electrical behaviour of the real actuator over a wide frequency range, from below 0.1 Hz to above 10 kHz. The mechanical modelling is split into dynamic and static behaviour. The dynamic mechanical behaviour is modelled as a mechanical equivalent network using fractional elements. The static mechanical model uses the uniaxial compressive modulus of the actuator material to describe the static characteristic. The combination of static and dynamic models allows a realistic prediction of the static and dynamic deflection of the actuators under an applied electrical voltage. This electro-mechanical model has been validated in a frequency range of 4 Hz to 4 kHz. (paper)
Directory of Open Access Journals (Sweden)
Yuna Kim
2018-01-01
Full Text Available Surface dielectric barrier discharge (SDBD, which is widely used to control turbulence in aerodynamics, has a significant effect on the radar cross-section (RCS. A four-way linearly synthesized SDBD air plasma actuator is designed to bolster the plasma effects on electromagnetic waves. The diffraction angle is calculated to predict the RCS because of the periodic structure of staggered electrodes. The simplified plasma modeling is utilized to calculate the inhomogeneous surface plasma distribution. Monostatic RCS shows the diffraction in the plane perpendicular to the electrode array and the notable distortion by plasma. In comparison, the overall pattern is maintained in the parallel plane with minor plasma effects. The trends also appear in the bistatic RCS, which has a significant difference in the observation plane perpendicular to the electrodes. The peaks by Bragg’s diffraction are shown, and the RCS is reduced by 10 dB in a certain range by the plasma effect. The diffraction caused by the actuator and the inhomogeneous air plasma should be considered in designing an SDBD actuator for a wide range of application.
Dynamic modeling of brushless dc motors for aerospace actuation
Demerdash, N. A.; Nehl, T. W.
1980-01-01
A discrete time model for simulation of the dynamics of samarium cobalt-type permanent magnet brushless dc machines is presented. The simulation model includes modeling of the interaction between these machines and their attached power conditioners. These are transistorized conditioner units. This model is part of an overall discrete-time analysis of the dynamic performance of electromechanical actuators, which was conducted as part of prototype development of such actuators studied and built for NASA-Johnson Space Center as a prospective alternative to hydraulic actuators presently used in shuttle orbiter applications. The resulting numerical simulations of the various machine and power conditioner current and voltage waveforms gave excellent correlation to the actual waveforms collected from actual hardware experimental testing. These results, numerical and experimental, are presented here for machine motoring, regeneration and dynamic braking modes. Application of the resulting model to the determination of machine current and torque profiles during closed-loop actuator operation were also analyzed and the results are given here. These results are given in light of an overall view of the actuator system components. The applicability of this method of analysis to design optimization and trouble-shooting in such prototype development is also discussed in light of the results at hand.
Kim, Seung-Won; Koh, Je-Sung; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo; Cho, Kyu-Jin
2014-09-01
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.
International Nuclear Information System (INIS)
Kim, Seung-Won; Koh, Je-Sung; Cho, Kyu-Jin; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo
2014-01-01
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)
Modeling and Design of a Full-Scale Rotor Blade with Embedded Piezocomposite Actuators
Kovalovs, A.; Barkanov, E.; Ruchevskis, S.; Wesolowski, M.
2017-05-01
An optimization methodology for the design of a full-scale rotor blade with an active twist in order to enhance its ability to reduce vibrations and noise is presented. It is based on a 3D finite-element model, the planning of experiments, and the response surface technique to obtain high piezoelectric actuation forces and displacements with a minimum actuator weight and energy applied. To investigate an active twist of the helicopter rotor blade, a structural static analysis using a 3D finite-element model was carried out. Optimum results were obtained at two possible applications of macrofiber composite actuators. The torsion angle found from the finite-element simulation of helicopter rotor blades was successfully validated by its experimental values, which confirmed the modeling accuracy.
A comprehensive model for piezoceramic actuators: modelling, validation and application
International Nuclear Information System (INIS)
Quant, Mario; Elizalde, Hugo; Flores, Abiud; Ramírez, Ricardo; Orta, Pedro; Song, Gangbing
2009-01-01
This paper presents a comprehensive model for piezoceramic actuators (PAs), which accounts for hysteresis, non-linear electric field and dynamic effects. The hysteresis model is based on the widely used general Maxwell slip model, while an enhanced electro-mechanical non-linear model replaces the linear constitutive equations commonly used. Further on, a linear second order model compensates the frequency response of the actuator. Each individual model is fully characterized from experimental data yielded by a specific PA, then incorporated into a comprehensive 'direct' model able to determine the output strain based on the applied input voltage, fully compensating the aforementioned effects, where the term 'direct' represents an electrical-to-mechanical operating path. The 'direct' model was implemented in a Matlab/Simulink environment and successfully validated via experimental results, exhibiting higher accuracy and simplicity than many published models. This simplicity would allow a straightforward inclusion of other behaviour such as creep, ageing, material non-linearity, etc, if such parameters are important for a particular application. Based on the same formulation, two other models are also presented: the first is an 'alternate' model intended to operate within a force-controlled scheme (instead of a displacement/position control), thus able to capture the complex mechanical interactions occurring between a PA and its host structure. The second development is an 'inverse' model, able to operate within an open-loop control scheme, that is, yielding a 'linearized' PA behaviour. The performance of the developed models is demonstrated via a numerical sample case simulated in Matlab/Simulink, consisting of a PA coupled to a simple mechanical system, aimed at shifting the natural frequency of the latter
Bonnice, W. F.; Wagner, E.; Motyka, P.; Hall, S. R.
1985-01-01
The performance of the detection filter in detecting and isolating aircraft control surface and actuator failures is evaluated. The basic detection filter theory assumption of no direct input-output coupling is violated in this application due to the use of acceleration measurements for detecting and isolating failures. With this coupling, residuals produced by control surface failures may only be constrained to a known plane rather than to a single direction. A detection filter design with such planar failure signatures is presented, with the design issues briefly addressed. In addition, a modification to constrain the residual to a single known direction even with direct input-output coupling is also presented. Both the detection filter and the modification are tested using a nonlinear aircraft simulation. While no thresholds were selected, both filters demonstrated an ability to detect control surface and actuator failures. Failure isolation may be a problem if there are several control surfaces which produce similar effects on the aircraft. In addition, the detection filter was sensitive to wind turbulence and modeling errors.
A nonlinear model for ionic polymer metal composites as actuators
Bonomo, C.; Fortuna, L.; Giannone, P.; Graziani, S.; Strazzeri, S.
2007-02-01
This paper introduces a comprehensive nonlinear dynamic model of motion actuators based on ionic polymer metal composites (IPMCs) working in air. Significant quantities ruling the acting properties of IPMC-based actuators are taken into account. The model is organized as follows. As a first step, the dependence of the IPMC absorbed current on the voltage applied across its thickness is taken into account; a nonlinear circuit model is proposed to describe this relationship. In a second step the transduction of the absorbed current into the IPMC mechanical reaction is modelled. The model resulting from the cascade of both the electrical and the electromechanical stages represents a novel contribution in the field of IPMCs, capable of describing the electromechanical behaviour of these materials and predicting relevant quantities in a large range of applied signals. The effect of actuator scaling is also investigated, giving interesting support to the activities involved in the design of actuating devices based on these novel materials. Evidence of the excellent agreement between the estimations obtained by using the proposed model and experimental signals is given.
Dynamic response modelling and characterization of a vertical electrothermal actuator
International Nuclear Information System (INIS)
Li, Lijie; Uttamchandani, Deepak
2009-01-01
Mathematical modelling and characterization of the dynamic response of a microelectromechanical system (MEMS) electrothermal actuator are presented in this paper. The mathematical model is based on a second-order partial differential equation (one-dimensional heat transfer) and a second-order ordinary differential equation (mechanical dynamic equation). The simulations are implemented using the piecewise finite difference method and the Runge–Kutta algorithm. The electrothermal modelling includes thermal conduction, convective thermal loss and radiation effects. The temperature dependence of resistivity and thermal conductivity of single crystal silicon have also been taken into consideration in the electrothermal modelling. It is calculated from the simulation results that the 'cold' beam of the electrothermal actuator is not only a mechanical constraint but also a thermal response compensation structure. The 0–90% electrothermal rise times for the individual 'hot' and 'cold' beams are calculated to be 32.9 ms and 42.8 ms, respectively, while the 0–90% electrothermal rise time for the whole actuator is calculated to be 17.3 ms. Nonlinear cubic stiffness has been considered in the thermal-mechanical modelling. Dynamic performances of the device have been characterized using a laser vibrometer, and the 0–90% thermal response time of the whole structure has been measured to be 16.8 ms, which matches well with the modelling results. The displacements of the device under different driving conditions and at resonant frequency have been modelled and measured, and the results from both modelling and experiment agree reasonably well. This work provides a comprehensive understanding of the dynamic behaviour of the electrothermal actuation mechanism. The model will be useful for designing control systems for microelectrothermal actuated devices
Modeling and control of a self-sensing polymer metal composite actuator
International Nuclear Information System (INIS)
Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan
2014-01-01
An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)
A statistical nanomechanism of biomolecular patterning actuated by surface potential
Lin, Chih-Ting; Lin, Chih-Hao
2011-02-01
Biomolecular patterning on a nanoscale/microscale on chip surfaces is one of the most important techniques used in vitro biochip technologies. Here, we report upon a stochastic mechanics model we have developed for biomolecular patterning controlled by surface potential. The probabilistic biomolecular surface adsorption behavior can be modeled by considering the potential difference between the binding and nonbinding states. To verify our model, we experimentally implemented a method of electroactivated biomolecular patterning technology and the resulting fluorescence intensity matched the prediction of the developed model quite well. Based on this result, we also experimentally demonstrated the creation of a bovine serum albumin pattern with a width of 200 nm in 5 min operations. This submicron noncovalent-binding biomolecular pattern can be maintained for hours after removing the applied electrical voltage. These stochastic understandings and experimental results not only prove the feasibility of submicron biomolecular patterns on chips but also pave the way for nanoscale interfacial-bioelectrical engineering.
Directory of Open Access Journals (Sweden)
Salman IJAZ
2018-05-01
Full Text Available In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators. The nonlinear dynamics of both actuators are first approximated as fractional order models. Based on the identified models, three fractional order controllers are proposed for the whole system. Two Fractional Order PID (FOPID controllers are dedicated to improving transient response and are designed in a position feedback configuration. In order to synchronize the actuator dynamics, a third fractional order PI controller is designed, which feeds the force compensation signal in position feedback loop of both actuators. Nelder-Mead (N-M optimization technique is employed in order to optimally tune controller parameters based on the proposed performance criteria. To test the proposed controllers according to real flight condition, an external disturbance of higher amplitude that acts as airload is applied directly on the control surface. In addition, a disturbance signal function of system states is applied to check the robustness of proposed controller. Simulation results on nonlinear system model validated the performance of the proposed scheme as compared to optimal PID and high gain PID controllers. Keywords: Aerospace, Fractional order control, Model identification, Nelder-Mead optimization, Robustness
Modeling of a partially debonded piezoelectric actuator in smart composite laminates
International Nuclear Information System (INIS)
Huang, Bin; Soo Kim, Heung; Ho Yoon, Gil
2015-01-01
A partially debonded piezoelectric actuator in smart composite laminates was modeled using an improved layerwise displacement field and Heaviside unit step functions. The finite element method with four node plate element and the extended Hamilton principle were used to derive the governing equation. The effects of actuator debonding on the smart composite laminate were investigated in both the frequency and time domains. The frequency and transient responses were obtained using the mode superposition method and the Newmark time integration algorithm, respectively. Two partial actuator debonding cases were studied to investigate the debonding effects on the actuation capability of the piezoelectric actuator. The effect of actuator debonding on the natural frequencies was subtler, but severe reductions of the actuation ability were observed in both the frequency and time responses, especially in the edge debonded actuator case. The results provided confirmation that the proposed modeling could be used in virtual experiments of actuator failure in smart composite laminates. (paper)
Design, test and model of a hybrid magnetostrictive hydraulic actuator
International Nuclear Information System (INIS)
Chaudhuri, Anirban; Yoo, Jin-Hyeong; Wereley, Norman M
2009-01-01
The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm 3 s −1 and 22.7 cm 3 s −1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation
Modelling and control of a nonlinear magnetostrictive actuator system
Ramli, M. H. M.; Majeed, A. P. P. Abdul; Anuar, M. A. M.; Mohamed, Z.
2018-04-01
This paper explores the implementation of a feedforward control method to a nonlinear control system, in particular, Magnetostrictive Actuators (MA) that has excellent properties of energy conversion between the mechanical and magnetic form through magnetostriction effects which could be used in actuating and sensing application. MA is known to exhibit hysteresis behaviour and it is rate dependent (the level of hysteresis depends closely on the rate of input excitation frequency). This is, nonetheless, an undesirable behaviour and has to be eliminated in realising high precision application. The MA is modelled by a phenomenological modelling approach via Prandtl-Ishlinskii (P-I) operator to characterise the hysteresis nonlinearities. A feedforward control strategy is designed and implemented to linearize and eliminate the hysteresis by model inversion. The results show that the P-I operator has the capability to model the hysteretic nonlinearity of MA with an acceptable accuracy. Furthermore, the proposed control scheme has demonstrated to be effective in providing superior trajectory tracking.
Modelling and Simulation of Novel Three Arm MEMS Actuators and Its Application
International Nuclear Information System (INIS)
Pandiyan, Jagadeesh; Umapathy, M; Balachandar, S; Arumugam, M; Ramasamy, S; Gajjar, Nilesh C
2006-01-01
This paper presents the design and Finite Element Model (FEM) simulation of a novel electrothermal microactuators and arrays. It is a single material microactuator which deflects at its tips by differential thermal expansion of its constituent parts. The electrothermal actuator consists of three thin arms, three thin blades and two electrical connection pads. The goal of this coupled electrothermal actuator design was to multiply the force by adding the individual contributions of all the three actuators. The difference in magnitude of blade deflections depends on the geometrical characteristics of the actuators. The thermal deformation and thermal stability are easily controllable. The simulation employing ANSYS/Multiphysics software results include force, deflection, thermal stress, ideal electrothermal actuator and array geometries. The main advantage of this electrothermal actuator is large deflection of blades with very low actuation voltage in comparison with electrostatic actuators. A typical application in a micromirror is shown to illustrate the utility of these actuators and arrays
Zipping dielectric elastomer actuators: characterization, design and modeling
International Nuclear Information System (INIS)
Maffli, L; Rosset, S; Shea, H R
2013-01-01
We report on miniature dielectric elastomer actuators (DEAs) operating in zipping mode with an analytical model that predicts their behavior. Electrostatic zipping is a well-known mechanism in silicon MEMS to obtain large deformations and forces at lower voltages than for parallel plate electrostatic actuation. We extend this concept to DEAs, which allows us to obtain much larger out-of-plane displacements compared to silicon thanks to the softness of the elastomer membrane. We study experimentally the effect of sidewall angles and elastomer prestretch on 2.3 mm diameter actuators with PDMS membranes. With 15° and 22.5° sidewall angles, the devices zip in a bistable manner down 300 μm to the bottom of the chambers. The highly tunable bistable behavior is controllable by both chamber geometry and membrane parameters. Other specific characteristics of zipping DEAs include well-controlled deflected shape, tunable displacement versus voltage characteristics to virtually any shape, including multi-stable modes, sealing of embedded holes or channels for valving action and the reduction of the operating voltage. These properties make zipping DEAs an excellent candidate for applications such as integrated microfluidics actuators or Braille displays. (paper)
Modeling and simulation of thermally actuated bilayer plates
Bartels, Sören; Bonito, Andrea; Muliana, Anastasia H.; Nochetto, Ricardo H.
2018-02-01
We present a mathematical model of polymer bilayers that undergo large bending deformations when actuated by non-mechanical stimuli such as thermal effects. The simple model captures a large class of nonlinear bending effects and can be discretized with standard plate elements. We devise a fully practical iterative scheme and apply it to the simulation of folding of several practically useful compliant structures comprising of thin elastic layers.
Nonlinear dynamic modeling of a V-shaped metal based thermally driven MEMS actuator for RF switches
Bakri-Kassem, Maher; Dhaouadi, Rached; Arabi, Mohamed; Estahbanati, Shahabeddin V.; Abdel-Rahman, Eihab
2018-05-01
In this paper, we propose a new dynamic model to describe the nonlinear characteristics of a V-shaped (chevron) metallic-based thermally driven MEMS actuator. We developed two models for the thermal actuator with two configurations. The first MEMS configuration has a small tip connected to the shuttle, while the second configuration has a folded spring and a wide beam attached to the shuttle. A detailed finite element model (FEM) and a lumped element model (LEM) are proposed for each configuration to completely characterize the electro-thermal and thermo-mechanical behaviors. The nonlinear resistivity of the polysilicon layer is extracted from the measured current-voltage (I-V) characteristics of the actuator and the simulated corresponding temperatures in the FEM model, knowing the resistivity of the polysilicon at room temperature from the manufacture’s handbook. Both developed models include the nonlinear temperature-dependent material properties. Numerical simulations in comparison with experimental data using a dedicated MEMS test apparatus verify the accuracy of the proposed LEM model to represent the complex dynamics of the thermal MEMS actuator. The LEM and FEM simulation results show an accuracy ranging from a maximum of 13% error down to a minimum of 1.4% error. The actuator with the lower thermal load to air that includes a folded spring (FS), also known as high surface area actuator is compared to the actuator without FS, also known as low surface area actuator, in terms of the I-V characteristics, power consumption, and experimental static and dynamic responses of the tip displacement.
Yoon, K. J.; Park, K. H.; Lee, S. K.; Goo, N. S.; Park, H. C.
2004-06-01
This paper describes an analytical design model for a layered piezo-composite unimorph actuator and its numerical and experimental verification using a LIPCA (lightweight piezo-composite curved actuator) that is lighter than other conventional piezo-composite type actuators. The LIPCA is composed of top fiber composite layers with high modulus and low CTE (coefficient of thermal expansion), a middle PZT ceramic wafer, and base layers with low modulus and high CTE. The advantages of the LIPCA design are to replace the heavy metal layer of THUNDER by lightweight fiber-reinforced plastic layers without compromising the generation of high force and large displacement and to have design flexibility by selecting the fiber direction and the number of prepreg layers. In addition to the lightweight advantage and design flexibility, the proposed device can be manufactured without adhesive layers when we use a resin prepreg system. A piezo-actuation model for a laminate with piezo-electric material layers and fiber composite layers is proposed to predict the curvature and residual stress of the LIPCA. To predict the actuation displacement of the LIPCA with curvature, a finite element analysis method using the proposed piezo-actuation model is introduced. The predicted deformations are in good agreement with the experimental ones.
Laboratory and field testing results of the LMT/GTM primary surface actuators
Smith, David R.; Souccar, Kamal; Montalvo, Gabriela; Arteaga Magaña, César; Hernández Rebollar, José Luis; Olmos Tapia, Arak; Gallieni, Daniele; Lazzarini, Paolo; Fumi, Pierluigi; Anaclerio, Enzo
2016-07-01
With the final installation of the two outermost rings of the primary surface of the Large Millimeter Telescope/ Gran Telescopio Milimétrico (LMT/GTM), the project is also upgrading the primary surface actuators. There are commercial actuators that can approach the required operational accuracy and stroke, but the combination of the size and load requirements ultimately required a customized design. The new actuators fit within the volume constraints imposed by the tighter interior angles in the outer rings and are designed to support the operational and survival loading conditions even for the largest surface segments. Laboratory testing confirmed that the actuators should meet the precision, repeatability, load, and lifetime requirements. However, the LMT/GTM is at a particularly difficult site for electromechanical systems. The high altitude has the usual effect of reducing cooling effectiveness for the drives and motors, and the ambient temperature hovers near freezing. Since there is a significant amount of precipitation during some times of the year, there are frequent freeze/thaw cycles. The constant formation and either sublimation or melting of ice, along with the associated high humidity, has been a challenge for the environmental protection of many devices at the LMT/GTM. Because there are a total of 720 primary surface actuators in the system, it is particularly important that the actuators, their local drive control boxes, and their cable connections be able to meet its specifications even under the site conditions. To confirm the suitability of the actuators, the LMT/GTM procured an initial set of sixteen actuators for testing at the site. After laboratory testing, the actuators were installed into the outer two rings of the telescope and cycled during the early winter months of the 2015-16 scientific observing season. Because of the continuing installation activities in these two rings, they are not illuminated by the receivers, so field testing
Modeling of MEMS Mirrors Actuated by Phase-Change Mechanism
Directory of Open Access Journals (Sweden)
David Torres
2017-04-01
Full Text Available Given the multiple applications for micro-electro-mechanical system (MEMS mirror devices, most of the research efforts are focused on improving device performance in terms of tilting angles, speed, and their integration into larger arrays or systems. The modeling of these devices is crucial for enabling a platform, in particular, by allowing for the future control of such devices. In this paper, we present the modeling of a MEMS mirror structure with four actuators driven by the phase-change of a thin film. The complexity of the device structure and the nonlinear behavior of the actuation mechanism allow for a comprehensive study that encompasses simpler electrothermal designs, thus presenting a general approach that can be adapted to most MEMS mirror designs based on this operation principle. The MEMS mirrors presented in this work are actuated by Joule heating and tested using optical techniques. Mechanical and thermal models including both pitch and roll displacements are developed by combining theoretical analysis (using both numerical and analytical tools with experimental data and subsequently verifying with quasi-static and dynamic experiments.
Model and Design of a Power Driver for Piezoelectric Stack Actuators
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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.
Static Modeling for Commercial Braided Pneumatic Muscle Actuators
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Jun Zhong
2014-05-01
Full Text Available An enhanced model is proposed to describe static property of commercial braided pneumatic muscle actuators by including several important influencing factors. Elasticity of elastomer tube is considered and Ogden strain energy function is employed to describe its strain energy density. During pressurized process, small deformation of fiber occurs and is calculated using force balancing principle. Frictional forces within muscles are studied, which consist of friction within braid and that between bladder and braid. Isobaric experiments are performed and results verify the validity of the model.
Zhou, Miaolei; Wang, Shoubin; Gao, Wei
2013-01-01
As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model
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Miaolei Zhou
2013-01-01
Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.
Finite element and analytical models for twisted and coiled actuator
Tang, Xintian; Liu, Yingxiang; Li, Kai; Chen, Weishan; Zhao, Jianguo
2018-01-01
Twisted and coiled actuator (TCA) is a class of recently discovered artificial muscle, which is usually made by twisting and coiling polymer fibers into spring-like structures. It has been widely studied since discovery due to its impressive output characteristics and bright prospects. However, its mathematical models describing the actuation in response to the temperature are still not fully developed. It is known that the large tensile stroke is resulted from the untwisting of the twisted fiber when heated. Thus, the recovered torque during untwisting is a key parameter in the mathematical model. This paper presents a simplified model for the recovered torque of TCA. Finite element method is used for evaluating the thermal stress of the twisted fiber. Based on the results of the finite element analyses, the constitutive equations of twisted fibers are simplified to develop an analytic model of the recovered torque. Finally, the model of the recovered torque is used to predict the deformation of TCA under varying temperatures and validated against experimental results. This work will enhance our understanding of the deformation mechanism of TCAs, which will pave the way for the closed-loop position control.
Modelling and Control of Ionic Electroactive Polymer Actuators under Varying Humidity Conditions
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S. Sunjai Nakshatharan
2018-02-01
Full Text Available In this work, we address the problem of position control of ionic electroactive polymer soft actuators under varying relative humidity conditions. The impact of humidity on the actuation performance of ionic actuators is studied through frequency response and impedance spectroscopy analysis. Considering the uncertain performance of the actuator under varying humidity conditions, an adaptable model using the neural network method is developed. The model uses relative humidity magnitude as one of the model parameters, making it robust to different environmental conditions. Utilizing the model, a closed-loop controller based on the model predictive controller is developed for position control of the actuator. The developed model and controller are experimentally verified and found to be capable of predicting and controlling the actuators with excellent tracking accuracy under relative humidity conditions varying in the range of 10–90%.
Computational Actuator Disc Models for Wind and Tidal Applications
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B. Johnson
2014-01-01
Full Text Available This paper details a computational fluid dynamic (CFD study of a constantly loaded actuator disc model featuring different boundary conditions; these boundary conditions were defined to represent a channel and a duct flow. The simulations were carried out using the commercially available CFD software ANSYS-CFX. The data produced were compared to the one-dimensional (1D momentum equation as well as previous numerical and experimental studies featuring porous discs in a channel flow. The actuator disc was modelled as a momentum loss using a resistance coefficient related to the thrust coefficient (CT. The model showed good agreement with the 1D momentum theory in terms of the velocity and pressure profiles. Less agreement was demonstrated when compared to previous numerical and empirical data in terms of velocity and turbulence characteristics in the far field. These models predicted a far larger velocity deficit and a turbulence peak further downstream. This study therefore demonstrates the usefulness of the duct boundary condition (for computational ease for representing open channel flow when simulating far field effects as well as the importance of turbulence definition at the inlet.
Iyyappan Balaguru; Sathiavelu Sendhilkumar
2013-01-01
Due to the advancements in smart actuators, morphing (changing) of aircraft wings has been investigated by increasing number of researchers in recent years. In this research article, the concept of morphing is introduced to the conventional aircraft wing model with the utilization of Shape memory alloys (SMAs). An actuating mechanism is developed and built inside the aircraft wing model along with the SMA actuators which is used to morph its shape. The aircraft wing model with the SMA actuati...
Preisach model of hysteresis for the Piezoelectric Actuator Drive
DEFF Research Database (Denmark)
Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe
2015-01-01
The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from...
Validation of High Displacement Piezoelectric Actuator Finite Element Models
Taleghani, B. K.
2000-01-01
The paper presents the results obtained by using NASTRAN(Registered Trademark) and ANSYS(Regitered Trademark) finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness are important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN(Registered Trademark) and ANSYS(Registered Trademark) used different methods for modeling piezoelectric effects. In NASTRAN(Registered Trademark), a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS(Registered Trademark) processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.
A mechanical model of a non-uniform ionomeric polymer metal composite actuator
International Nuclear Information System (INIS)
Anton, Mart; Aabloo, Alvo; Punning, Andres; Kruusmaa, Maarja
2008-01-01
This paper describes a mechanical model of an IPMC (ionomeric polymer metal composite) actuator in a cantilever beam configuration. The main contribution of our model is that it gives the most detailed description reported so far of the quasistatic mechanical behaviour of the actuator with non-uniform bending at large deflections. We also investigate a case where part of an IPMC actuator is replaced with a rigid elongation and demonstrate that this configuration would make the actuator behave more linearly. The model is experimentally validated with MuscleSheet(TM) IPMCs, purchased from BioMimetics Inc
Laser-induced novel patterns: As smart strain actuators for new-age dental implant surfaces
International Nuclear Information System (INIS)
Çelen, Serap; Özden, Hüseyin
2012-01-01
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.
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.
National Research Council Canada - National Science Library
Cseke, Peter
2000-01-01
.... Actuation of the aerodynamic surfaces is achieved by an electric field applied to PZT actuators embedded in the top and bottom skins, creating differential strain and shear in the host substrate...
Wang, Dongyang; Ba, Dechun; Hao, Ming; Duan, Qihui; Liu, Kun; Mei, Qi
2018-05-01
Pneumatic NC (normally closed) valves are widely used in high density microfluidics systems. To improve actuation reliability, the actuation pressure needs to be reduced. In this work, we utilize 3D FEM (finite element method) modelling to get an insight into the valve actuation process numerically. Specifically, the progressive debonding process at the elastomer interface is simulated with CZM (cohesive zone model) method. To minimize the actuation pressure, the V-shape design has been investigated and compared with a normal straight design. The geometrical effects of valve shape has been elaborated, in terms of valve actuation pressure. Based on our simulated results, we formulate the main concerns for micro valve design and fabrication, which is significant for minimizing actuation pressures and ensuring reliable operation.
Vortex ring state by full-field actuator disc model
Energy Technology Data Exchange (ETDEWEB)
Soerensen, J.N.; Shen, W.Z.; Munduate, X. [DTU, Dept. of Energy Engineering, Lyngby (Denmark)
1997-08-01
One-dimensional momentum theory provides a simple analytical tool for analysing the gross flow behavior of lifting propellers and rotors. Combined with a blade-element strip-theory approach, it has for many years been the most popular model for load and performance predictions of wind turbines. The model works well at moderate and high wind velocities, but is not reliable at small wind velocities, where the expansion of the wake is large and the flow field behind the rotor dominated by turbulent mixing. This is normally referred to as the turbulent wake state or the vortex ring state. In the vortex ring state, momentum theory predicts a decrease of thrust whereas the opposite is found from experiments. The reason for the disagreement is that recirculation takes place behind the rotor with the consequence that the stream tubes past the rotor becomes effectively chocked. This represents a condition at which streamlines no longer carry fluid elements from far upstream to far downstream, hence one-dimensional momentum theory is invalid and empirical corrections have to be introduced. More sophisticated analytical or semi-analytical rotor models have been used to describe stationary flow fields for heavily loaded propellers. In recent years generalized actuator disc models have been developed, but up to now no detailed computations of the turbulent wake state or the vortex ring state have been performed. In the present work the phenomenon is simulated by direct simulation of the Navier-Stokes equations, where the influence of the rotor on the flow field is modelled simply by replacing the blades by an actuator disc with a constant normal load. (EG) 13 refs.
Jiang, Jing; Li, Xiaonan; Ding, Jincheng; Yue, Honghao; Deng, Zongquan
2016-12-01
Photovoltaic materials can turn light energy into electric energy directly, and thus have the advantages of high electrical output voltages and the ability to realize remote or non-contact control. When high-energy ultraviolet light illuminates polarized PbLaZrTi (PLZT) materials, high photovoltages will be generated along the spontaneous polarization direction due to the photovoltaic effect. In this paper, a novel hybrid photovoltaic/piezoelectric actuation mechanism is proposed. PLZT ceramics are used as a photovoltaic generator to drive a piezoelectric actuator. A mathematical model is established to define the time history of the actuation voltage between two electrodes of the piezoelectric actuator, which is experimentally validated by the test results of a piezoelectric actuator with different geometrical parameters under irradiation at different light intensities. Some important characteristics of this novel actuation mechanism are analyzed and it can be concluded that (1) it is experimentally validated that there is no hysteresis between voltage and deformation which exists in a PLZT actuator; (2) the saturated voltage and response speed can be improved by using a multi-patch PLZT generator to drive the piezoelectric actuator; and (3) the initial voltage of the piezoelectric actuator can be acquired by controlling the logical switch between the PLZT and the piezoelectric actuator while the initial voltages increase with the rise of light intensity.
A comprehensive dynamic modeling approach for giant magnetostrictive material actuators
International Nuclear Information System (INIS)
Gu, Guo-Ying; Zhu, Li-Min; Li, Zhi; Su, Chun-Yi
2013-01-01
In this paper, a comprehensive modeling approach for a giant magnetostrictive material actuator (GMMA) is proposed based on the description of nonlinear electromagnetic behavior, the magnetostrictive effect and frequency response of the mechanical dynamics. It maps the relationships between current and magnetic flux at the electromagnetic part to force and displacement at the mechanical part in a lumped parameter form. Towards this modeling approach, the nonlinear hysteresis effect of the GMMA appearing only in the electrical part is separated from the linear dynamic plant in the mechanical part. Thus, a two-module dynamic model is developed to completely characterize the hysteresis nonlinearity and the dynamic behaviors of the GMMA. The first module is a static hysteresis model to describe the hysteresis nonlinearity, and the cascaded second module is a linear dynamic plant to represent the dynamic behavior. To validate the proposed dynamic model, an experimental platform is established. Then, the linear dynamic part and the nonlinear hysteresis part of the proposed model are identified in sequence. For the linear part, an approach based on axiomatic design theory is adopted. For the nonlinear part, a Prandtl–Ishlinskii model is introduced to describe the hysteresis nonlinearity and a constrained quadratic optimization method is utilized to identify its coefficients. Finally, experimental tests are conducted to demonstrate the effectiveness of the proposed dynamic model and the corresponding identification method. (paper)
Modeling and development of a twisting wing using inductively heated shape memory alloy actuators
Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.
2015-04-01
Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.
Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla, M.; Nicolini, E.; Gürdal, Z.
2007-01-01
This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as
Directory of Open Access Journals (Sweden)
Miguel Lara-Castro
2017-06-01
Full Text Available Endoscopic optical-coherence tomography (OCT systems require low cost mirrors with small footprint size, out-of-plane deflections and low bias voltage. These requirements can be achieved with electrothermal actuators based on microelectromechanical systems (MEMS. We present the design and modeling of polysilicon electrothermal actuators for a MEMS mirror (100 μm × 100 μm × 2.25 μm. These actuators are composed by two beam types (2.25 μm thickness with different cross-section area, which are separated by 2 μm gap. The mirror and actuators are designed through the Sandia Ultra-planar Multi-level MEMS Technology V (SUMMiT V® process, obtaining a small footprint size (1028 μm × 1028 µm for actuators of 550 µm length. The actuators have out-of-plane displacements caused by low dc voltages and without use material layers with distinct thermal expansion coefficients. The temperature behavior along the actuators is calculated through analytical models that include terms of heat energy generation, heat conduction and heat energy loss. The force method is used to predict the maximum out-of-plane displacements in the actuator tip as function of supplied voltage. Both analytical models, under steady-state conditions, employ the polysilicon resistivity as function of the temperature. The electrothermal-and structural behavior of the actuators is studied considering different beams dimensions (length and width and dc bias voltages from 0.5 to 2.5 V. For 2.5 V, the actuator of 550 µm length reaches a maximum temperature, displacement and electrical power of 115 °C, 10.3 µm and 6.3 mW, respectively. The designed actuation mechanism can be useful for MEMS mirrors of different sizes with potential application in endoscopic OCT systems that require low power consumption.
Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control
Directory of Open Access Journals (Sweden)
Bhimashankar Gurav
2017-06-01
Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.
Characterisation of a phenomenological model for commercial pneumatic muscle actuators.
Serres, J L; Reynolds, D B; Phillips, C A; Gerschutz, M J; Repperger, D W
2009-08-01
This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 - 0.0321P for 150 < or = P < or = 314 kPa and K = 17 + 0.0179P for 314 < or = P < or = 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 < or = P < or = 550 kPa. During relaxation, B = 1.57 for 150 < or = P < or = 372 kPa and B = 0.311 + 0.00338P for 372 < or = P < or = 550. The following relationship for the contractile force coefficient, F(ce) N, was also determined: F(ce) = 2.91P+44.6 for 150 < or = P < or = 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.
Modeling and inverse feedforward control for conducting polymer actuators with hysteresis
International Nuclear Information System (INIS)
Wang, Xiangjiang; Alici, Gursel; Tan, Xiaobo
2014-01-01
Conducting polymer actuators are biocompatible with a small footprint, and operate in air or liquid media under low actuation voltages. This makes them excellent actuators for macro- and micro-manipulation devices, however, their positioning ability or accuracy is adversely affected by their hysteresis non-linearity under open-loop control strategies. In this paper, we establish a hysteresis model for conducting polymer actuators, based on a rate-independent hysteresis model known as the Duhem model. The hysteresis model is experimentally identified and integrated with the linear dynamics of the actuator. This combined model is inverted to control the displacement of the tri-layer actuators considered in this study, without using any external feedback. The inversion requires an inverse hysteresis model which was experimentally identified using an inverse neural network model. Experimental results show that the position tracking errors are reduced by more than 50% when the hysteresis inverse model is incorporated into an inversion-based feedforward controller, indicating the potential of the proposed method in enabling wider use of such smart actuators. (paper)
Modeling and comparison of superconducting linear actuators for highly dynamic motion
Directory of Open Access Journals (Sweden)
Bruyn B.J.H. de
2015-12-01
Full Text Available This paper presents a numerical modeling method for AC losses in highly dynamic linear actuators with high temperature superconducting (HTS tapes. The AC losses and generated force of two actuators, with different placement of the cryostats, are compared. In these actuators, the main loss component in the superconducting tapes are hysteresis losses, which result from both the non-sinusoidal phase currents and movement of the permanent magnets. The modeling method, based on the H-formulation of the magnetic fields, takes into account permanent magnetization and movement of permanent magnets. Calculated losses as function of the peak phase current of both superconducting actuators are compared to those of an equivalent non-cryogenic actuator.
Non Linear Modelling and Control of Hydraulic Actuators
Directory of Open Access Journals (Sweden)
B. Šulc
2002-01-01
Full Text Available This paper deals with non-linear modelling and control of a differential hydraulic actuator. The nonlinear state space equations are derived from basic physical laws. They are more powerful than the transfer function in the case of linear models, and they allow the application of an object oriented approach in simulation programs. The effects of all friction forces (static, Coulomb and viscous have been modelled, and many phenomena that are usually neglected are taken into account, e.g., the static term of friction, the leakage between the two chambers and external space. Proportional Differential (PD and Fuzzy Logic Controllers (FLC have been applied in order to make a comparison by means of simulation. Simulation is performed using Matlab/Simulink, and some of the results are compared graphically. FLC is tuned in a such way that it produces a constant control signal close to its maximum (or minimum, where possible. In the case of PD control the occurrence of peaks cannot be avoided. These peaks produce a very high velocity that oversteps the allowed values.
Hydrogel core flexible matrix composite (H-FMC) actuators: theory and preliminary modelling
International Nuclear Information System (INIS)
Dicker, M P M; Weaver, P M; Bond, I P; Rossiter, J M
2014-01-01
The underlying theory of a new actuator concept based on hydrogel core flexible matrix composites (H-FMC) is presented. The key principle that underlines the H-FMC actuator operation is that the three-dimensional swelling of a hydrogel is partially constrained in order to improve the amount of useful work done. The partial constraint is applied to the hydrogel by a flexible matrix composite (FMC) that minimizes the hydrogel's volume expansion while swelling. This constraint serves to maximize the fixed charge density and resulting osmotic pressure, the driving force behind actuation. In addition, for certain FMC fibre orientations the Poisson's ratio of the anisotropic FMC laminate converts previously unused hydrogel swelling in the radial and circumferential directions into useful axial strains. The potential benefit of the H-FMC concept to hydrogel actuator performance is shown through comparison of force–stroke curves and evaluation of improvements in useful actuation work. The model used to achieve this couples chemical and electrical components, represented with the Nernst–Plank and Poisson equations, as well as a linear elastic mechanical material model, encompassing limited geometric nonlinearities. It is found that improvements in useful actuation work in the order of 1500% over bare hydrogel performance are achieved by the H-FMC concept. A parametric study is also undertaken to determine the effect of various FMC design parameters on actuator free strain and blocking stress. A comparison to other actuator concepts is also included. (paper)
A modeling framework for deteriorating control system and predictive maintenance of actuators
International Nuclear Information System (INIS)
Langeron, Y.; Grall, A.; Barros, A.
2015-01-01
Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy
Motion modelling and control strategies of over-actuated vehicles
Edrén, Johannes
2014-01-01
With the growing concern for environmental change and uncertain oil resources, the development of new vehicle concepts will in many cases include full or partial electric propulsion. The introduction of more advanced powertrains enables vehicles that can be controlled with a variety of electric actuators, such as wheel hub motors and individual steering. With these actuators, the chassis can be enabled to adjust its properties depending on the driving situation. Manoeuvring of the vehicle, us...
Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.
2018-05-01
Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.
Modeling posture-dependent leg actuation in sagittal plane locomotion
International Nuclear Information System (INIS)
Schmitt, J; Clark, J
2009-01-01
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.
Flight control actuation system
Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)
2006-01-01
A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.
Displacement Models for THUNDER Actuators having General Loads and Boundary Conditions
Wieman, Robert; Smith, Ralph C.; Kackley, Tyson; Ounaies, Zoubeida; Bernd, Jeff; Bushnell, Dennis M. (Technical Monitor)
2001-01-01
This paper summarizes techniques for quantifying the displacements generated in THUNDER actuators in response to applied voltages for a variety of boundary conditions and exogenous loads. The PDE (partial differential equations) models for the actuators are constructed in two steps. In the first, previously developed theory quantifying thermal and electrostatic strains is employed to model the actuator shapes which result from the manufacturing process and subsequent repoling. Newtonian principles are then employed to develop PDE models which quantify displacements in the actuator due to voltage inputs to the piezoceramic patch. For this analysis, drive levels are assumed to be moderate so that linear piezoelectric relations can be employed. Finite element methods for discretizing the models are developed and the performance of the discretized models are illustrated through comparison with experimental data.
Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines
DEFF Research Database (Denmark)
Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller
2015-01-01
an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which......The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes...
Modeling and test of a kinaesthetic actuator based on MR fluid for haptic applications.
Yang, Tae-Heon; Koo, Jeong-Hoi; Kim, Sang-Youn; Kwon, Dong-Soo
2017-03-01
Haptic display units have been widely used for conveying button sensations to users, primarily employing vibrotactile actuators. However, the human feeling for pressing buttons mainly relies on kinaesthetic sensations (rather than vibrotactile sensations), and little studies exist on small-scale kinaesthetic haptic units. Thus, the primary goals of this paper are to design a miniature kinaesthetic actuator based on Magneto-Rheological (MR) fluid that can convey various button-clicking sensations and to experimentally evaluate its haptic performance. The design focuses of the proposed actuator were to produce sufficiently large actuation forces (resistive forces) for human users in a given size constraint and to offer a wide range of actuation forces for conveying vivid haptic sensations to users. To this end, this study first performed a series of parametric studies using mathematical force models for multiple operating modes of MR fluid in conjunction with finite element electromagnetism analysis. After selecting design parameters based on parametric studies, a prototype actuator was constructed, and its performance was evaluated using a dynamic mechanical analyzer. It measured the actuator's resistive force with a varying stroke (pressed depth) up to 1 mm and a varying input current from 0 A to 200 mA. The results show that the proposed actuator creates a wide range of resistive forces from around 2 N (off-state) to over 9.5 N at 200 mA. In order to assess the prototype's performance in the terms of the haptic application prospective, a maximum force rate was calculated to determine just noticeable difference in force changes for the 1 mm stoke of the actuator. The results show that the force rate is sufficient to mimic various levels of button sensations, indicating that the proposed kinaesthetic actuator can offer a wide range of resistive force changes that can be conveyed to human operators.
The effect of plasma actuator on the depreciation of the aerodynamic drag on box model
Harinaldi, Budiarso, Julian, James; Rabbani M., N.
2016-06-01
Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.
Parameter identification and model validation for the piezoelectric actuator in an inertia motor
International Nuclear Information System (INIS)
Hunstig, Matthias; Hemsel, Tobias
2010-01-01
Piezoelectric inertia motors make use of the inertia of a slider to drive the slider by friction contact in a series of small steps which are generally composed of a stick phase and a slip phase. If the best electrical drive signal for the piezoelectric actuator in an inertia motor is to be determined, its dynamical behaviour must be known. A classic dynamic lumped parameter model for piezoelectric actuators is valid only in resonance and, therefore, is not suitable for modelling the actuator in an inertia motor. A reduced dynamic model is used instead. Its parameters are identified using a step response measurement. This model is used to predict the movement of the actuator in response to a velocity-optimized signal introduced in a separate contribution. Results show that the model cannot represent the dynamical characteristics of the actuator completely. For determining voltage signals that let piezoelectric actuators follow a calculated movement pattern exactly, the model can, therefore, only be used with limitations.
Modeling and control of a hydraulically actuated flexible-prismatic link robot
International Nuclear Information System (INIS)
Love, L.; Kress, R.; Jansen, J.
1996-12-01
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies
Prescribed wind shear modelling with the actuator line technique
DEFF Research Database (Denmark)
Mikkelsen, Robert Flemming; Sørensen, Jens Nørkær; Troldborg, Niels
2007-01-01
A method for prescribing arbitrary steady atmospheric wind shear profiles combined with CFD is presented. The method is furthermore combined with the actuator line technique governing the aerodynamic loads on a wind turbine. Computation are carried out on a wind turbine exposed to a representative...
Piezoelectric Composite Actuators : Modelling of the Static and Dynamic Behaviour
Wiwattananon, P.
2013-01-01
Smart actuators, made of smart materials, are becoming more attractive in many applications because smart materials are not subjected to wear and does not require lubrication during services. Piezoelectric materials are a group of the many attractive smart materials that are being investigated for
Energy Technology Data Exchange (ETDEWEB)
Aljanaideh, Omar, E-mail: omaryanni@gmail.com [Department of Mechanical Engineering, The University of Jordan, Amman 11942 (Jordan); Habineza, Didace; Rakotondrabe, Micky [AS2M department, FEMTO-ST Institute, Univ. Bourgogne Franche-Comté, Univ. de Franche-Comté/CNRS/ENSMM, 25000 Besançon (France); Al Janaideh, Mohammad [Department of Mechanical and Industrial Engineering, The Mechatronics and Microsystems Design Laboratory, University of Toronto (Canada); Department of Mechatronics Engineering, The University of Jordan, Amman 11942 (Jordan)
2016-04-01
An experimental study has been carried out to characterize rate-dependent hysteresis of a piezoelectric tube actuator at different excitation frequencies. The experimental measurements were followed by modeling and compensation of the hysteresis nonlinearities of the piezoelectric tube actuator using both the inverse rate-dependent Prandtl–Ishlinskii model (RDPI) and inverse rate-independent Prandtl–Ishlinskii model (RIPI) coupled with a controller. The comparison of hysteresis modeling and compensation of the actuator with both models is presented.
International Nuclear Information System (INIS)
Aljanaideh, Omar; Habineza, Didace; Rakotondrabe, Micky; Al Janaideh, Mohammad
2016-01-01
An experimental study has been carried out to characterize rate-dependent hysteresis of a piezoelectric tube actuator at different excitation frequencies. The experimental measurements were followed by modeling and compensation of the hysteresis nonlinearities of the piezoelectric tube actuator using both the inverse rate-dependent Prandtl–Ishlinskii model (RDPI) and inverse rate-independent Prandtl–Ishlinskii model (RIPI) coupled with a controller. The comparison of hysteresis modeling and compensation of the actuator with both models is presented.
Experimental measurements and finite element models of High Displacement Piezoelectric Actuators.
Camargo, Gilberto; Ashford, Gevale; Naco, Eris; Usher, Tim
2004-03-01
Piezoelectric actuators have many applications including morphable wing technology and piezoelectric transformers. A Piezoelectric ceramic is a material that will move when a voltage is applied and conversely produces a charge when a pressure is applied. In our study, we examine THUNDER (Thin Layer Unimorph Ferroelectric Driver and Sensor) actuators (Thunder TM is a trademark of FACE International Corporation.) Thunder actuators are constructed by bonding thin PZT piezoelectric ceramics to metal sheets. We will present physical measurements of piezoelectric actuators, as well as measurements of the displacements due to applied voltages. In our studies we used a laser micrometer to measure the dimensional characteristics of four sizes of THUNDER actuators including TH-8R, TH-9R, TH-10R, and finally the TH-11R. We also developed computer models using a commercial fine element modeling package (FEM) known as ANSYS6.0®. This software enables us to construct our models controlling such attributes as exact dimensions of the three layers of the piezoelectric actuator, the material properties of each element, the type of load that is to be applied as well as the manner in which the layers are bonded together. The computer model compares favorably with the experimental results. Acknowledgements: NASA Grant No. 0051-0078 Department of Defense (DoD) Control No.ISP02-EUG15
A conclusive scalable model for the complete actuation response for IPMC transducers
International Nuclear Information System (INIS)
McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q
2010-01-01
This paper proposes a conclusive scalable model for the complete actuation response for ionic polymer metal composites (IPMC). This single model is proven to be able to accurately predict the free displacement/velocity and force actuation at varying displacements, with up to 3 V inputs. An accurate dynamic relationship between the force and displacement has been established which can be used to predict the complete actuation response of the IPMC transducer. The model is accurate at large displacements and can also predict the response when interacting with external mechanical systems and loads. This model equips engineers with a useful design tool which enables simple mechanical design, simulation and optimization when integrating IPMC actuators into an application. The response of the IPMC is modelled in three stages: (i) a nonlinear equivalent electrical circuit to predict the current drawn, (ii) an electromechanical coupling term and (iii) a segmented mechanical beam model which includes an electrically induced torque for the polymer. Model parameters are obtained using the dynamic time response and results are presented demonstrating the correspondence between the model and experimental results over a large operating range. This newly developed model is a large step forward, aiding in the progression of IPMCs towards wide acceptance as replacements to traditional actuators
A more accurate modeling of the effects of actuators in large space structures
Hablani, H. B.
1981-01-01
The paper deals with finite actuators. A nonspinning three-axis stabilized space vehicle having a two-dimensional large structure and a rigid body at the center is chosen for analysis. The torquers acting on the vehicle are modeled as antisymmetric forces distributed in a small but finite area. In the limit they represent point torquers which also are treated as a special case of surface distribution of dipoles. Ordinary and partial differential equations governing the forced vibrations of the vehicle are derived by using Hamilton's principle. Associated modal inputs are obtained for both the distributed moments and the distributed forces. It is shown that the finite torquers excite the higher modes less than the point torquers. Modal cost analysis proves to be a suitable methodology to this end.
One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust
International Nuclear Information System (INIS)
Yoon, Jae-San; Han, Jae-Hung
2014-01-01
Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results. (paper)
International Nuclear Information System (INIS)
He, Qingsong; Yu, Min; Zhang, Xiaoqing; Dai, Zhendong
2013-01-01
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)
Tellers, M. C.; Pulskamp, J. S.; Bedair, S. S.; Rudy, R. Q.; Kierzewski, I. M.; Polcawich, R. G.; Bergbreiter, S. E.
2018-03-01
As an alternative to highly constrained hard-wired reconfigurable RF circuits, a motion-enabled reconfigurable circuit (MERC) offers freedom from transmission line losses and homogeneous materials selection. The creation of a successful MERC requires a precise mechanical mechanism for relocating components. In this work, a piezoelectric MEMS actuator array is modeled and experimentally characterized to assess its viability as a solution to the MERC concept. Actuation and design parameters are evaluated, and the repeatability of high quality on-axis motion at greater than 1 mm s-1 is demonstrated with little positional error. Finally, an initial proof-of-concept circuit reconfiguration has been demonstrated using off-the-shelf RF filter components. Although initial feasibility tests show filter performance degradation with an additional insertion loss of 0.3 dB per contact, out-of-band rejection degradation as high as 10 dB, and ripple performance reduction from 0.25 dB to 1.5 dB, MERC is proven here as an alternative to traditional approaches used in reconfigurable RF circuit applications.
Inverse grey-box model-based control of a dielectric elastomer actuator
DEFF Research Database (Denmark)
Jones, Richard William; Sarban, Rahimullah
2012-01-01
control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control......An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... of control scheme was dictated by the desire for transparency in both controller design and operation. The internal model control (IMC) approach was chosen. In this particular application, the inverse of the linearized form of the grey-box model is used to formulate the IMC controller. To ensure consistent...
Directory of Open Access Journals (Sweden)
Jian Fu
2017-02-01
Full Text Available In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
Component based modelling of piezoelectric ultrasonic actuators for machining applications
International Nuclear Information System (INIS)
Saleem, A; Ahmed, N; Salah, M; Silberschmidt, V V
2013-01-01
Ultrasonically Assisted Machining (UAM) is an emerging technology that has been utilized to improve the surface finishing in machining processes such as turning, milling, and drilling. In this context, piezoelectric ultrasonic transducers are being used to vibrate the cutting tip while machining at predetermined amplitude and frequency. However, modelling and simulation of these transducers is a tedious and difficult task. This is due to the inherent nonlinearities associated with smart materials. Therefore, this paper presents a component-based model of ultrasonic transducers that mimics the nonlinear behaviour of such a system. The system is decomposed into components, a mathematical model of each component is created, and the whole system model is accomplished by aggregating the basic components' model. System parameters are identified using Finite Element technique which then has been used to simulate the system in Matlab/SIMULINK. Various operation conditions are tested and performed to demonstrate the system performance
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.
Muniraj, Murali; Arulmozhiyal, Ramaswamy
2015-01-01
A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.
Aerodynamic modeling of floating vertical axis wind turbines using the actuator cylinder flow method
DEFF Research Database (Denmark)
Cheng, Zhengshun; Aagaard Madsen, Helge; Gao, Zhen
2016-01-01
Recently the interest in developing vertical axis wind turbines (VAWTs) for offshore application has been increasing. Among the aerodynamic models of VAWTs, double multi-streamtube (DMST) and actuator cylinder (AC) models are two favorable methods for fully coupled modeling and dynamic analysis...
A mathematical model for smart functionally graded beam integrated with shape memory alloy actuators
International Nuclear Information System (INIS)
Sepiani, H.; Ebrahimi, F.; Karimipour, H.
2009-01-01
This paper presents a theoretical study of the thermally driven behavior of a shape memory alloy (SMA)/FGM actuator under arbitrary loading and boundary conditions by developing an integrated mathematical model. The model studied is established on the geometric parameters of the three-dimensional laminated composite box beam as an actuator that consists of a functionally graded core integrated with SMA actuator layers with a uniform rectangular cross section. The constitutive equation and linear phase transformation kinetics relations of SMA layers based on Tanaka and Nagaki model are coupled with the governing equation of the actuator to predict the stress history and to model the thermo-mechanical behavior of the smart shape memory alloy/FGM beam. Based on the classical laminated beam theory, the explicit solution to the structural response of the structure, including axial and lateral deflections of the structure, is investigated. As an example, a cantilever box beam subjected to a transverse concentrated load is solved numerically. It is found that the changes in the actuator's responses during the phase transformation due to the strain recovery are significant
Verification and validation of an actuator disc model
DEFF Research Database (Denmark)
Réthoré, Pierre-Elouan; Laan, van der, Paul Maarten; Troldborg, Niels
2014-01-01
reduce the computational cost of large wind farm wake simulations. The special case of the actuator disc is successfully validated with an analytical solution for heavily loaded turbines and with a full-rotor computation in computational fluid dynamics. Copyright © 2013 John Wiley & Sons, Ltd....... take any kind of shape discretization, determine the intersectional elements with the computational grid and use the size of these elements to redistribute proportionally the forces. This method can potentially reduce the need for mesh refinement in the region surrounding the rotor and, therefore, also...
Piteľ Ján; Tóthová Mária
2016-01-01
For modelling and simulation of pneumatic muscle actuators the mathematical dependence of the muscle force on the muscle contraction at different pressures in the muscles is necessary to know. For this purpose the static characteristics of the pneumatic artificial muscle type FESTO MAS-20-250N used in the experiments were approximated. In the paper there are shown some simulation results of the pneumatic muscle actuator dynamics using modified Hill's muscle model, in which four different appr...
Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.
Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei
2017-01-13
WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.
Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm
DEFF Research Database (Denmark)
Rethore, Pierre-Elouan; Sørensen, Niels
2008-01-01
An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known.......An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known....
Continuum damage model for ferroelectric materials and its application to multilayer actuators
Gellmann, Roman; Ricoeur, Andreas
2016-05-01
In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.
Directory of Open Access Journals (Sweden)
R. Vertechy
2013-01-01
Full Text Available Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the visco-hyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.
So, Hongyun
2013-10-31
© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.
Temperature dependency of the hysteresis behaviour of PZT actuators using Preisach model
DEFF Research Database (Denmark)
Mangeot, Charles; Zsurzsan, Tiberiu-Gabriel
2016-01-01
The Preisach model is a powerful tool for modelling the hysteresis phenomenon on multilayer piezo actuators under large signal excitation. In this paper, measurements at different temperatures are presented, showing the effect on the density of the Preisach matrix. An energy-based approach is pre...
Fault Tolerance for Industrial Actuators in Absence of Accurate Models and Hardware Redundancy
DEFF Research Database (Denmark)
Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik
2015-01-01
This paper investigates Fault-Tolerant Control for closed-loop systems where only coarse models are available and there is lack of actuator and sensor redundancies. The problem is approached in the form of a typical servomotor in closed-loop. A linear model is extracted from input/output data to ...
DEFF Research Database (Denmark)
Xu, Chang; Li, Chen Qi; Han, Xing Xing
2015-01-01
Study on the aerodynamic field in complex terrain is significant to wind farm micro-sitting and wind power prediction. This paper modeled the wind turbine through an actuator disk model, and solved the aerodynamic field by CFD to study the influence of meshing, boundary conditions and turbulence ...
Toward the Design of Multi Asymmetric Surface Dielectric Barrier Discharge (ASDBD) Actuators
International Nuclear Information System (INIS)
Zadeh, Massiel; Rohani, V.; Cauneau, F.; Fabry, F.; Fulcheri, L.
2015-01-01
This paper investigates the electrical and mechanical behaviors of a single-ASDBD actuator and a two-ASDBD one supplied in sinusoidal mode (1–10 kHz). The main objective of our research is to determine the optimum frequency values for the function of these actuators with a given power supply. For this purpose, we determine the electrical power density input to the actuators versus frequency through two methods: i) a semi-theoretical method, based on an impedance calculation, and ii) an experimental method, based on direct electrical measurements. These methods show that the addition of a second ASDBD changes the resonance frequency value of the actuator by moving it towards low frequencies. After characterizing the aerodynamic mobile layer structure induced by the single-ASDBD actuator, we analyze experimentally the mechanical response of a two-ASDBD actuator as a function of the inter-ASDBD distance. The experiments demonstrate that the induced electric wind velocity and the electro-mechanical yield of a two-ASDBD actuator reach a maximum value for an optimum inter-ASDBD distance, which is a useful value for the design of highly efficient multi-ASDBD actuators. (plasma technology)
V-stack piezoelectric actuator
Ardelean, Emil V.; Clark, Robert L.
2001-07-01
Aeroelastic control of wings by means of a distributed, trailing-edge control surface is of interest with regards to maneuvers, gust alleviation, and flutter suppression. The use of high energy density, piezoelectric materials as motors provides an appealing solution to this problem. A comparative analysis of the state of the art actuators is currently being conducted. A new piezoelectric actuator design is presented. This actuator meets the requirements for trailing edge flap actuation in both stroke and force. It is compact, simple, sturdy, and leverages stroke geometrically with minimum force penalties while displaying linearity over a wide range of stroke. The V-Stack Piezoelectric Actuator, consists of a base, a lever, two piezoelectric stacks, and a pre-tensioning element. The work is performed alternately by the two stacks, placed on both sides of the lever. Pre-tensioning can be readily applied using a torque wrench, obviating the need for elastic elements and this is for the benefit of the stiffness of the actuator. The characteristics of the actuator are easily modified by changing the base or the stacks. A prototype was constructed and tested experimentally to validate the theoretical model.
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)
Schoeftner, J.; Ebner, W.
2017-12-01
Automated and manual transmissions are the main link between engine and powertrain. The technical term when the transmission provides the desired torque during all possible driving conditions is denoted as powertrain matching. Recent developments in the last years show that double-clutch-transmissions (DCTs) are a reasonable compromise in terms of production costs, shifting quality, drivability and fuel efficiency. They have several advantages compared to other automatic transmissions (AT). Most DCTs nowadays consist of a hydraulic actuation control unit, which controls the clutches of the gearbox in order to induce a desired drivetrain torque into the driveline. The main functions of hydraulic systems are manifold: they initiate gear shifts, they provide sufficient oil for lubrication and they control the shift quality by suitably providing a desired oil flow or pressure for the clutch actuation. In this paper, a mathematical model of a passenger car equipped with a DCT is presented. The objective of this contribution is to get an increased understanding for the dynamics of the hydraulic circuit and its coupling to the vehicle drivetrain. The simulation model consists of a hydraulic and a mechanical domain: the hydraulic actuation circuit is described by nonlinear differential equations and includes the dynamics of the line pressure and the proportional valve, as well as the influence of the pressure reducing valve, pipe resistances and accumulator dynamics. The drivetrain with its gear ratios, moments of inertia, torsional stiffness of the rotating shafts and a simple longitudinal vehicle model represent the mechanical domain. The link between hydraulic and mechanical domain is given by the clutch, which combines hydraulic equations and Newton's laws. The presented mathematical model may not only be used as a simulation model for developing the transmission control software, it may also serve as a virtual layout for the design process phase. At the end of this
Directory of Open Access Journals (Sweden)
Dzahir M.A.M
2017-01-01
Full Text Available A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono- and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human’s muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM and Vastus Lateralis (VL were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF and Bicep Femoris (BF were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle’s model for both mono- and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono- and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb
A nonlinear finite element model of a piezoelectric tube actuator with hysteresis and creep
International Nuclear Information System (INIS)
Chung, S H; Fung, Eric H K
2010-01-01
Piezoelectric tube actuators are commonly used for nanopositioning in atomic force microscopes (AFMs). However, piezoelectric tube actuators exhibit hysteresis and creep which significantly limit the accuracy of nanopositioning. A finite element model of a piezoelectric tube actuator with hysteresis and creep is important for control purposes, but so far one has not been developed. The purpose of this paper is to present a nonlinear finite element (FE) model with hysteresis and creep for design purposes. Prandtl–Ishlinskii (PI) hysteresis operators and creep operators are adopted into constitutive equations. The nonlinear FE model is formulated using energy approach and Hamilton's principle. The parameters of the PI hysteresis operators and the creep operators are identified by comparing the simulation results and experimental results of other researchers. The working operation of the piezoelectric tube actuator is simulated by the reduced order FE model, and the displacement error due to hysteresis, creep and coupling effect is investigated. An output feedback controller is implemented into the reduced order FE model to show that this model is controllable
A multiscale approach for modeling actuation response of polymeric artificial muscles.
Sharafi, Soodabeh; Li, Guoqiang
2015-05-21
Artificial muscles are emerging materials in the field of smart materials with applications in aerospace, robotic, and biomedical industries. Despite extensive experimental investigations in this field, there is a need for numerical modeling techniques that facilitate cutting edge research and development. This work aims at studying an artificial muscle made of twisted Nylon 6.6 fibers that are highly cold-drawn. A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes. Two types of molecular chains are considered at the micro-scale level that control training and actuation processes viz. (a) helically oriented chains which are structural switches that store a twisted shape in their low temperature phase and restore their random configuration during the thermal actuation process, and (b) entropic chains which are highly drawn chains that could actuate as soon as the muscle heats up, and saturates when coil contact temperature is reached. The thermal actuation response of the muscle over working temperatures has been elaborated in the Modeling section. The performance of the model is validated by available experiments in the literature. The model may provide a design platform for future artificial muscle developments.
International Nuclear Information System (INIS)
Wang Wei-Long; Song Hui-Min; Li Jun; Jia Min; Wu Yun; Jin Di
2016-01-01
Electrical characteristics and optical emission spectrum of the radio frequency (RF) surface dielectric barrier discharge (SDBD) plasma actuation are investigated experimentally in this paper. Influences of operating pressure, duty cycle and load power on the discharge are analyzed. When the operating pressure reaches 30 kPa, the discharge energy calculated from the Charge–Voltage (Q–V) Lissajous figure increases significantly, while the effective capacitance decreases remarkably. As the duty cycle of the applied voltage increases, the voltage–current waveforms, the area of Q–V loop and the capacity show no distinct changes. Below 40 W, effective capacitance increases with the increase of load power, but it almost remains unchanged when load power is between 40 W and 95 W. The relative intensity changes little as the operating pressure varies from 4 kPa to 100 kPa, while it rises evidently with the pressure below 4 kPa, which indicates that the RF discharge mode shifts from filamentary discharge to glow discharge at around 4 kPa. With the increase of load power, the relative intensity rises evidently. Additionally, the relative intensity is insensitive to the pressure, the duty cycle, and the load power. (paper)
Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.
Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew
2017-07-10
This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance. © 2017 IOP Publishing Ltd.
Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator
Directory of Open Access Journals (Sweden)
Xin Zuo
2017-01-01
Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.
Combined pseudo-spectral / actuator line model for wind turbine applications
DEFF Research Database (Denmark)
Dag, Kaya Onur
2017-01-01
of the developed code is presented and verifications are carried out. In the second part, by using the new LES code, a comprehensive investigation is made for the well-known actuator line model (ALM), which is cost-efficient for investigation of the loading estimations on wind turbine blades. In ALM, the body...
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2012-01-01
The actuator cylinder flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined...
Development of a Higher Order Laminate Theory for Modeling Composites with Induced Strain Actuators
Chattopadhyay, Aditi; Seeley, Charles E.
1996-01-01
A refined higher order plate theory is developed to investigate the actuation mechanism of piezoelectric materials surface bonded or embedded in composite laminates. The current analysis uses a displacement field which accurately accounts for transverse shear stresses. Some higher order terms are identified by using the conditions that shear stresses vanish at all free surfaces. Therefore, all boundary conditions for displacements and stresses are satisfied in the present theory. The analysis is implemented using the finite element method which provides a convenient means to construct a numerical solution due to the discrete nature of the actuators. The higher order theory is computationally less expensive than a full three dimensional analysis. The theory is also shown to agree well with published experimental results. Numerical examples are presented for composite plates with thicknesses ranging from thin to very thick.
Comparative analysis of the planar capacitor and IDT piezoelectric thin-film micro-actuator models
International Nuclear Information System (INIS)
Myers, Oliver J; Anjanappa, M; Freidhoff, Carl B
2011-01-01
A comparison of the analysis of similarly developed microactuators is presented. Accurate modeling and simulation techniques are vital for piezoelectrically actuated microactuators. Coupling analytical and numerical modeling techniques with variational design parameters, accurate performance predictions can be realized. Axi-symmetric two-dimensional and three-dimensional static deflection and harmonic models of a planar capacitor actuator are presented. Planar capacitor samples were modeled as unimorph diaphragms with sandwiched piezoelectric material. The harmonic frequencies were calculated numerically and compared well to predicted values and deformations. The finite element modeling reflects the impact of the d 31 piezoelectric constant. Two-dimensional axi-symmetric models of circularly interdigitated piezoelectrically membranes are also presented. The models include the piezoelectric material and properties, the membrane materials and properties, and incorporates various design considerations of the model. These models also include the electro-mechanical coupling for piezoelectric actuation and highlight a novel approach to take advantage of the higher d 33 piezoelectric coupling coefficient. Performance is evaluated for varying parameters such as electrode pitch, electrode width, and piezoelectric material thickness. The models also showed that several of the design parameters were naturally coupled. The static numerical models correlate well with the maximum static deflection of the experimental devices. Finally, this paper deals with the development of numerical harmonic models of piezoelectrically actuated planar capacitor and interdigitated diaphragms. The models were able to closely predict the first two harmonics, conservatively predict the third through sixth harmonics and predict the estimated values of center deflection using plate theory. Harmonic frequency and deflection simulations need further correlation by conducting extensive iterative
Directory of Open Access Journals (Sweden)
Jhih-Hong Lin
2016-08-01
Full Text Available Magnetic shape memory (MSM alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.
Lin, Jhih-Hong; Chiang, Mao-Hsiung
2016-08-25
Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.
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
A novel rate-independent hysteresis model of a piezostack actuator using the congruency property
International Nuclear Information System (INIS)
Nguyen, Phuong-Bac; Choi, Seung-Bok
2011-01-01
This paper presents a novel hysteresis prediction model for a piezostack actuator. The model proposed in this work is a type of rate-independent hysteresis and is formulated using the inherent congruency property which exists in most piezoelectric materials. Specifically, the model is established by exploiting the fact that the high-order hysteretic curve segment is congruent with its first-order one that is limited by the same consecutive maximum and minimum values of input. Thus, in order to successfully implement this model two discretized first-order datasets of the ascending and descending curves need to be experimentally identified in advance. Using both the identified datasets and the congruency property, a systematic approach for predicting the hysteresis of the piezostack actuator is then obtained in two cases of input voltage: monotonic ascending and monotonic descending. The developed model is experimentally realized in order to demonstrate the effectiveness on the hysteresis prediction. In the experiment, three waveforms of input excitation schemes—a triangular waveform of decreasing amplitude, a triangular waveform of increasing amplitude and a multi-extremes triangular waveform—are applied to the proposed model. The hysteresis characteristics of the piezostack actuator predicted from the proposed model are compared with those obtained from the classical Preisach model. It is shown that the proposed model gives better accuracy, less computation time for the hysteresis prediction and more feasibility to realize than the classical Preisach model
Nonlinear dynamic modeling for smart material electro-hydraulic actuator development
Larson, John P.; Dapino, Marcelo J.
2013-03-01
Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.
Plasma actuators for bluff body flow control
Kozlov, Alexey V.
The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding
Directory of Open Access Journals (Sweden)
Felipe Treviso
2016-03-01
Full Text Available This paper presents a study on an induction planar actuator concept. The device uses the same principles as a linear induction motor in which the interaction between a travelling magnetic field and a conducting surface produces eddy currents that leads to the generation of a thrust force and can result in movement over a metallic surface. This can benefit the inspection of metallic surfaces based on the driving platform provided by the induction planar actuator. Equations of the magnetic and electric fields are presented and, by means of these equations, the forces involved were calculated. The behaviour of thrust and normal forces was analysed through the equations and by numerical models, and compared with the results obtained by measurements on a device prototype built in the laboratory as part of the study. With relation to the surface under inspection that forms the secondary, three cases were analysed: (1 a double-layered secondary formed by aluminium and ferromagnetic slabs; (2 a single aluminium layer and (3 a single ferromagnetic layer. Theoretical and measured values of thrust and normal forces showed good correlation.
Treviso, Felipe; Silveira, Marilia A.; Flores Filho, Aly F.; Dorrell, David G.
2016-01-01
This paper presents a study on an induction planar actuator concept. The device uses the same principles as a linear induction motor in which the interaction between a travelling magnetic field and a conducting surface produces eddy currents that leads to the generation of a thrust force and can result in movement over a metallic surface. This can benefit the inspection of metallic surfaces based on the driving platform provided by the induction planar actuator. Equations of the magnetic and electric fields are presented and, by means of these equations, the forces involved were calculated. The behaviour of thrust and normal forces was analysed through the equations and by numerical models, and compared with the results obtained by measurements on a device prototype built in the laboratory as part of the study. With relation to the surface under inspection that forms the secondary, three cases were analysed: (1) a double-layered secondary formed by aluminium and ferromagnetic slabs; (2) a single aluminium layer and (3) a single ferromagnetic layer. Theoretical and measured values of thrust and normal forces showed good correlation. PMID:27007377
Herbuś, K.; Ociepka, P.
2017-08-01
In the work is analysed a sequential control system of a machine for separating and grouping work pieces for processing. Whereas, the area of the considered problem is related with verification of operation of an actuator system of an electro-pneumatic control system equipped with a PLC controller. Wherein to verification is subjected the way of operation of actuators in view of logic relationships assumed in the control system. The actuators of the considered control system were three drives of linear motion (pneumatic cylinders). And the logical structure of the system of operation of the control system is based on the signals flow graph. The tested logical structure of operation of the electro-pneumatic control system was implemented in the Automation Studio software of B&R company. This software is used to create programs for the PLC controllers. Next, in the FluidSIM software was created the model of the actuator system of the control system of a machine. To verify the created program for the PLC controller, simulating the operation of the created model, it was utilized the approach of integration these two programs using the tool for data exchange in the form of the OPC server.
Kholwadwala, Deepesh K [Albuquerque, NM; Johnston, Gabriel A [Trophy Club, TX; Rohrer, Brandon R [Albuquerque, NM; Galambos, Paul C [Albuquerque, NM; Okandan, Murat [Albuquerque, NM
2007-07-24
The present invention comprises a novel, lightweight, massively parallel device comprising microelectromechanical (MEMS) fluidic actuators, to reconfigure the profile, of a surface. Each microfluidic actuator comprises an independent bladder that can act as both a sensor and an actuator. A MEMS sensor, and a MEMS valve within each microfluidic actuator, operate cooperatively to monitor the fluid within each bladder, and regulate the flow of the fluid entering and exiting each bladder. When adjacently spaced in a array, microfluidic actuators can create arbitrary surface profiles in response to a change in the operating environment of the surface. In an embodiment of the invention, the profile of an airfoil is controlled by independent extension and contraction of a plurality of actuators, that operate to displace a compliant cover.
Non-linear time variant model intended for polypyrrole-based actuators
Farajollahi, Meisam; Madden, John D. W.; Sassani, Farrokh
2014-03-01
Polypyrrole-based actuators are of interest due to their biocompatibility, low operation voltage and relatively high strain and force. Modeling and simulation are very important to predict the behaviour of each actuator. To develop an accurate model, we need to know the electro-chemo-mechanical specifications of the Polypyrrole. In this paper, the non-linear time-variant model of Polypyrrole film is derived and proposed using a combination of an RC transmission line model and a state space representation. The model incorporates the potential dependent ionic conductivity. A function of ionic conductivity of Polypyrrole vs. local charge is proposed and implemented in the non-linear model. Matching of the measured and simulated electrical response suggests that ionic conductivity of Polypyrrole decreases significantly at negative potential vs. silver/silver chloride and leads to reduced current in the cyclic voltammetry (CV) tests. The next stage is to relate the distributed charging of the polymer to actuation via the strain to charge ratio. Further work is also needed to identify ionic and electronic conductivities as well as capacitance as a function of oxidation state so that a fully predictive model can be created.
Luo, J.; Luo, J.; Olthuis, Wouter; Bergveld, Piet; Bos, M.; van der Linden, W.E.
1993-01-01
The ion-selective field effect transistor (ISFET)-based coulometric sensor¿actuator systems have found applications in acid¿base titration and in the construction of a low-drift carbon dioxide and a pH-static enzyme sensor. In this paper a brief review is given of the previously developed
Xu, Changhang; Xie, Jing; Zhang, Wuyang; Kong, Qingzhao; Chen, Guoming; Song, Gangbing
2017-11-23
Vibrothermography often employs a high-power actuator to generate heat on a specimen to reveal damage, however, the high-power actuator brings inconvenience to the application and possibly introduces additional damage to the inspected objects. This study uses a low-power piezoceramic transducer as the actuator of vibrothermography and explores its ability to detect multiple surface cracks in a metal part. Experiments were conducted on a thin aluminum beam with three cracks in different orientations. Detailed analyses of both thermograms and temperature data are presented to validate the proposed vibrothermography method. To further investigate the performance of the proposed vibrothermography method, we experimentally studied the effects of several critical factors, including the amplitude of excitation signal, specimen constraints, relative position between the transducer and cracks (the transducer is mounted on the same or the opposite side with the cracks). The results demonstrate that all cracks can be detected conveniently and simultaneously by using the proposed low-power vibrothermography. We also found that the magnitude of excitation signal and the specimen constraints have a great influence on detection results. Combined with effective data processing methods, such as Fourier transformation employed in this study, the proposed method provides a promising potential to detect multiple cracks on a metal surface in a safe and effective manner.
A study on modelling of a butterfly-type control valve by a pneumatic actuator
International Nuclear Information System (INIS)
Hwang, I Cheol; Park, Cheol Jae
2009-01-01
This paper studies on the modelling of a butterfly-type control valve actuating by an on-off pneumatic solenoid valve. The mathematical model is composed of nonlinear differential equations three parts: (i) a solenoid valve, (ii) a pneumatic cylinder, (iii) a rotary-type butterfly valve. The flow characteristics of the butterfly control valve is analysed by a computer simulator, then its simple transfer function is identified from the step responses.
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid
2016-07-25
This article presents and compares different approaches to develop reduced order models for the nonlinear von Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. Results among the various reduced-order modes are compared and are also validated by comparing to results of the finite-element model. Further, the reduced order models are employed to capture the forced dynamic response of the microplate under small and large vibration amplitudes. Comparison of the different approaches are made for this case. Keywords: electrically actuated microplates, static analysis, dynamics of microplates, diaphragm vibration, large amplitude vibrations, nonlinear dynamics
Modeling and Control for Giant Magnetostrictive Actuators with Rate-Dependent Hysteresis
Directory of Open Access Journals (Sweden)
Ping Liu
2013-01-01
Full Text Available The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a relevance vector machine (RVM model is proposed for describing the hysteresis nonlinearity under varying input current. It is possible to construct a unique dynamic model in a given rate range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set input signal. Subsequently, a proportional integral derivative (PID control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator (GMA for real-time precise trajectory tracking. Simulations and experiments both verify the effectiveness and the practicality of the proposed modeling and control methods.
Modeling and Bayesian parameter estimation for shape memory alloy bending actuators
Crews, John H.; Smith, Ralph C.
2012-04-01
In this paper, we employ a homogenized energy model (HEM) for shape memory alloy (SMA) bending actuators. Additionally, we utilize a Bayesian method for quantifying parameter uncertainty. The system consists of a SMA wire attached to a flexible beam. As the actuator is heated, the beam bends, providing endoscopic motion. The model parameters are fit to experimental data using an ordinary least-squares approach. The uncertainty in the fit model parameters is then quantified using Markov Chain Monte Carlo (MCMC) methods. The MCMC algorithm provides bounds on the parameters, which will ultimately be used in robust control algorithms. One purpose of the paper is to test the feasibility of the Random Walk Metropolis algorithm, the MCMC method used here.
Demerdash, N. A.; Nehl, T. W.
1979-01-01
A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.
Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.
Wang, Tao; Xie, Wenfang; Zhang, Youmin
2012-05-01
In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Robust sampled-data control of hydraulic flight control actuators
Kliffken, Markus Gustav
1997-01-01
In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...
Directory of Open Access Journals (Sweden)
Piteľ Ján
2016-01-01
Full Text Available For modelling and simulation of pneumatic muscle actuators the mathematical dependence of the muscle force on the muscle contraction at different pressures in the muscles is necessary to know. For this purpose the static characteristics of the pneumatic artificial muscle type FESTO MAS-20-250N used in the experiments were approximated. In the paper there are shown some simulation results of the pneumatic muscle actuator dynamics using modified Hill's muscle model, in which four different approximations of static characteristics of artificial muscle were used.
A Calibrated Lumped Element Model for the Prediction of PSJ Actuator Efficiency Performance
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Matteo Chiatto
2018-03-01
Full Text Available Among the various active flow control techniques, Plasma Synthetic Jet (PSJ actuators, or Sparkjets, represent a very promising technology, especially because of their high velocities and short response times. A practical tool, employed for design and manufacturing purposes, consists of the definition of a low-order model, lumped element model (LEM, which is able to predict the dynamic response of the actuator in a relatively quick way and with reasonable fidelity and accuracy. After a brief description of an innovative lumped model, this work faces the experimental investigation of a home-designed and manufactured PSJ actuator, for different frequencies and energy discharges. Particular attention has been taken in the power supply system design. A specific home-made Pitot tube has allowed the detection of velocity profiles along the jet radial direction, for various energy discharges, as well as the tuning of the lumped model with experimental data, where the total device efficiency has been assumed as a fitting parameter. The best fitting value not only contains information on the actual device efficiency, but includes some modeling and experimental uncertainties, related also to the used measurement technique.
Longitudinal Absolute Stability of a BWB Aircraft-Pilot System with Saturated Actuator Model
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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.
International Nuclear Information System (INIS)
Lavaroni, Luca; Cook, Malcolm J; Watson, Simon J; Dubal, Mark R
2014-01-01
In this paper computational fluid dynamics (CFD) simulations are performed using ANSYS CFX to compare wake interaction results obtained from two rotor modelling methodologies: the standard actuator disc and the blade element momentum model (BEM). The unsteady simulations embed Coriolis forces and neutral stability conditions in the surface layer and stable conditions in the free stream. The BEM method is implemented in the CFD code through a pre-processing set of files that employs look-up tables. The control system for the wind turbines is considered through look-up tables that are constructed based on operational wind farm data. Simulations using the actuator disc and BEM methodologies have been performed using a number of different turbulence models in order to compare the wind turbine wake structure results. The use of URANS and LES numerical methods, coupled with the two different methodologies of representing the turbine, enables an assessment to be made of the details required for varying degrees of accuracy in computing the wake structures. The findings stress the importance of including the rotation of the wake and the non-uniform load on the rotor in LES simulations to account for more accurate turbulence intensity levels in the near wake
Towards a model-based development approach for wireless sensor-actuator network protocols
DEFF Research Database (Denmark)
Kumar S., A. Ajith; Simonsen, Kent Inge
2014-01-01
Model-Driven Software Engineering (MDSE) is a promising approach for the development of applications, and has been well adopted in the embedded applications domain in recent years. Wireless Sensor Actuator Networks consisting of resource constrained hardware and platformspecific operating system...... induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...
Using squeeze-film effect to reduce surface friction in electrostatic actuators
DEFF Research Database (Denmark)
Zsurzsan, Tiberiu-Gabriel; Yamamoto, Akio; Zhang, Zhe
2015-01-01
This paper presents a method of reducing load friction in two degrees-of-freedom (2-DOF) transparent electrostatic induction actuator by using vibration-induced squeeze film effect. An experimental set-up was built to prove the concept. An overall 70% reduction in required driving voltage...
International Nuclear Information System (INIS)
An, Sung-Min; Cho, Kyu-Jin; Ryu, Junghyun; Cho, Maenghyo
2012-01-01
A shape memory alloy (SMA) coil spring actuator is fabricated by annealing an SMA wire wound on a rod. Four design parameters are required for the winding: the wire diameter, the rod diameter, the pitch angle and the number of active coils. These parameters determine the force and stroke produced by the actuator. In this paper, we present an engineering design framework to select these parameters on the basis of the desired force and stoke. The behavior of the SMA coil spring actuator is described in detail to provide information about the inner workings of the actuator and to aid in selecting the design parameters. A new static two-state model, which represents a force–deflection relation of the actuator at the fully martensitic state (M 100% ) and fully austenitic state (A 100% ), is derived for use in the design. Two nonlinear effects are considered in the model: the nonlinear detwinning effect of the SMA and the nonlinear geometric effect of the coil spring for large deformations. The design process is organized into six steps and is presented with a flowchart and design equations. By following this systematic approach, an SMA coil spring actuator can be designed for various applications. Experimental results verified the static two-state model for the SMA coil spring actuator and a case study showed that an actuator designed using this framework met the design requirements. The proposed design framework was developed to assist application engineers such as robotics researchers in designing SMA coil spring actuators without the need for full thermomechanical models. (paper)
An Analytic Model for the Success Rate of a Robotic Actuator System in Hitting Random Targets.
Bradley, Stuart
2015-11-20
Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an "actuator" interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator "firings") to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a "cost function" is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs.
modelling the nonlinearity of piezoelectric actuators in active
African Journals Online (AJOL)
cistvr
In active vibration control systems, it is important to have an accurate model of the control branch, that is .... Two control strategies are commonly employed: feedforward control and feedback control. ..... In Adaptive Filter Theory. Prentice Hall ...
Modeling distortion of HIT by an Actuator Disk in a periodic domain
Ghate, Aditya; Ghaisas, Niranjan; Lele, Sanjiva
2017-11-01
We study the distortion of incompressible, homogeneous isotropic turbulence (HIT) by a dragging actuator disk with a fixed thrust coefficient (under the large Reynolds number limit), using Large Eddy Simulation (LES). The HIT inflow is tailored to ensure that the largest length scales in the flow are smaller than the actuator disk diameter in order to minimize the meandering of the turbulent wake and isolate the length scales that undergo distortion. The numerical scheme (Fourier collocation with dealiasing) and the SGS closure (anisotropic minimum dissipation model) are carefully selected to minimize numerical artifacts expected due to the inviscid assumption. The LES is used to characterize the following 3 properties of the flow a) distortion of HIT due to the expanding streamtube resulting in strong anisotropy, b) turbulent pressure modulation across the actuator disk, and the c) turbulent wake state. Finally, we attempt to model the initial distortion and the pressure modulation using a WKB variant of RDT solved numerically using a set of discrete Gabor modes. Funding provided by Precourt Institute for Energy at Stanford University.
Performance prediction for a magnetostrictive actuator using a simplified model
Yoo, Jin-Hyeong; Jones, Nicholas J.
2018-03-01
Iron-Gallium alloys (Galfenol) are promising transducer materials that combine high magnetostriction, desirable mechanical properties, high permeability, and a wide operational temperature range. Most of all, the material is capable of operating under tensile stress, and is relatively resistant to shock. These materials are generally characterized using a solid, cylindrically-shaped specimen under controlled compressive stress and magnetization conditions. Because the magnetostriction strongly depends on both the applied stress and magnetization, the characterization of the material is usually conducted under controlled conditions so each parameter is varied independently of the other. However, in a real application the applied stress and magnetization will not be maintained constant during operation. Even though the controlled characterization measurement gives insight into standard material properties, usage of this data in an application, while possible, is not straight forward. This study presents an engineering modeling methodology for magnetostrictive materials based on a piezo-electric governing equation. This model suggests phenomenological, nonlinear, three-dimensional functions for strain and magnetic flux density responses as functions of applied stress and magnetic field. Load line performances as a function of maximum magnetic field input were simulated based on the model. To verify the modeling performance, a polycrystalline magnetostrictive rod (Fe-Ga alloy, Galfenol) was characterized under compressive loads using a dead-weight test setup, with strain gages on the rod and a magnetic field driving coil around the sample. The magnetic flux density through the Galfenol rod was measured with a sensing coil; the compressive loads were measured using a load cell on the bottom of the Galfenol rod. The experimental results are compared with the simulation results using the suggested model, showing good agreement.
A voice-actuated wind tunnel model leak checking system
Larson, William E.
1989-01-01
A computer program has been developed that improves the efficiency of wind tunnel model leak checking. The program uses a voice recognition unit to relay a technician's commands to the computer. The computer, after receiving a command, can respond to the technician via a voice response unit. Information about the model pressure orifice being checked is displayed on a gas-plasma terminal. On command, the program records up to 30 seconds of pressure data. After the recording is complete, the raw data and a straight line fit of the data are plotted on the terminal. This allows the technician to make a decision on the integrity of the orifice being checked. All results of the leak check program are stored in a database file that can be listed on the line printer for record keeping purposes or displayed on the terminal to help the technician find unchecked orifices. This program allows one technician to check a model for leaks instead of the two or three previously required.
Short-term Wind Forecasting at Wind Farms using WRF-LES and Actuator Disk Model
Kirkil, Gokhan
2017-04-01
Short-term wind forecasts are obtained for a wind farm on a mountainous terrain using WRF-LES. Multi-scale simulations are also performed using different PBL parameterizations. Turbines are parameterized using Actuator Disc Model. LES models improved the forecasts. Statistical error analysis is performed and ramp events are analyzed. Complex topography of the study area affects model performance, especially the accuracy of wind forecasts were poor for cross valley-mountain flows. By means of LES, we gain new knowledge about the sources of spatial and temporal variability of wind fluctuations such as the configuration of wind turbines.
International Nuclear Information System (INIS)
Krecinic, F; Duc, T Chu; Sarro, P M; Lau, G K
2008-01-01
This paper presents simulation and experimental characterization of an electro-thermally actuated micro gripper. This micro actuator can conceptually be seen as a bi-morph structure of SU-8 and silicon, actuated by thermal expansion of the polymer. The polymer micro gripper with an embedded comb-like silicon skeleton is designed to reduce unwanted out-of-plane bending of the actuator, while offering a large gripper stroke. The temperature and displacement field of the micro gripper structure is determined using a two-dimensional finite element analysis. This analysis is compared to experimental data from steady-state and transient measurements of the integrated heater resistance, which depends on the average temperature of the actuator. The stability of the polymer actuator is evaluated by recording the transient behaviour of the actual jaw displacements. The maximum single jaw displacement of this micro gripper design is 34 µm at a driving voltage of 4 V and an average actuator temperature of 170 °C. The transient thermal response is modelled by a first-order system with a characteristic time constant of 11.1 ms. The simulated force capability of the device is 0.57 mN per µm jaw displacement
Walton, John P.; Coutu, Ronald A.; Starman, LaVern
2015-02-01
There are numerous applications for micromirror arrays seen in our everyday lives. From flat screen televisions and computer monitors, found in nearly every home and office, to advanced military weapon systems and space vehicles, each application bringing with it a unique set of requirements. The microelectromechanical systems (MEMS) industry has researched many ways micromirror actuation can be accomplished and the different constraints on performance each design brings with it. This paper investigates a new "zipper" approach to electrostatically driven micromirrors with the intent of improving duel plane beam steering by coupling large deflection angles, over 30°, and a fast switching speed. To accomplish this, an extreme initial deflection is needed which can be reached using high stress bimorph beams. Currently this requires long beams and high voltage for the electrostatic pull in or slower electrothermal switching. The idea for this "zipper" approach is to stack multiple beams of a much shorter length and allow for the deflection of each beam to be added together in order to reach the required initial deflection height. This design requires much less pull-in voltage because the pull-in of one short beam will in turn reduce the height of the all subsequent beams, making it much easier to actuate. Using modeling and simulation software to characterize operations characteristics, different bimorph cantilever beam configurations are explored in order to optimize the design. These simulations show that this new "zipper" approach increases initial deflection as additional beams are added to the assembly without increasing the actuation voltage.
International Nuclear Information System (INIS)
Dang Xuanju; Tan Yonghong
2005-01-01
A new neural networks dynamic hysteresis model for piezoceramic actuator is proposed by combining the Preisach model with diagonal recurrent neural networks. The Preisach model is based on elementary rate-independent operators and is not suitable for modeling piezoceramic actuator across a wide frequency band because of the rate-dependent hysteresis characteristic of the piezoceramic actuator. The structure of the developed model is based on the structure of the Preisach model, in which the rate-independent relay hysteresis operators (cells) are replaced by the rate-dependent hysteresis operators of first-order differential equation. The diagonal recurrent neural networks being modified by an adjustable factor can be used to model the hysteresis behavior of the pizeoceramic actuator because its structure is similar to the structure of the modified Preisach model. Therefore, the proposed model not only possesses that of the Preisach model, but also can be used for describing its dynamic hysteresis behavior. Through the experimental results of both the approximation and the prediction, the effectiveness of the neural networks dynamic hysteresis model for the piezoceramic actuator is demonstrated
Directory of Open Access Journals (Sweden)
Alaa Al-Ibadi
2017-10-01
Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.
Energy Technology Data Exchange (ETDEWEB)
Yang, Liang; Yan, Hui-Jie; Qi, Xiao-Hua; Hua, Yue; Ren, Chun-Sheng, E-mail: rchsh@dlut.edu.cn [School of Physics and Optoelectronic Technology, Key laboratory of Materials Modification by Laser, Ion and Electron Beams, Ministry of Education, Dalian University of Technology, Dalian 116023 (China)
2015-04-15
Asymmetric surface dielectric barrier discharge (SDBD) plasma actuators have been intensely studied for a number of years due to their potential applications for aerodynamic control. In this paper, four types of actuators with different configurations of exposed electrode are proposed. The SDBD actuators investigated are driven by dual-power supply, referred to as a fixed AC high voltage and an adjustable DC bias. The effects of the electrode structures on the dielectric surface potential distribution, the electric wind velocity, and the mean thrust production are studied, and the dominative factors of airflow acceleration behavior are revealed. The results have shown that the actions of the SDBD actuator are mainly dependent on the geometry of the exposed electrode. Besides, the surface potential distribution can effectively affect the airflow acceleration behavior. With the application of an appropriate additional DC bias, the surface potential will be modified. As a result, the performance of the electric wind produced by a single SDBD can be significantly improved. In addition, the work also illustrates that the actuators with more negative surface potential present better mechanical performance.
International Nuclear Information System (INIS)
Yang, Liang; Yan, Hui-Jie; Qi, Xiao-Hua; Hua, Yue; Ren, Chun-Sheng
2015-01-01
Asymmetric surface dielectric barrier discharge (SDBD) plasma actuators have been intensely studied for a number of years due to their potential applications for aerodynamic control. In this paper, four types of actuators with different configurations of exposed electrode are proposed. The SDBD actuators investigated are driven by dual-power supply, referred to as a fixed AC high voltage and an adjustable DC bias. The effects of the electrode structures on the dielectric surface potential distribution, the electric wind velocity, and the mean thrust production are studied, and the dominative factors of airflow acceleration behavior are revealed. The results have shown that the actions of the SDBD actuator are mainly dependent on the geometry of the exposed electrode. Besides, the surface potential distribution can effectively affect the airflow acceleration behavior. With the application of an appropriate additional DC bias, the surface potential will be modified. As a result, the performance of the electric wind produced by a single SDBD can be significantly improved. In addition, the work also illustrates that the actuators with more negative surface potential present better mechanical performance
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
Energy Technology Data Exchange (ETDEWEB)
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S. [Kalsi Engineering, Inc., Sugar Land, TX (United States)
1996-12-01
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.
Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves
International Nuclear Information System (INIS)
Somogyi, D.; Alvarez, P.D.; Kalsi, M.S.
1996-01-01
Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the open-quote Thrust Rating Increase close-quote test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner's rule. Model predictions were validated against actual cyclic loading test results
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...... temperature are explored in a multi-objective calibration experiment to optimize the parameters in a SVAT model in the Sahel. The two satellite derived variables were effective at constraining most land-surface and soil parameters. A data assimilation framework is developed and implemented with an integrated...... 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...
International Nuclear Information System (INIS)
Cottinet, P.-J.; Souders, C.; Tsai, S.-Y.; Liang, R.; Wang, B.; Zhang, C.
2012-01-01
Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation
Beznosyuk, Sergey A.; Maslova, Olga A.; Zhukovsky, Mark S.; Valeryeva, Ekaterina V.; Terentyeva, Yulia V.
2017-12-01
The task of modeling the multiscale infrastructure of quantum attosecond actuators and femtosecond sensors of nonequilibrium physical media in smart materials is considered. Computer design and calculation of supra-atomic femtosecond sensors of nonequilibrium physical media in materials based on layered graphene-transition metal nanosystems are carried out by vdW-DF and B3LYP methods. It is shown that the molybdenum substrate provides fixation of graphene nanosheets by Van der Waals forces at a considerable distance (5.3 Å) from the metal surface. This minimizes the effect of the electronic and nuclear subsystem of the substrate metal on the sensory properties of "pure" graphene. The conclusion is substantiated that graphene-molybdenum nanosensors are able to accurately orient and position one molecule of carbon monoxide. It is shown that graphene selectively adsorbs CO and fixes the oxygen atom of the molecule at the position of the center of the graphene ring C6.
High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.
Gu, Guoying; Zhu, Limin
2010-08-01
In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.
International Nuclear Information System (INIS)
Nguyen, Phuong-Bac; Choi, Seung-Bok
2012-01-01
This paper proposes a rate-independent hysteresis compensator for a stacked PZT (lead zirconate titanate) actuator. From a congruency-based hysteresis (CBH) model which is derived from the inherent properties of this actuator, especially the congruency, a feedforward compensator associated with it is developed. The formulation of the proposed compensator is based on an assumption that the inverse operator also possesses the same properties as the CBH model does. This implies that the compensator also possesses properties such as the wiped-out loop closing between the consecutive control points and congruency. Consequently, the expressions for the compensator can be conducted by exploiting the equations for the CBH model in two cases of monotonic increase and monotonic decrease of input excitation. In order to assess the performance of the compensator, several experiments in both open-loop and closed-loop controls are undertaken. In the open-loop control experiment, the performance of the feedforward compensator using the CBH model is compared with the classical Preisach model-based one in three cases of reference waveforms. In the closed-loop control experiment, the proposed compensator is incorporated into a PID (proportional-integral-derivative) control system and the performance of this integrated system is then evaluated and compared to that of the PID with and without compensator. (paper)
National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...
Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator
Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin
2016-06-01
Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.
The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification
Groothuis, Stefan; Rusticelli, Giacomo; Zucchelli, Andrea; Stramigioli, Stefano; Carloni, Raffaella
In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission
Directory of Open Access Journals (Sweden)
Miaolei Zhou
Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan
2014-01-01
As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.
Energy Technology Data Exchange (ETDEWEB)
Al Janaideh, Mohammad, E-mail: aljanaideh@gmail.com [Department of Mechatronics Engineering, The University of Jordan, 11942 Amman (Jordan)
2013-03-15
We present a time-dependent stop operator-based Prandtl–Ishlinskii model to characterize singular hysteresis loops in a piezoceramic actuator. The model is constructed based on the time-dependent threshold. The inverse time-dependent stop operator-based Prandtl–Ishlinskii model is obtained analytically and it can be applied as a feedforward compensator to compensate for singular hysteresis loops in a class of smart-material-based actuators. The objective of this study is to present an invertible Prandtl–Ishlinskii model that can be applied as a feedforward compensator to compensate for singular hysteresis loops without inserting a feedback control system.
International Nuclear Information System (INIS)
Al Janaideh, Mohammad
2013-01-01
We present a time-dependent stop operator-based Prandtl–Ishlinskii model to characterize singular hysteresis loops in a piezoceramic actuator. The model is constructed based on the time-dependent threshold. The inverse time-dependent stop operator-based Prandtl–Ishlinskii model is obtained analytically and it can be applied as a feedforward compensator to compensate for singular hysteresis loops in a class of smart-material-based actuators. The objective of this study is to present an invertible Prandtl–Ishlinskii model that can be applied as a feedforward compensator to compensate for singular hysteresis loops without inserting a feedback control system
The k-ε-fP model applied to double wind turbine wakes using different actuator disk force methods
DEFF Research Database (Denmark)
Laan, van der, Paul Maarten; Sørensen, Niels N.; Réthoré, Pierre-Elouan
2015-01-01
The newly developed k-ε-fP eddy viscosity model is applied to double wind turbine wake configurations in a neutral atmospheric boundary layer, using a Reynolds-Averaged Navier–Stokes solver. The wind turbines are represented by actuator disks. A proposed variable actuator disk force method...... two methods overpredict it. The results of the k-ε-fP eddy viscosity model are also compared with the original k-ε eddy viscosity model and large-eddy simulations. Compared to the large-eddy simulations-predicted velocity and power deficits, the k-ε-fP is superior to the original k-ε model...
Analysis of Foot Slippage Effects on an Actuated Spring-Mass Model of Dynamic Legged Locomotion
Directory of Open Access Journals (Sweden)
Yizhar Or
2016-04-01
Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb's friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick-slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Schmidt Paulsen, Uwe; Vita, Luca
2014-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined....... obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading.......The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined....... The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power...
Godfrey, Juleon Taylor
In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.
Chakrabarti, Suryarghya; Dapino, Marcelo J.
2009-03-01
A bidirectional magnetostrictive actuator with millimeter stroke and a blocked force of few tens of Newtons has been developed based on a Terfenol-D driver and a simple hydraulic magnification stage. The actuator is compared with an electrodynamic actuator used in active powertrain mounts in terms of electrical power consumption, frequency bandwidth, and spectral content of the response. The measurements show that the actuator has a flat free-displacement and blocked-force response up to 200 Hz, suggesting a significantly broader frequency bandwidth than commercial electromagnetic actuators while drawing comparable amounts of power.
Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model.
Li, Pengzhi; Yan, Feng; Ge, Chuan; Zhang, Mingchao
2012-08-01
In this paper, a novel Takagi-Sugeno (T-S) fuzzy system based model is proposed for hysteresis in piezoelectric actuators. The antecedent and consequent structures of the fuzzy hysteresis model (FHM) can be, respectively, identified on-line through uniform partition approach and recursive least squares (RLS) algorithm. With respect to controller design, the inverse of FHM is used to develop a feedforward controller to cancel out the hysteresis effect. Then a hybrid controller is designed for high-performance tracking. It combines the feedforward controller with a proportional integral differential (PID) controller favourable for stabilization and disturbance compensation. To achieve nanometer-scale tracking precision, the enhanced adaptive hybrid controller is further developed. It uses real-time input and output data to update FHM, thus changing the feedforward controller to suit the on-site hysteresis character of the piezoelectric actuator. Finally, as to 3 cases of 50 Hz sinusoidal, multiple frequency sinusoidal and 50 Hz triangular trajectories tracking, experimental results demonstrate the efficiency of the proposed controllers. Especially, being only 0.35% of the maximum desired displacement, the maximum error of 50 Hz sinusoidal tracking is greatly reduced to 5.8 nm, which clearly shows the ultra-precise nanometer-scale tracking performance of the developed adaptive hybrid controller.
Predictive Surface Complexation Modeling
Energy Technology Data Exchange (ETDEWEB)
Sverjensky, Dimitri A. [Johns Hopkins Univ., Baltimore, MD (United States). Dept. of Earth and Planetary Sciences
2016-11-29
Surface complexation plays an important role in the equilibria and kinetics of processes controlling the compositions of soilwaters and groundwaters, the fate of contaminants in groundwaters, and the subsurface storage of CO_{2} and nuclear waste. Over the last several decades, many dozens of individual experimental studies have addressed aspects of surface complexation that have contributed to an increased understanding of its role in natural systems. However, there has been no previous attempt to develop a model of surface complexation that can be used to link all the experimental studies in order to place them on a predictive basis. Overall, my research has successfully integrated the results of the work of many experimentalists published over several decades. For the first time in studies of the geochemistry of the mineral-water interface, a practical predictive capability for modeling has become available. The predictive correlations developed in my research now enable extrapolations of experimental studies to provide estimates of surface chemistry for systems not yet studied experimentally and for natural and anthropogenically perturbed systems.
Magnetic Actuation of Biological Systems
Lauback, Stephanie D.
Central to the advancement of many biomedical and nanotechnology capabilities is the capacity to precisely control the motion of micro and nanostructures. These applications range from single molecule experiments to cell isolation and separation, to drug delivery and nanomachine manipulation. This dissertation focuses on actuation of biological micro- and nano-entities through the use of weak external magnetic fields, superparamagnetic beads, and ferromagnetic thin films. The magnetic platform presents an excellent method for actuation of biological systems due to its ability to directly control the motion of an array of micro and nanostructures in real-time with calibrated picoNewton forces. The energy landscape of two ferromagnetic thin film patterns (disks and zigzag wires) is experimentally explored and compared to corresponding theoretical models to quantify the applied forces and trajectories of superparamagnetic beads due to the magnetic traps. A magnetic method to directly actuate DNA nanomachines in real-time with nanometer resolution and sub-second response times using micromagnetic control was implemented through the use of stiff DNA micro-levers which bridged the large length scale mismatch between the micro-actuator and the nanomachine. Compared to current alternative methods which are limited in the actuation speeds and the number of reconfiguration states of DNA constructs, this magnetic approach enables fast actuation (˜ milliseconds) and reconfigurable conformations achieved through a continuous range of finely tuned steps. The system was initially tested through actuation of the stiff arm tethered to the surface, and two prototype DNA nanomachines (rotor and hinge) were successfully actuated using the stiff mechanical lever. These results open new possibilities in the development of functional robotic systems at the molecular scale. In exploiting the use of DNA stiff levers, a new technique was also developed to investigate the emergence of the
Bouchaala, Adam M.
2015-01-01
We investigate the dynamics of electrically actuated Micro and Nano (Carbon nanotube (CNT)) cantilever beams implemented as resonant sensors for mass detection of biological elements. The beams are modeled using an Euler-Bernoulli beam theory including the nonlinear electrostatic forces and the added biological elements, which are modeled as a discrete point mass. A multi-mode Galerkin procedure is utilized to derive a reduced-order model, which is used for the dynamic simulations. The frequency shifts due to added mass of Escherichia coli (E. coli) and Prostate Specific Antigen (PSA) are calculated for the primary and higher order modes of vibrations. Also, analytical expressions of the natural frequency shift under dc voltage and added mass have been developed. We found that using higher-order modes of vibration of MEMS beams or miniaturizing the size of the beam to Nano scale leads to significant improved sensitivity. © Springer International Publishing Switzerland 2015.
Research of Jiles-Atherton Dynamic Model in Giant Magnetostrictive Actuator
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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.
Disc type thermal actuator with straight beams for angular motion
International Nuclear Information System (INIS)
Anwar, M. Arefin; Packirisamy, Muthukumaran; Ahmed, A.K. Waiz
2013-01-01
Motion of a micro thermal actuator largely depends on its structural topology. This paper presents designs for a novel rotary type micro thermal actuator. This actuator has unique arrangement of hot segments around the cold segment. Upon application of potential difference, hot segments expand against the cold segment of disc and make the cold disc rotate about its center. This rotary motion can be used for various optical applications like, switching, attenuation and diffraction. The actuator has been fabricated using poly MUMPS process technology. An analytical model was used for predicting steady state temperature profile along the actuator length and rotational behavior of the cold disc under different applied voltages. A finite element analysis (FEA) was carried out to predict the behavior of the actuator by defining an air volume around the structure and also between structure and substrate. Finally testing was done for predicting feasibility of the actuator. Comparison of the rotational behavior obtained from both analytical model and FEA with that of obtained from testing shows close agreement. -- Highlights: ► Electro-thermo-mechanical modeling and verification of rotary micro thermal actuator. ► Modeling with conduction, convection and radiation modes for the air gap below 3 micron. ► In micro level, shape factor and material resistivity were estimated and verified through I–V characteristics. ► Two different designs of different shape factors were designed, fabricated and tested. ► The devices were fabricated using surface micromachining technology and tested for verification
Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network
Directory of Open Access Journals (Sweden)
Alexander Hošovský
2015-01-01
Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.
Sen, Shin; Ando, Takehiro; Kobayashi, Etsuko; Miyamoto, Hideaki; Ohashi, Satoru; Tanaka, Sakae; Joung, Sanghyun; Park, Il-Hyung; Sakuma, Ichiro
2014-01-01
In femoral fracture reduction, orthopedic surgeons must pull distal bone fragments with great traction force and return them to their correct positions, by referring to 2D-fluoroscopic images. Since this method is physically burdensome, the introduction of robotic assistance is desirable. While such robots have been developed, adequate control methods have not yet been established because of the lack of experimental data. It is difficult to obtain accurate data using cadavers or animals because they are different from the living human body's muscle characteristics and anatomy. Therefore, an experimental model for simulating human femoral characteristics is required. In this research, human muscles are reproduced using a McKibben-type pneumatic rubber actuator (artificial muscle) to develop a model that simulates typical femur muscles using artificial muscles.
Computational design and multiscale modeling of a nanoactuator using DNA actuation
International Nuclear Information System (INIS)
Hamdi, Mustapha
2009-01-01
Developments in the field of nano-biodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier.
Gohari, S. M. Iman; Sarkar, Sutanu; Korobenko, Artem; Bazilevs, Yuri
2017-11-01
Numerical simulations of wind turbines operating under different regimes of stability are performed using LES. A reduced model, based on the generalized actuator disk model (ADM), is implemented to represent the wind turbines within the ABL. Data from the fluid-solid interaction (FSI) simulations of wind turbines have been used to calibrate and validate the reduced model. The computational cost of this method to include wind turbines is affordable and incurs an overhead as low as 1.45%. Using this reduced model, we study the coupling of unsteady turbulent flow with the wind turbine under different ABL conditions: (i) A neutral ABL with zero heat-flux and inversion layer at 350m, in which the incoming wind has the maximum mean shear between the heights of upper-tip and lower-tip; (2) A shallow ABL with surface cooling rate of -1 K/hr wherein the low level jet occurs at the wind turbine hub height. We will discuss how the differences in the unsteady flow between the two ABL regimes impact the wind turbine performance.
Directory of Open Access Journals (Sweden)
Irfan Hussain
2018-06-01
Full Text Available This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA aiming to be used for the development of a novel compliant robotic manipulator. BcVSA is the proof of concept of the active revolute joint with the variable recruitment of series-parallel elastic elements. We briefly recall the basic design principle which is based on a stiffness varying mechanism consisting of a motor, three inline clutches, and three torsional springs with stiffness values (K0, 2K0, 4K0 connected to the load shaft and the motor shaft through two planetary sun gear trains with ratios (4:1, 4:1 respectively. We present the design concept, stiffness and dynamic modeling, and control of our BcVSA. We implemented three kinds of Multiple Model Predictive Control (MPC to control our actuator. The main motivation of choosing this controller lies in the fact that working principle of multiple MPC and multiple states space representation (stiffness level of our actuator share similar interests. In particular, we implemented Multiple MPC, Multiple Explicit MPC, and Approximated Multiple Explicit MPC. Numerical simulations are performed in order to evaluate their effectiveness for the future experiments on the prototype of our actuator. The simulation results showed that the Multiple MPC, and the Multiple Explicit MPC have similar results from the robustness point of view. On the other hand, the robustness performance of Approximated Multiple Explicit MPC is not good as compared to other controllers but it works in the offline framework while having the capability to compute the sub-optimal results. We also performed the comparison of MPC based controllers with the Computed Torque Control (CTC, and Linear Quadratic Regulator (LQR. In future, we are planning to test the presented approach on the
Crawley, E. F.; De Luis, J.
1986-01-01
An analytic model for structures with distributed piezoelectric actuators is experimentally verified for the cases of both surface-bonded and embedded actuators. A technique for the selection of such piezoelectric actuators' location has been developed, and is noted to indicate that segmented actuators are always more effective than continuous ones, since the output of each can be individually controlled. Manufacturing techniques for the bonding or embedding of segmented piezoelectric actuators are also developed which allow independent electrical contact to be made with each actuator. Static tests have been conducted to determine how the elastic properties of the composite are affected by the presence of an embedded actuator, for the case of glass/epoxy laminates.
Development of Traveling Wave Actuators Using Waveguides of Different Geometrical Forms
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Ramutis Bansevicius
2016-01-01
Full Text Available The paper covers the research and development of piezoelectric traveling wave actuators using different types of the waveguides. The introduced piezoelectric actuators can be characterized by specific areas of application, different resolution, and torque. All presented actuators are ultrasonic resonant devices and they were developed to increase amplitudes of the traveling wave oscillations of the contact surface. Three different waveguides are introduced, that is, symmetrical, asymmetrical, and cone type waveguide. A piezoelectric ring with the sectioned electrodes is used to excite traveling wave oscillations for all actuators. Operating principle, electrode pattern, and excitation regimes of piezoelectric actuators are described. A numerical modelling of the actuators was performed to validate the operating principle and to calculate trajectories of the contact points motion. Prototype actuators were made and experimental study was performed. The results of numerical and experimental analysis are discussed.
Energy Technology Data Exchange (ETDEWEB)
Mirocha, J. D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Kosovic, B. [National Center for Atmospheric Research, Boulder, CO (United States); Aitken, M. L. [Univ. of Colorado, Boulder, CO (United States); Lundquist, J. K. [Univ. of Colorado, Boulder, CO (United States); National Renewable Energy Lab., Golden, CO (United States)
2014-01-10
A generalized actuator disk (GAD) wind turbine parameterization designed for large-eddy simulation (LES) applications was implemented into the Weather Research and Forecasting (WRF) model. WRF-LES with the GAD model enables numerical investigation of the effects of an operating wind turbine on and interactions with a broad range of atmospheric boundary layer phenomena. Numerical simulations using WRF-LES with the GAD model were compared with measurements obtained from the Turbine Wake and Inflow Characterization Study (TWICS-2011), the goal of which was to measure both the inflow to and wake from a 2.3-MW wind turbine. Data from a meteorological tower and two light-detection and ranging (lidar) systems, one vertically profiling and another operated over a variety of scanning modes, were utilized to obtain forcing for the simulations, and to evaluate characteristics of the simulated wakes. Simulations produced wakes with physically consistent rotation and velocity deficits. Two surface heat flux values of 20 W m^{–2} and 100 W m^{–2} were used to examine the sensitivity of the simulated wakes to convective instability. Simulations using the smaller heat flux values showed good agreement with wake deficits observed during TWICS-2011, whereas those using the larger value showed enhanced spreading and more-rapid attenuation. This study demonstrates the utility of actuator models implemented within atmospheric LES to address a range of atmospheric science and engineering applications. In conclusion, validated implementation of the GAD in a numerical weather prediction code such as WRF will enable a wide range of studies related to the interaction of wind turbines with the atmosphere and surface.
Directory of Open Access Journals (Sweden)
Mirco Martens
2017-11-01
Full Text Available In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.
Model-Based Evolution of a Fast Hybrid Fuzzy Adaptive Controller for a Pneumatic Muscle Actuator
Directory of Open Access Journals (Sweden)
Alexander Hošovský
2012-07-01
Full Text Available Pneumatic artificial muscle-based robotic systems usually necessitate the use of various nonlinear control techniques in order to improve their performance. Their robustness to parameter variation, which is generally difficult to predict, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of the PD controller under conditions of inertia moment variation. The fuzzy controller of Takagi-Sugeno type is evolved through a genetic algorithm using the dynamic model of a pneumatic muscle actuator. The results confirm the capability of the designed system to provide robust performance under the conditions of varying inertia.
Nycz, Christopher J; Delph, Michael A; Fischer, Gregory S
2015-01-01
Robotic technology has recently been explored as a means to rehabilitate and assist individuals suffering from hemiparesis of their upper limbs. Robotic approaches allow for targeted rehabilitation routines which are more personalized and adaptable while providing quantitative measurements of patient outcomes. Development of these technologies into inherently safe and portable devices has the potential to extend the therapy outside of the clinical setting and into the patient's home with benefits to the cost and accessibility of care. To this end, a soft, cable actuated robotic glove and sleeve was designed, modeled, and constructed to provide assistance of finger and elbow movements in a way that mimics the biological function of the tendons. The resulting design increases safety through greater compliance as well as greater tolerance for misalignment with the user's skeletal frame over traditional rigid exoskeletons. Overall this design provides a platform to expand and study the concepts around soft robotic rehabilitation.
International Nuclear Information System (INIS)
Kang, Rongjie; Zheng Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G; Branson, David T
2013-01-01
Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)
Validation of the Actuator Line Model for Simulating Flows past Yawed Wind Turbine Rotors
DEFF Research Database (Denmark)
Shen, Wen Zhong; Zhu, Wei Jun; Yang, Hua
2015-01-01
The Actuator Line/Navier-Stokes model is validated against wind tunnel measurements for flows past the yawed MEXICO rotor and past the yawed NREL Phase VI rotor. The MEXICO rotor is operated at a rotational speed of 424 rpm, a pitch angle of −2.3˚, wind speeds of 10, 15, 24 m/s and yaw angles of 15......˚, 30˚ and 45˚. The computed loads as well as the velocity field behind the yawed MEXICO rotor are compared to the detailed pressure and PIV measurements which were carried out in the EU funded MEXICO project. For the NREL Phase VI rotor, computations were carried out at a rotational speed of 90.2 rpm...
Simulation of a 7.7 MW onshore wind farm with the Actuator Line Model
Guggeri, A.; Draper, M.; Usera, G.
2017-05-01
Recently, the Actuator Line Model (ALM) has been evaluated with coarser resolution and larger time steps than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition. The aim of the present paper is to continue these studies, assessing the capability of the ALM to represent the wind turbines’ interactions in an onshore wind farm. The ‘Libertad’ wind farm, which consists of four 1.9MW Vestas V100 wind turbines, was simulated considering different wind directions, and the results were compared with the wind farm SCADA data, finding good agreement between them. A sensitivity analysis was performed to evaluate the influence of the spatial resolution, finding acceptable agreement, although some differences were found. It is believed that these differences are due to the characteristics of the different Atmospheric Boundary Layer (ABL) simulations taken as inflow condition (precursor simulations).
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Borhan, H; Ahmadian, M T [Sharif University of Technology, Center of Excellence for Design, Robotics and Automation, School of Mechanical Engineering, PO Box 11365-9567, Tehran (Iran, Islamic Republic of)
2006-04-01
In this paper, a complete nonlinear finite element model for coupled-domain MEMS devices with electrostatic actuation and squeeze film effect is developed. For this purpose, a corotational finite element formulation for the dynamic analysis of planer Euler beams is employed. In this method, the internal nodal forces due to deformation and intrinsic residual stresses, the inertial nodal forces, and the damping effect of squeezed air film are systematically derived by consistent linearization of the fully geometrically nonlinear beam theory using d'Alamber and virtual work principles. An incremental-iterative method based on the Newmark direct integration procedure and the Newton-Raphson algorithm is used to solve the nonlinear dynamic equilibrium equations. Numerical examples are presented and compared with experimental findings which indicate properly good agreement.
DEFF Research Database (Denmark)
Aagaard Madsen, Helge; Larsen, Torben J.; Schmidt Paulsen, Uwe
2013-01-01
The paper presents the implementation of the Actuator Cylinder (AC) flow model in the HAWC2 aeroelastic code originally developed for simulation of Horizontal Axis Wind Turbine (HAWT) aeroelasticity. This is done within the DeepWind project where the main objective is to explore the competitiveness...
Hua, Weizhuo; Fukagata, Koji
2018-04-01
Two-dimensional numerical simulation of a surface dielectric barrier discharge (SDBD) plasma actuator, driven by a nanosecond voltage pulse, is conducted. A special focus is laid upon the influence of grid resolution on the computational result. It is found that the computational result is not very sensitive to the streamwise grid spacing, whereas the wall-normal grid spacing has a critical influence. In particular, the computed propagation velocity changes discontinuously around the wall-normal grid spacing about 2 μm due to a qualitative change of discharge structure. The present result suggests that a computational grid finer than that was used in most of previous studies is required to correctly capture the structure and dynamics of streamer: when a positive nanosecond voltage pulse is applied to the upper electrode, a streamer forms in the vicinity of upper electrode and propagates along the dielectric surface with a maximum propagation velocity of 2 × 108 cm/s, and a gap with low electron and ion density (i.e., plasma sheath) exists between the streamer and dielectric surface. Difference between the results obtained using the finer and the coarser grid is discussed in detail in terms of the electron transport at a position near the surface. When the finer grid is used, the low electron density near the surface is caused by the absence of ionization avalanche: in that region, the electrons generated by ionization is compensated by drift-diffusion flux. In contrast, when the coarser grid is used, underestimated drift-diffusion flux cannot compensate the electrons generated by ionization, and it leads to an incorrect increase of electron density.
DEFF Research Database (Denmark)
Habib, Tufail
2012-01-01
In an electromechanical valve actuated engine, the valves are driven by solenoid-type actuators and cam-shaft is eliminated. Control of each valve provides flexibility in valve timings over all engine conditions and achieves the benefits of variable valve timing(VVT). This paper is about investig...
The actuator for micro moving of a body in a plane
International Nuclear Information System (INIS)
Vasiljev, P.; Borodinas, S.; Yoon, S.-J.; Mazeika, D.; Kulvietis, G.
2005-01-01
In present work, the analysis of moving of positioning table in a plane is indicated. For this purpose, only one piezoelectric motor without intermediate parts is created. Being based on researches of compound ultrasonic piezoelectric systems called 'shaking beam' is developed actuator for moving of a body in a plane at any direction. Computer modeling of the actuator is carried out. The prototype is made. The experimental outcomes of the oscillation forms of working surfaces of an actuator are given
International Nuclear Information System (INIS)
Schröck, Johannes; Meurer, Thomas; Kugi, Andreas
2011-01-01
This paper considers a systematic approach for motion planning and feedforward control design for a flexible cantilever actuated by piezoelectric macro-fiber composite (MFC) patches. For accurate feedforward tracking control, special attention has to be paid to the inherent nonlinear hysteresis and creep behavior of these actuators. In order to account for these effects an appropriate compensator is applied which allows us to perform the tracking controller design on the basis of a linear infinite-dimensional model. A detailed analysis of the nonlinear actuator behavior as well as the compensator design and the overall experimental validation is presented in the companion paper (Schröck et al 2011 Smart Mater. Struct. 20 015016). The governing equations of motion of the hysteresis and creep compensated cantilever are determined by means of the extended Hamilton's principle. This allows us to consider the influence of the bonded patch actuators on the mechanical properties of the underlying beam structure in a straightforward manner and results in a model with spatially varying system parameters. For the solution of the motion planning and feedforward control problem a flatness-based methodology is proposed. In a first step, the infinite-dimensional system of the MFC-actuated flexible cantilever is approximated by a finite-dimensional model, where all system variables, i.e. the states, input and output, can be parameterized in terms of a so-called flat output. In a second step, it is shown by numerical simulations that these parameterizations converge with increasing system order of the finite-dimensional model such that the feedforward control input can be directly calculated in order to realize prescribed output trajectories
Arriola, David; Thielecke, Frank
2017-09-01
Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.
Energy Technology Data Exchange (ETDEWEB)
Louis, J.P.
2004-07-01
The modeling of a system to be automatized is a key step for the determination of the control laws because these laws are based on inverse models deduced from direct models. The ideal example is the DC actuator, the simpleness of which allows to directly shift from the modeling to the control law. For AC actuators, the modeling tools are based on the classical hypotheses: linearity, first harmonics, symmetry. They lead to very efficient models which allow to study the properties in dynamical and permanent regime of the most important actuators: synchronous motors, asynchronous motors, voltage inverters. Some extensions to other kind of machines which does not fulfill the classical hypotheses are also proposed: synchronous machines with non-sinusoidal field distribution and asynchronous machines in saturated regime. (J.S.)
Complete modeling of rotary ultrasonic motors actuated by traveling flexural waves
Bao, Xiaoqi; Bar-Cohen, Yoseph
2000-06-01
Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors are being adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and analytical tools for the design of efficient motors are being developed. A hybrid analytical model was developed to address a complete ultrasonic motor as a system. Included in this model is the influence of the rotor dynamics, which was determined experimentally to be important to the motor performance. The analysis employs a 3D finite element model to express the dynamic characteristics of the stator with piezoelectric elements and the rotor. The details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. are included to support practical USM designs. A brush model is used for the interface layer and Coulomb's law for the friction between the stator and the rotor. The theoretical predictions were corroborated experimentally for the motor. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.
Analysis of VAWT aerodynamics and design using the Actuator Cylinder flow model
International Nuclear Information System (INIS)
Madsen, H Aa; Paulsen, U S; Vitae, L
2014-01-01
The actuator cylinder (AC) flow model is defined as the ideal VAWT rotor. Radial directed volume forces are applied on the circular path of the VAWT rotor airfoil and constitute an energy conversion in the flow. The power coefficient for the ideal as well as the real energy conversion is defined. The describing equations for the two-dimensional AC model are presented and a solution method splitting the final solution in a linear and non-linear part is briefly described. A family of loadforms approaching the uniform loading is used to study the ideal energy conversion indicating that the maximum power coefficient for the ideal energy conversion of a VAWT could exceed the Betz limit. The real energy conversion of the 5MW DeepWind rotor is simulated with the AC flow model in combination with the blade element analysis. Aerodynamic design aspects are discussed on this basis revealing that the maximum obtainable power coefficient for a fixed pitch VAWT is constrained by the fundamental cyclic variation of inflow angle and relative velocity leading to a loading that deviates considerably from the uniform loading
Kang, Seokkoo; Yang, Xiaolei; Sotiropoulos, Fotis
2012-11-01
While a considerable amount of work has focused on studying the effects and performance of wind farms, very little is known about the performance of hydrokinetic turbine arrays in open channels. Unlike large wind farms, where the vertical fluxes of momentum and energy from the atmospheric boundary layer comprise the main transport mechanisms, the presence of free surface in hydrokinetic turbine arrays inhibits vertical transport. To explore this fundamental difference between wind and hydrokinetic turbine arrays, we carry out LES with the actuator disk model to systematically investigate various layouts of hydrokinetic turbine arrays mounted on the bed of a straight open channel with fully-developed turbulent flow fed at the channel inlet. Mean flow quantities and turbulence statistics within and downstream of the arrays will be analyzed and the effect of the turbine arrays as means for increasing the effective roughness of the channel bed will be extensively discussed. This work was supported by Initiative for Renewable Energy & the Environment (IREE) (Grant No. RO-0004-12), and computational resources were provided by Minnesota Supercomputing Institute.
Zhang, Yan; Lee, Dong-Weon
2010-05-01
An integrated system made up of a double-hot arm electro-thermal microactuator and a piezoresistor embedded at the base of the 'cold arm' is proposed. The electro-thermo-mechanical modeling and optimization is developed to elaborate the operation mechanism of the hybrid system through numerical simulations. For given materials, the geometry design mostly influences the performance of the sensor and actuator, which can be considered separately. That is because thermal expansion induced heating energy has less influence on the base area of the 'cold arm,' where is the maximum stress. The piezoresistor is positioned here for large sensitivity to monitor the in-plane movement of the system and characterize the actuator response precisely in real time. Force method is used to analyze the thermal induced mechanical expansion in the redundant structure. On the other hand, the integrated actuating mechanism is designed for high speed imaging. Based on the simulation results, the actuator operates at levels below 5 mA appearing to be very reliable, and the stress sensitivity is about 40 MPa per micron.
Mokhtari, J.; Farrokhabadi, A.; Rach, R.; Abadyan, M.
2015-04-01
The presence of the quantum vacuum fluctuations, i.e. the Casimir attraction, can strongly affect the performance of ultra-small actuators. The strength of the Casimir force is significantly influenced by the geometries of interacting bodies. Previous research has exclusively studied the impact of the vacuum fluctuations on the instability of nanoactuators with planar geometries. However, no work has yet considered this phenomenon in actuators fabricated from nanowires/nanotubes with cylindrical geometries. In our present work, the influence of the Casimir attraction on the electrostatic stability of nanoactuators fabricated from cylindrical conductive nanowire/nanotube is investigated. The Dirichlet mode is considered and an asymptotic solution, based on scattering theory, is applied to consider the effect of vacuum fluctuations in the theoretical model. The size-dependent modified couple stress theory is employed to derive the constitutive equation of the actuator. The governing nonlinear equations are solved by two different approaches, i.e. the finite difference method and modified Adomian-Padé method. Various aspects of the problem, i.e. comparison with the van der Waals force regime, the variation of instability parameters, effect of geometry and coupling between the Casimir force and size dependency are discussed. This work is beneficial to determine the impact of Casimir force on nanowire/nanotube-fabricated actuators.
Pradeep, K. R.; Thomas, A. M.; Basker, V. T.
2018-03-01
Structural health monitoring (SHM) is an essential component of futuristic civil, mechanical and aerospace structures. It detects the damages in system or give warning about the degradation of structure by evaluating performance parameters. This is achieved by the integration of sensors and actuators into the structure. Study of damage detection process in piezoelectric sensor and actuator integrated sandwich cantilever beam is carried out in this paper. Possible skin-core debond at the root of the cantilever beam is simulated and compared with undamaged case. The beam is actuated using piezoelectric actuators and performance differences are evaluated using Polyvinylidene fluoride (PVDF) sensors. The methodology utilized is the voltage/strain response of the damaged versus undamaged beam against transient actuation. Finite element model of piezo-beam is simulated in ANSYSTM using 8 noded coupled field element, with nodal degrees of freedoms are translations in the x, y directions and voltage. An aluminium sandwich beam with a length of 800mm, thickness of core 22.86mm and thickness of skin 0.3mm is considered. Skin-core debond is simulated in the model as unmerged nodes. Reduction in the fundamental frequency of the damaged beam is found to be negligible. But the voltage response of the PVDF sensor under transient excitation shows significantly visible change indicating the debond. Piezo electric based damage detection system is an effective tool for the damage detection of aerospace and civil structural system having inaccessible/critical locations and enables online monitoring possibilities as the power requirement is minimal.
Ruzziconi, Laura; Bataineh, Ahmad M.; Younis, Mohammad I.; Cui, Weili; Lenci, Stefano
2013-01-01
We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped-clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical
So, Hongyun; Pisano, Albert P.
2013-01-01
© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped
Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates
Saghir, Shahid; Younis, Mohammad I.
2016-01-01
and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate
International Nuclear Information System (INIS)
Jacobs, William R; Dodd, Tony J; Anderson, Sean R; Wilson, Emma D; Porrill, John; Assaf, Tareq; Rossiter, Jonathan
2015-01-01
Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input–output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics. (paper)
Modelling and characterization of inflated dielectric elastomer actuators with tubular configuration
International Nuclear Information System (INIS)
Zhang, Chi; Chen, Hualing; Liu, Lei; Li, Dichen
2015-01-01
A dielectric elastomer undergoes large and fast deformation subject to external electric stimuli, making it a promising artificial muscle for various kinds of actuators, sensors and energy generators. This paper presents an actuator fabricated by (1) rolling a dielectric elastomer membrane, (2) pre-stretching the membrane along the radial direction and fixing the edges with rigid cylindrical plastic ends, and (3) applying a force to the end along the longitudinal direction and pumping air into the tube for inflation. Subject to a voltage, the structure works as an actuator with a large linear stroke. Governing equations of this actuator are established and simulation results are found to agree well with experimental results. We examine four modes of failure, namely loss of tension, electrical breakdown, snap-through instability and tensile rupture, with a variation in applied pressure. The actuating voltage is greatly reduced by applying pressure, providing the possibility of low-voltage driving. By regulating the applied pressure, large actuation strain and displacement are obtained simultaneously and the distributions of stretch, true stress and the true electric field become more homogeneous. (paper)
A phenomenological model for pre-stressed piezoelectric ceramic stack actuators
International Nuclear Information System (INIS)
Wang, D H; Zhu, W
2011-01-01
In order to characterize the hysteretic characteristics between the output displacement and applied voltage of pre-stressed piezoelectric ceramic stack actuators (PCSAs), this paper considers that a linear force and a hysteretic force will be generated by a linear extension and a hysteretic extension, respectively, due to the applied voltage to a pre-stressed PCSA and the total force will result in the forced vibration of the single-degree-of-freedom (DOF) system composed of the mass of the pre-stressed PCSA and the equivalent spring and damper of the pre-stressed mechanism, which lets the PCSA be pre-stressed to endure enough tension. On this basis, the phenomenological model to characterize the hysteretic behavior of the pre-stressed PCSA is put forward by using the Bouc–Wen hysteresis operator to model the hysteretic extension. The parameter identification method in a least-squares sense is established by identifying the parameters for the linear and hysteretic components separately with the step and periodic responses of the pre-stressed PCSA, respectively. The performance of the proposed phenomenological model with the corresponding parameter identification method is experimentally verified by the established experimental set-up. The research results show that the phenomenological model for the pre-stressed PCSA with the corresponding parameter identification method can accurately portray the hysteretic characteristics of the pre-stressed PCSA. In addition, the phenomenological model for PCSAs can be deduced from the phenomenological model for pre-stressed PCSAs by removing the terms related to the pre-stressed mechanisms
Energy Technology Data Exchange (ETDEWEB)
Marjanovic, Nikola [Department of Civil and Environmental Engineering, University of California, Berkeley, MC 1710, Berkeley, California 94720-1710, USA; Atmospheric, Earth and Energy Division, Lawrence Livermore National Laboratory, PO Box 808, L-103, Livermore, California 94551, USA; Mirocha, Jeffrey D. [Atmospheric, Earth and Energy Division, Lawrence Livermore National Laboratory, PO Box 808, L-103, Livermore, California 94551, USA; Kosović, Branko [Research Applications Laboratory, Weather Systems and Assessment Program, University Corporation for Atmospheric Research, PO Box 3000, Boulder, Colorado 80307, USA; Lundquist, Julie K. [Department of Atmospheric and Oceanic Sciences, University of Colorado, Boulder, Campus Box 311, Boulder, Colorado 80309, USA; National Renewable Energy Laboratory, 15013 Denver West Parkway, Golden, Colorado 80401, USA; Chow, Fotini Katopodes [Department of Civil and Environmental Engineering, University of California, Berkeley, MC 1710, Berkeley, California 94720-1710, USA
2017-11-01
A generalized actuator line (GAL) wind turbine parameterization is implemented within the Weather Research and Forecasting model to enable high-fidelity large-eddy simulations of wind turbine interactions with boundary layer flows under realistic atmospheric forcing conditions. Numerical simulations using the GAL parameterization are evaluated against both an already implemented generalized actuator disk (GAD) wind turbine parameterization and two field campaigns that measured the inflow and near-wake regions of a single turbine. The representation of wake wind speed, variance, and vorticity distributions is examined by comparing fine-resolution GAL and GAD simulations and GAD simulations at both fine and coarse-resolutions. The higher-resolution simulations show slightly larger and more persistent velocity deficits in the wake and substantially increased variance and vorticity when compared to the coarse-resolution GAD. The GAL generates distinct tip and root vortices that maintain coherence as helical tubes for approximately one rotor diameter downstream. Coarse-resolution simulations using the GAD produce similar aggregated wake characteristics to both fine-scale GAD and GAL simulations at a fraction of the computational cost. The GAL parameterization provides the capability to resolve near wake physics, including vorticity shedding and wake expansion.
Electrical actuation of dielectric droplets
International Nuclear Information System (INIS)
Kumari, N; Bahadur, V; Garimella, S V
2008-01-01
Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-a-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets; however, the actuation of dielectric droplets has remained relatively unexplored, despite the advantages associated with the use of a dielectric droplet. This paper presents modeling and experimental results on the electrical actuation of dielectric droplets between two flat plates. A first-order analytical model, based on the energy-minimization principle, is developed to estimate the electrical actuation force on a dielectric droplet as it moves between two flat plates. Two versions of this analytical model are benchmarked for their suitability and accuracy against a detailed numerical model. The actuation force prediction is then combined with available semi-analytical expressions for predicting the forces opposing droplet motion to develop a model that predicts transient droplet motion under electrical actuation. Electrical actuation of dielectric droplets is experimentally demonstrated by moving transformer oil droplets between two flat plates under the influence of an actuation voltage. Droplet velocities and their dependence on the plate spacing and the applied voltage are experimentally measured and showed reasonable agreement with predictions from the models developed
Directory of Open Access Journals (Sweden)
Guoliang Huang
2010-04-01
Full Text Available Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized.
Huang, Guoliang; Song, Fei; Wang, Xiaodong
2010-01-01
Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized. PMID:22319319
Finite element analysis and validation of dielectric elastomer actuators used for active origami
International Nuclear Information System (INIS)
McGough, Kevin; Ahmed, Saad; Frecker, Mary; Ounaies, Zoubeida
2014-01-01
The field of active origami explores the incorporation of active materials into origami-inspired structures in order to serve as a means of actuation. Active origami-inspired structures capable of folding into complex three-dimensional (3D) shapes have the potential to be lightweight and versatile compared to traditional methods of actuation. This paper details the finite element analysis and experimental validation of unimorph actuators. Actuators are fabricated by adhering layers of electroded dielectric elastomer (3M VHB F9473PC) onto a passive substrate layer (3M Magic Scotch Tape). Finite element analysis of the actuators simulates the electromechanical coupling of the dielectric elastomer under an applied voltage by applying pressures to the surfaces of the dielectric elastomer where the compliant electrode (conductive carbon grease) is present. 3D finite element analysis of the bending actuators shows that applying contact boundary conditions to the electroded region of the active and passive layers provides better agreement to experimental data compared to modeling the entire actuator as continuous. To improve the applicability of dielectric elastomer-based actuators for active origami-inspired structures, folding actuators are developed by taking advantage of localized deformation caused by a passive layer with non-uniform thickness. Two-dimensional analysis of the folding actuators shows that agreement to experimental data diminishes as localized deformation increases. Limitations of using pressures to approximate the electromechanical coupling of the dielectric elastomer under an applied electric field and additional modeling considerations are also discussed. (paper)
Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying
2018-03-01
This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.
Study on Actuator Line Modeling of Two NREL 5-MW Wind Turbine Wakes
Directory of Open Access Journals (Sweden)
Ziying Yu
2018-03-01
Full Text Available The wind turbine wakes impact the efficiency and lifespan of the wind farm. Therefore, to improve the wind plant performance, research on wind plant control is essential. The actuator line model (ALM is proposed to simulate the wind turbine efficiently. This research investigates the National Renewable Energy Laboratory 5 Million Watts (NREL 5-MW wind turbine wakes with Open Field Operation and Manipulation (OpenFOAM using ALM. Firstly, a single NREL 5-MW turbine is simulated. The comparison of the power and thrust with Fatigue, Aerodynamics, Structures, and Turbulence (FAST shows a good agreement below the rated wind speed. The information relating to wind turbine wakes is given in detail. The top working status is proved at the wind speed of 8 m/s and the downstream distance of more than 5 rotor diameters (5D. Secondly, another case with two NREL 5-MW wind turbines aligned is also carried out, in which 7D is validated as the optimum distance between the two turbines. The result also shows that the upstream wind turbine has an obvious influence on the downstream one.
Alternative model of random surfaces
International Nuclear Information System (INIS)
Ambartzumian, R.V.; Sukiasian, G.S.; Savvidy, G.K.; Savvidy, K.G.
1992-01-01
We analyse models of triangulated random surfaces and demand that geometrically nearby configurations of these surfaces must have close actions. The inclusion of this principle drives us to suggest a new action, which is a modified Steiner functional. General arguments, based on the Minkowski inequality, shows that the maximal distribution to the partition function comes from surfaces close to the sphere. (orig.)
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.
Mechanical stretching effect on the actuator performance of cellulose electroactive paper
International Nuclear Information System (INIS)
Kim, Jung-Hwan; Yun, Ki-Ju; Kim, Joo-Hyung; Kim, Jaehwan
2009-01-01
The mechanical stretching effect on the actuating performance of electroactive cellulose paper (EAPap) was studied. A lattice elongation of cellulose fibrils due to in-plane tensile stress along the stretching direction was observed by the x-ray diffraction method. The shrinkage of the fibril diameter as a function of stretching ratio was confirmed by surface and cross-sectional images. While the actuator performance in terms of bending displacement decreased as the stretching ratio increased, the resonance frequency linearly increased as the stretching ratio increased, which was compared with the theoretical frequency data found from a cantilever beam model. The actuator efficiency was evaluated from the electrical input power consumption and the mechanical output power of an EAPap actuator. It was revealed that the stretching process increased the electro-mechanical efficiency of the EAPap actuator. The mechanism of the influence of the stretching effect on the performance of an EAPap actuator is discussed
Meller, Michael; Chipka, Jordan; Volkov, Alexander; Bryant, Matthew; Garcia, Ephrahim
2016-11-03
Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.
International Nuclear Information System (INIS)
Ahmed, Fayez Shakil; Laghrouche, Salah; Mehmood, Adeel; El Bagdouri, Mohammed
2014-01-01
Highlights: • Estimation of aerodynamic force on variable turbine geometry vanes and actuator. • Method based on exhaust gas flow modeling. • Simulation tool for integration of aerodynamic force in automotive simulation software. - Abstract: This paper provides a reliable tool for simulating the effects of exhaust gas flow through the variable turbine geometry section of a variable geometry turbocharger (VGT), on flow control mechanism. The main objective is to estimate the resistive aerodynamic force exerted by the flow upon the variable geometry vanes and the controlling actuator, in order to improve the control of vane angles. To achieve this, a 1D model of the exhaust flow is developed using Navier–Stokes equations. As the flow characteristics depend upon the volute geometry, impeller blade force and the existing viscous friction, the related source terms (losses) are also included in the model. In order to guarantee stability, an implicit numerical solver has been developed for the resolution of the Navier–Stokes problem. The resulting simulation tool has been validated through comparison with experimentally obtained values of turbine inlet pressure and the aerodynamic force as measured at the actuator shaft. The simulator shows good compliance with experimental results
Actuator concepts and mechatronics
Gilbert, Michael G.; Horner, Garnett C.
1998-06-01
Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.
Electrochemomechanical constrained multiobjective optimization of PPy/MWCNT actuators
International Nuclear Information System (INIS)
Khalili, N; Naguib, H E; Kwon, R H
2014-01-01
Polypyrrole (PPy) conducting polymers have shown a great potential for the fabrication of conjugated polymer-based actuating devices. Consequently, they have been a key point in developing many advanced emerging applications such as biomedical devices and biomimetic robotics. When designing an actuator, taking all of the related decision variables, their roles and relationships into consideration is of pivotal importance to determine the actuator’s final performance. Therefore, the central focus of this study is to develop an electrochemomechanical constrained multiobjective optimization model of a PPy/MWCNTs trilayer actuator. For this purpose, the objective functions are designed to capture the three main characteristics of these actuators, namely their tip vertical displacement, blocking force and response time. To obtain the optimum range of the designated decision variables within the feasible domain, a multiobjective optimization algorithm is applied while appropriate constraints are imposed. The optimum points form a Pareto surface on which they are consistently spread. The numerical results are presented; these results enable one to design an actuator with consideration to the desired output performances. For the experimental analysis, a multilayer bending-type actuator is fabricated, which is composed of a PVDF layer and two layers of PPy with an incorporated layer of multi-walled carbon nanotubes deposited on each side of the PVDF membrane. The numerical results are experimentally verified; in order to determine the performance of the fabricated actuator, its outputs are compared with a neat PPy actuator’s experimental and numerical counterparts. (paper)
International Nuclear Information System (INIS)
Truong, Dinh Quang; Ahn, Kyoung Kwan
2014-01-01
An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique. (paper)
International Nuclear Information System (INIS)
Mendoza, Victor; Goude, Anders; Bachant, Peter; Wosnik, Martin
2016-01-01
Vertical axis wind turbines (VAWT) can be used to extract renewable energy from wind flows. A simpler design, low cost of maintenance, and the ability to accept flow from all directions perpendicular to the rotor axis are some of the most important advantages over conventional horizontal axis wind turbines (HAWT). However, VAWT encounter complex and unsteady fluid dynamics, which present significant modeling challenges. One of the most relevant phenomena is dynamic stall, which is caused by the unsteady variation of angle of attack throughout the blade rotation, and is the focus of the present study. Dynamic stall is usually used as a passive control for VAWT operating conditions, hence the importance of predicting its effects. In this study, a coupled model is implemented with the open-source CFD toolbox OpenFOAM for solving the Navier-Stokes equations, where an actuator line model and dynamic stall model are used to compute the blade loading and body force. Force coefficients obtained from the model are validated with experimental data of pitching airfoil in similar operating conditions as an H-rotor type VAWT. Numerical results show reasonable agreement with experimental data for pitching motion. (paper)
Mendoza, Victor; Bachant, Peter; Wosnik, Martin; Goude, Anders
2016-09-01
Vertical axis wind turbines (VAWT) can be used to extract renewable energy from wind flows. A simpler design, low cost of maintenance, and the ability to accept flow from all directions perpendicular to the rotor axis are some of the most important advantages over conventional horizontal axis wind turbines (HAWT). However, VAWT encounter complex and unsteady fluid dynamics, which present significant modeling challenges. One of the most relevant phenomena is dynamic stall, which is caused by the unsteady variation of angle of attack throughout the blade rotation, and is the focus of the present study. Dynamic stall is usually used as a passive control for VAWT operating conditions, hence the importance of predicting its effects. In this study, a coupled model is implemented with the open-source CFD toolbox OpenFOAM for solving the Navier-Stokes equations, where an actuator line model and dynamic stall model are used to compute the blade loading and body force. Force coefficients obtained from the model are validated with experimental data of pitching airfoil in similar operating conditions as an H-rotor type VAWT. Numerical results show reasonable agreement with experimental data for pitching motion.
Adaptive Optimizing Nonlinear Control Design for an Over-actuated Aircraft Model
Van Oort, E.R.; Sonneveldt, L.; Chu, Q.P.; Mulder, J.A.
2011-01-01
In this paper nonlinear adaptive flight control laws based on the backstepping approach are proposed which are applicable to over-actuated nonlinear systems. Instead of solving the control allocation exactly, update laws for the desired control effector signals are defined such that they converge to
Modelling land surface - atmosphere interactions
DEFF Research Database (Denmark)
Rasmussen, Søren Højmark
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......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...... by the hydrological model is found to be insensitive to model resolution. Furthermore, this study highlights the effect of bias precipitation by regional climate model and it implications for hydrological modelling....
Hydraulically actuated artificial muscles
Meller, M. A.; Tiwari, R.; Wajcs, K. B.; Moses, C.; Reveles, I.; Garcia, E.
2012-04-01
Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.
MacMillan, Peter Norman
1985-01-01
Approved for public release; distribution is unlimited Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower DC motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless DC motor fed by a trans...
Directory of Open Access Journals (Sweden)
E. I. BAIDA
2018-05-01
Full Text Available Purpose. Development of a mathematical model of an induction-dynamic drive of a switch with two coils, working with a bistable mechanism, which ensures the fixation of the instant-dynamic mechanism (IDM in trajectory extreme positions of the contact system. Methodology. The solution of the problems posed in the work was carried out using methods for calculating the electromagnetic field, finite elements, theoretical mechanics, and solving differential equations. Findings. The mathematical model of quick-driving actuator as part of instant dynamic and bistable mechanism was developed. It was based on electrical circuit’s electromagnetic equations and kinematic movements of the switching mechanism. Advantage of the given model is possibility of a breaker drive dynamic analysis basing on data of a contact pressure, pretravel and snatch gap. Initial data of the model formulation were outer circuit inductance, resistance of coils, which calculated on conductor cross-section and coils configuration. Initial conditions corresponded by Dirichlet conditions. Mathematical model equations system was calculated in cylindrical coordinate system. Problem was solved with the help ComsolMultiphysics system. Motion of the IDM movement part was modeled by deformation of a computational grid. Spring force and stress in a bistable mechanism construction were determined by initial data of a contact pressure, pretravel and snatch gap. Graphs by calculation data are shown, which allow to analyze of springing elements chose and make necessary adjustments on design stage and debugging construction. Operation parameters of mechanism work on IDM switch on and switch off stages were calculated. Value of movement, motion speed of armature breaker, currents of accelerating and retarding coils, summed electromagnetic and opposite force were figured. Originality. The mathematical model of quick-driving actuator as part of instant-dynamic and bistable mechanism was developed
International Nuclear Information System (INIS)
Jing, Zijian; Xu, Minglong; Feng, Bo
2015-01-01
Mirror-scanning mechanisms are a key component in optical systems for diverse applications. However, the applications of existing piezoelectric scanners are limited due to their small angular travels. To overcome this problem, a novel two-axis mirror-scanning mechanism, which consists of a two-axis tip-tilt flexure mechanism and a set of piezoelectric actuators, is proposed in this paper. The focus of this research is on the design, theoretical modeling, and optimization of the piezoelectric-driven mechanism, with the goal of achieving large angular travels in a compact size. The design of the two-axis tip-tilt flexure mechanism is based on two nonuniform beams, which translate the limited linear output displacements of the piezoelectric actuators into large output angles. To exactly predict the angular travels, we built a voltage-angle model that characterizes the relationship between the input voltages to the piezoelectric actuators and the output angles of the piezoelectric-driven mechanism. Using this analytical model, the optimization is performed to improve the angular travels. A prototype of the mirror-scanning mechanism is fabricated based on the optimization results, and experiments are implemented to test the two-axis output angles. The experimental result shows that the angular travels of the scanner achieve more than 50 mrad, and the error between the analytical model and the experiment is about 11%. This error is much smaller than the error for the model built using the previous method because the influence of the stiffness of the mechanical structure on the deformation of the piezoelectric stack is considered in the voltage-angle model. (paper)
Dielectric barrier discharge plasma actuator for flow control
Opaits, Dmitry Florievich
Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low
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.
Modelling nanostructures with vicinal surfaces
International Nuclear Information System (INIS)
Mugarza, A; Schiller, F; Kuntze, J; Cordon, J; Ruiz-Oses, M; Ortega, J E
2006-01-01
Vicinal surfaces of the (111) plane of noble metals are characterized by free-electron-like surface states that scatter at one-dimensional step edges, making them ideal model systems to test the electronic properties of periodic lateral nanostructures. Here we use high-resolution, angle-resolved photoemission to analyse the evolution of the surface state on a variety of vicinal surface structures where both the step potential barrier and the superlattice periodicity can vary. A transition in the electron dimensionality is found as we vary the terrace size in single-phase step arrays. In double-phase, periodic faceted surfaces, we observe surface states that characterize each of the phases
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.
Long, Zhili; Wang, Rui; Fang, Jiwen; Dai, Xufei; Li, Zuohua
2017-07-01
Piezoelectric actuators invariably exhibit hysteresis nonlinearities that tend to become significant under the open-loop condition and could cause oscillations and errors in nanometer-positioning tasks. Chaotic map modified particle swarm optimization (MPSO) is proposed and implemented to identify the Prandtl-Ishlinskii model for piezoelectric actuators. Hysteresis compensation is attained through application of an inverse Prandtl-Ishlinskii model, in which the parameters are formulated based on the original model with chaotic map MPSO. To strengthen the diversity and improve the searching ergodicity of the swarm, an initial method of adaptive inertia weight based on a chaotic map is proposed. To compare and prove that the swarm's convergence occurs before stochastic initialization and to attain an optimal particle swarm optimization algorithm, the parameters of a proportional-integral-derivative controller are searched using self-tuning, and the simulated results are used to verify the search effectiveness of chaotic map MPSO. The results show that chaotic map MPSO is superior to its competitors for identifying the Prandtl-Ishlinskii model and that the inverse Prandtl-Ishlinskii model can provide hysteresis compensation under different conditions in a simple and effective manner.
Actuator Fault Diagnosis in a Boeing 747 Model via Adaptive Modified Two-Stage Kalman Filter
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Fikret Caliskan
2014-01-01
Full Text Available An adaptive modified two-stage linear Kalman filtering algorithm is utilized to identify the loss of control effectiveness and the magnitude of low degree of stuck faults in a closed-loop nonlinear B747 aircraft. Control effectiveness factors and stuck magnitudes are used to quantify faults entering control systems through actuators. Pseudorandom excitation inputs are used to help distinguish partial loss and stuck faults. The partial loss and stuck faults in the stabilizer are isolated and identified successfully.
Edwards, C. L.; Boone, B. G.; Levine, W. S.; Davis, C. C.
2007-04-01
The availability of recently developed MEMS micro-mirror technology provides an opportunity to replace macro-scale actuators for free-space laser beamsteering in lidar and communication systems. Such an approach is under investigation at the Johns Hopkins University Applied Physics Laboratory for use on space-based platforms. Precision modeling of mirror pointing and its dynamics are critical to optimal design and control of MEMS beamsteerers. Beginning with Hornbeck's torque approach, this paper presents a first-principle, analytically closed-form torque model for an electro-statically actuated two-axis (tip-tilt) MEMS structure. An Euler dynamic equation formulation describes the gimbaled motion as a coupled pair of damped harmonic oscillators with a common forcing function. Static physical parameters such as MEMS mirror dimensions, facet mass, and height are inputs to the model as well as dynamic harmonic oscillator parameters such as damping and restoring constants fitted from measurements. A Taylor series expansion of the torque function provides valuable insights into basic one dimensional as well as two dimensional MEMS behavior, including operational sensitivities near "pull-in." The model also permits the natural inclusion and analysis of pointing noise sources such as electrical drive noise, platform vibration, and molecular Brownian motion. MATLAB and SIMULINK simulations illustrate performance sensitivities, controllability, and physical limitations, important considerations in the design of optimal pointing systems.
A study of low-cost reliable actuators for light aircraft. Part A: Chapters 1-8
Eijsink, H.; Rice, M.
1978-01-01
An analysis involving electro-mechanical, electro-pneumatic, and electro-hydraulic actuators was performed to study which are compatible for use in the primary and secondary flight controls of a single engine light aircraft. Actuator characteristics under investigation include cost, reliability, weight, force, volumetric requirements, power requirements, response characteristics and heat accumulation characteristics. The basic types of actuators were compared for performance characteristics in positioning a control surface model and then were mathematically evaluated in an aircraft to get the closed loop dynamic response characteristics. Conclusions were made as to the suitability of each actuator type for use in an aircraft.
International Nuclear Information System (INIS)
Bills, K.C.; Kress, R.L.; Kwon, D.S.; Baker, C.P.
1994-01-01
This paper describes ORNL's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory's Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL's Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language
Materials selection and design of microelectrothermal bimaterial actuators
Prasanna, S.; Spearing, S.M.
2007-01-01
A common form of MEMS actuator is a thermally actuated bimaterial, which is easy to fabricate by surface micromachining and permits out of plane actuation, which is otherwise difficult to achieve. This paper presents an analytical framework for the design of such microelectrothermal bimaterial actuators. Mechanics relationships for a cantilever bimaterial strip subjected to a uniform temperature were applied to obtain expressions for performance metrics for the actuator, i.e., maximum work/vo...
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.
The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation?
International Nuclear Information System (INIS)
Kofod, Guggi
2008-01-01
It has previously been shown that providing dielectric elastomer actuators with a level of pre-stretch can improve properties such as breakdown strength, actuation strain and efficiency. The actuation in such actuators depends on an interplay between the highly nonlinear hyperelastic stress-strain behaviour with the electrostatic Maxwell's stress; however, the direct effects of pre-stretch on the electromechanical coupling have still not been investigated in detail. We compare several experimental results found in the literature on the hyperelastic parameters of the Ogden model for the commonly used material VHB 4910, and introduce a more detailed and thus more accurate fit to a previous uniaxial stress-strain experiment. Electrostatic actuation models for a pure shear cuboid dielectric elastomer actuator with pre-stretch are introduced, for both intensive and extensive variables. For both intensive and extensive variables the constant strain (blocked stress or force) as well as the actuation strain is presented. It is shown how in the particular case of isotropic amorphous elastomers the pre-stretch does not affect the electromechanical coupling directly, and that the enhancement in actuation strain due to pre-stretch occurs through the alteration of the geometrical dimensions of the actuator. Also, the presence of the optimum load is explained as being due to the plateau region in the force-stretch curve, and it is shown that pre-stretch is not able to affect its position. Finally, it is shown how the simplified Ogden fit leads to entirely different conclusions for actuation strain in terms of extensive variables as does the detailed fit, emphasizing the importance of employing accurate hyperelastic models for the stress-stretch behaviour of the elastomer.
International Nuclear Information System (INIS)
Truong, Bui Ngoc Minh; Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan
2013-01-01
Dielectric electro-active polymer (DEAP) materials are attractive since they are low cost, lightweight and have a large deformation capability. They have no operating noise, very low electric power consumption and higher performance and efficiency than competing technologies. However, DEAP materials generally have strong hysteresis as well as uncertain and nonlinear characteristics. These disadvantages can limit the efficiency in the use of DEAP materials. To address these limitations, this research will present the combination of the Preisach model and the dynamic nonlinear autoregressive exogenous (NARX) fuzzy model-based adaptive particle swarm optimization (APSO) identification algorithm for modeling and identification of the nonlinear behavior of one typical type of DEAP actuator. Firstly, open loop input signals are applied to obtain nonlinear features and to investigate the responses of the DEAP actuator system. Then, a Preisach model can be combined with a dynamic NARX fuzzy structure to estimate the tip displacement of a DEAP actuator. To optimize all unknown parameters of the designed combination, an identification scheme based on a least squares method and an APSO algorithm is carried out. Finally, experimental validation research is carefully completed, and the effectiveness of the proposed model is evaluated by employing various input signals. (paper)
Development of a Meso-Scale Fiberoptic Rotation Sensor for a Torsion Actuator.
Sheng, Jun; Desai, Jaydev P
2018-01-01
This paper presents the development of a meso-scale fiberoptic rotation sensor for a shape memory alloy (SMA) torsion actuator for neurosurgical applications. Within the sensor, a rotary head with a reflecting surface is capable of modulating the light intensity collected by optical fibers when the rotary head is coupled to the torsion actuator. The mechanism of light intensity modulation is modeled, followed by experimental model verification. Meanwhile, working performances for different rotary head designs, optical fibers, and fabrication materials are compared. After the calibration of the fiberoptic rotation sensor, the sensor is capable of precisely measuring rotary motion and controlling the SMA torsion actuator with feedback control.
Actuators for smart applications
Paternoster, Alexandre; de Boer, Andries; Loendersloot, Richard; Akkerman, Remko; D. Brei,; M. Frecker,
2010-01-01
Actuator manufacturers are developing promising technologies which meet high requirements in performance, weight and power consumption. Conventionally, actuators are characterized by their displacement and load performance. This hides the dynamic aspects of those actuation solutions. Work per weight
Energy harvesting for self-powered aerostructure actuation
Bryant, Matthew; Pizzonia, Matthew; Mehallow, Michael; Garcia, Ephrahim
2014-04-01
This paper proposes and experimentally investigates applying piezoelectric energy harvesting devices driven by flow induced vibrations to create self-powered actuation of aerostructure surfaces such as tabs, flaps, spoilers, or morphing devices. Recently, we have investigated flow-induced vibrations and limit cycle oscillations due to aeroelastic flutter phenomena in piezoelectric structures as a mechanism to harvest energy from an ambient fluid flow. We will describe how our experimental investigations in a wind tunnel have demonstrated that this harvested energy can be stored and used on-demand to actuate a control surface such as a trailing edge flap in the airflow. This actuated control surface could take the form of a separate and discrete actuated flap, or could constitute rotating or deflecting the oscillating energy harvester itself to produce a non-zero mean angle of attack. Such a rotation of the energy harvester and the associated change in aerodynamic force is shown to influence the operating wind speed range of the device, its limit cycle oscillation (LCO) amplitude, and its harvested power output; hence creating a coupling between the device's performance as an energy harvester and as a control surface. Finally, the induced changes in the lift, pitching moment, and drag acting on a wing model are quantified and compared for a control surface equipped with an oscillating energy harvester and a traditional, static control surface of the same geometry. The results show that when operated in small amplitude LCO the energy harvester adds negligible aerodynamic drag.
Active flow control on a NACA 23012 airfoil model by means of magnetohydrodynamic plasma actuator
International Nuclear Information System (INIS)
Kazanskiy, P N; Moralev, I A; Bityurin, V A; Efimov, A V
2016-01-01
The paper is devoted to the study of high speed flow control around the airfoil by means of the Lorentz force. The latter is formed by creating the pulsed arc filament, moving in the magnetic field along the upper airfoil surface. The research was performed for the NACA23012 airfoil model at flow velocities up to 60 m/s (134 mph). The dynamic measurement of the aerodynamic forces on the airfoil was made. Changes up to 5% in an average value of lift and pitching moment were obtained at pulse repetition frequency up to 13 Hz and average discharge power less than 200 W. The amplitude of lift force oscillation was obtained as high as 10%, with the integration time of the balance 30 ms. The dynamic flow visualization of an airfoil model after a single discharge ignition was performed. It is shown that interaction of the main flow with the arc-induced disturbance leads to the dramatic changes in the flow structure. It was shown that the upstream movement of the arc channel (I = 40-700 A) leads to the local flow separation and simultaneously to the formation of a high pressure region above the model surface. Current paper presents investigation of previous work. (paper)
Simplified models for surface hyperchannelling
International Nuclear Information System (INIS)
Evdokimov, I.N.; Webb, R.; Armour, D.G.; Karpuzov, D.S.
1979-01-01
Experimental and detailed, three-dimensional computer simulation studies of the scattering of low energy argon ions incident at grazing angles onto a nickel single crystal have shown that under certain, well defined conditions, surface hyperchannelling dominates the reflection process. The applicability of simple computer simulation models to the study of this type of scattering has been investigated by comparing the results obtained using a 'summation of binary collisions' model and a continuous string model with both the experimental observations and the three dimensional model calculations. It has been shown that all the major features of the phenomenon can be reproduced in a qualitative way using the simple models and that the continuous string represents a good approximation to the 'real' crystal over a wide range of angles. The saving in computer time compared with the more complex model makes it practicable to use the simple models to calculate cross-sections and overall scattering intensities for a wide range of geometries. The results of these calculations suggest that the critical angle for the onset of surface hyperchannelling, which is associated with a reduction in scattering intensity and which is thus not too sensitive to the parameters of experimental apparatus is a useful quantity from the point of view of comparison of theoretical calculations with experimental measurements. (author)
Surface EXAFS - A mathematical model
International Nuclear Information System (INIS)
Bateman, J.E.
2002-01-01
Extended X-ray absorption fine structure (EXAFS) studies are a powerful technique for studying the chemical environment of specific atoms in a molecular or solid matrix. The study of the surface layers of 'thick' materials introduces special problems due to the different escape depths of the various primary and secondary emission products which follow X-ray absorption. The processes are governed by the properties of the emitted fluorescent photons or electrons and of the material. Their interactions can easily destroy the linear relation between the detected signal and the absorption cross-section. Also affected are the probe depth within the surface and the background superimposed on the detected emission signal. A general mathematical model of the escape processes is developed which permits the optimisation of the detection modality (X-rays or electrons) and the experimental variables to suit the composition of any given surface under study
Mansoori Kermani, Maryam; Dehestani, Maryam
2018-06-01
We modeled a one-dimensional actuator including the Casimir and electrostatic forces perturbed by an external force with fractional damping. The movable electrode was assumed to oscillate by an anharmonic elastic force originated from Murrell-Mottram or Lippincott potential. The nonlinear equations have been solved via the Adomian decomposition method. The behavior of the displacement of the electrode from equilibrium position, its velocity and acceleration were described versus time. Also, the changes of the displacement have been investigated according to the frequency of the external force and the voltage of the electrostatic force. The convergence of the Adomian method and the effect of the orders of expansion on the displacement versus time, frequency, and voltage were discussed. The pull-in parameter was obtained and compared with the other models in the literature. This parameter was described versus the equilibrium position and anharmonicity constant.
Mansoori Kermani, Maryam; Dehestani, Maryam
2018-03-01
We modeled a one-dimensional actuator including the Casimir and electrostatic forces perturbed by an external force with fractional damping. The movable electrode was assumed to oscillate by an anharmonic elastic force originated from Murrell-Mottram or Lippincott potential. The nonlinear equations have been solved via the Adomian decomposition method. The behavior of the displacement of the electrode from equilibrium position, its velocity and acceleration were described versus time. Also, the changes of the displacement have been investigated according to the frequency of the external force and the voltage of the electrostatic force. The convergence of the Adomian method and the effect of the orders of expansion on the displacement versus time, frequency, and voltage were discussed. The pull-in parameter was obtained and compared with the other models in the literature. This parameter was described versus the equilibrium position and anharmonicity constant.
Oswald, Fred B.; Savage, Michael; Zaretsky, Erwin V.
2015-01-01
The U.S. Space Shuttle fleet was originally intended to have a life of 100 flights for each vehicle, lasting over a 10-year period, with minimal scheduled maintenance or inspection. The first space shuttle flight was that of the Space Shuttle Columbia (OV-102), launched April 12, 1981. The disaster that destroyed Columbia occurred on its 28th flight, February 1, 2003, nearly 22 years after its first launch. In order to minimize risk of losing another Space Shuttle, a probabilistic life and reliability analysis was conducted for the Space Shuttle rudder/speed brake actuators to determine the number of flights the actuators could sustain. A life and reliability assessment of the actuator gears was performed in two stages: a contact stress fatigue model and a gear tooth bending fatigue model. For the contact stress analysis, the Lundberg-Palmgren bearing life theory was expanded to include gear-surface pitting for the actuator as a system. The mission spectrum of the Space Shuttle rudder/speed brake actuator was combined into equivalent effective hinge moment loads including an actuator input preload for the contact stress fatigue and tooth bending fatigue models. Gear system reliabilities are reported for both models and their combination. Reliability of the actuator bearings was analyzed separately, based on data provided by the actuator manufacturer. As a result of the analysis, the reliability of one half of a single actuator was calculated to be 98.6 percent for 12 flights. Accordingly, each actuator was subsequently limited to 12 flights before removal from service in the Space Shuttle.
Electroactive polymer (EAP) actuators for planetary applications
Bar-Cohen, Yoseph; Leary, Sean P.; Shahinpoor, Mohsen; Harrison, Joycelyn S.; Smith, J.
1999-05-01
NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper.
Optimization Method of Intersection Signal Coordinated Control Based on Vehicle Actuated Model
Directory of Open Access Journals (Sweden)
Chen Zhao-Meng
2015-01-01
Full Text Available Traditional timing green wave control with predetermined cycle, split, and offset cannot adapt for dynamic real-time traffic flow. This paper proposes a coordinated control method for variable cycle time green wave bandwidth optimization integrated with traffic-actuated control. In the coordinated control, green split is optimized in real time by the measured presence of arriving and/or standing vehicles in each intersection and simultaneously green waves along arterials are guaranteed. Specifically, the dynamic bound of green wave is firstly determined, and then green early-start and green late-start algorithms are presented respectively to accommodate the fluctuations in vehicle arrival rates in each phase. Numerical examples show that the proposed method improves green time, expands green wave bandwidth, and reduces queuing.
International Nuclear Information System (INIS)
Yang, Chenye; Liu, Sanwei; Livermore, Carol; Xie, Xin
2016-01-01
The design, analytical modelling, finite element analysis (FEA), and experimental characterization of a microelectromechanical system (MEMS) out-of-plane (vertical) translational piezoelectric lead–zirconate–titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Three types of bimorph actuators with different electrode patterns (with spiral tethers half actuated, fully actuated with uniform polarity, or fully actuated with reversed polarity) are designed and modelled. The two actuators with the highest predicted performance (half actuated and fully actuated with uniform polarity) are implemented and characterized. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Analytical modelling and FEA are used to analyze and predict the actuators’ displacements and blocking forces. Experimental measurements of the deflections and blocking forces of actuators with full uniform actuation and half actuation validate the design. At an applied voltage of 110 V, the out-of-plane deflections of the actuators with half actuation and full uniform actuation are measured at about 17 µ m and 29 µ m respectively, in good agreement with analytical predictions of 17.3 µ m and 34.2 µ m and FEA predictions of 17.1 µ m and 25.8 µ m. The blocking force for devices with half-actuated tethers is predicted to be 12 mN (analytical) and 10 mN (FEA), close to the experimental value of 9 mN. The blocking force for devices with full uniform actuation is predicted to be 23 mN (analytical) and 17 mN (FEA), as compared with 15 mN in experiments. (paper)
Detection and Identification of Loss of Efficiency Faults of Flight Actuators
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Ossmann Daniel
2015-03-01
Full Text Available We propose linear parameter-varying (LPV model-based approaches to the synthesis of robust fault detection and diagnosis (FDD systems for loss of efficiency (LOE faults of flight actuators. The proposed methods are applicable to several types of parametric (or multiplicative LOE faults such as actuator disconnection, surface damage, actuator power loss or stall loads. For the detection of these parametric faults, advanced LPV-model detection techniques are proposed, which implicitly provide fault identification information. Fast detection of intermittent stall loads (seen as nuisances, rather than faults is important in enhancing the performance of various fault detection schemes dealing with large input signals. For this case, a dedicated fast identification algorithm is devised. The developed FDD systems are tested on a nonlinear actuator model which is implemented in a full nonlinear aircraft simulation model. This enables the validation of the FDD system’s detection and identification characteristics under realistic conditions.
Geometry optimization of linear and annular plasma synthetic jet actuators
International Nuclear Information System (INIS)
Neretti, G; Seri, P; Taglioli, M; Borghi, C A; Shaw, A; Iza, F
2017-01-01
The electrohydrodynamic (EHD) interaction induced in atmospheric air pressure by a surface dielectric barrier discharge (DBD) actuator has been experimentally investigated. Plasma synthetic jet actuators (PSJAs) are DBD actuators able to induce an air stream perpendicular to the actuator surface. These devices can be used in the field of aerodynamics to prevent or induce flow separation, modify the laminar to turbulent transition inside the boundary layer, and stabilize or mix air flows. They can also be used to enhance indirect plasma treatment effects, increasing the reactive species delivery rate onto surfaces and liquids. This can play a major role in plasma processing and chemical kinetics modelling, where often only diffusive mechanisms are considered. This paper reports on the importance that different electrode geometries can have on the performance of different PSJAs. A series of DBD aerodynamic actuators designed to produce perpendicular jets has been fabricated on two-layer printed circuit boards (PCBs). Both linear and annular geometries were considered, testing different upper electrode distances in the linear case and different diameters in the annular one. An AC voltage supplied at a peak of 11.5 kV and a frequency of 5 kHz was used. Lower electrodes were connected to the ground and buried in epoxy resin to avoid undesired plasma generation on the lower actuator surface. Voltage and current measurements were carried out to evaluate the active power delivered to the discharges. Schlieren imaging allowed the induced jets to be visualized and gave an estimate of their evolution and geometry. Pitot tube measurements were performed to obtain the velocity profiles of the PSJAs and to estimate the mechanical power delivered to the fluid. The optimal values of the inter-electrode distance and diameter were found in order to maximize jet velocity, mechanical power or efficiency. Annular geometries were found to achieve the best performance. (paper)
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.
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Avram Mihai
2017-01-01
Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.
Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan
2017-01-01
The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.
Soft Pneumatic Actuators for Rehabilitation
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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
Axelrod's model with surface tension
Pace, Bruno; Prado, Carmen P. C.
2014-06-01
In this work we propose a subtle change in Axelrod's model for the dissemination of culture. The mechanism consists of excluding from the set of potentially interacting neighbors those that would never possibly exchange. Although the alteration proposed does not alter the state space topologically, it yields significant qualitative changes, specifically the emergence of surface tension, driving the system in some cases to metastable states. The transient behavior is considerably richer, and cultural regions become stable leading to the formation of different spatiotemporal patterns. A metastable "glassy" phase emerges between the globalized phase and the disordered, multicultural phase.
Riva, L.; Giljarhus, K.-E.; Hjertager, B.; Kalvig, S. M.
2017-12-01
University of Stavanger has started The Smart Sustainable Campus & Energy Lab project, to gain knowledge and facilitate project based education in the field of renewable and sustainable energy and increase the research effort in the same area. This project includes the future installation of a vertical axis wind turbine on the campus roof. A newly developed Computational Fluid Dynamics (CFD) model by OpenFOAM have been implemented to study the wind behavior over the building and the turbine performance. The online available wind turbine model case from Bachant, Goude and Wosnik from 2016 is used as the starting point. This is a Reynolds-Averaged Navier-Stokes equations (RANS) case set up that uses the Actuator Line Model. The available test case considers a water tank with controlled external parameters. Bachant et al.’s model has been modified to study a VAWT in the atmospheric boundary layer. Various simulations have been performed trying to verify the models use and suitability. Simulation outcomes help to understand the impact of the surroundings on the turbine as well as its reaction to parameters changes. The developed model can be used for wind energy and flow simulations for both onshore and offshore applications.
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.
Chang, Ming-Kun; Wu, Jui-Chi
Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.
Pneumatic muscle actuator for resistive exercise in microgravity: test with a leg model.
Serres, Jennifer L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Repperger, Daniel W; Gerschutz, Maria J
2010-02-01
A proof-of-concept demonstration is described in which a DC servomotor (simulating the quadriceps of a human operator) rotated a pulley 90 degrees (simulating knee extension). A pneumatic muscle actuator (PMA) generated an opposing force (antagonist) to the rotating pulley. One application of such a device is for use in microgravity environments because the PMA is compact, simple, and of relatively small mass (283 g). In addition, the operator can set a computer-controlled force-level range in response to individual user changes in exercise conditioning over time. A PMA was used in this study and interacted with a DC servomotor. For each trial, the PMA contracted in response to internal pressure. An input voltage profile activated the DC servomotor, resulting in the following three phases: an isokinetic counterclockwise pulley rotation of 90 degrees over 5 s (Phase I), the position was held for 5 s (Phase II), and an isokinetic clockwise rotation of 90 degrees over 5 s (Phase III). Root mean square error (RMSE) values were used to evaluate the pulley rotation. For Phase I, when the PMA pressures (in kPa) were 300, 450, and 575, the percent RMSE, respectively, were 5.24, 6.23, and 4.59. For Phase II, the percent RMSE were 2.81, 2.57, and 5.63, respectively. For Phase III, the percent RMSE were 5.69, 2.63, and 3.30, respectively. This study presents a demonstration of a PMA device that can enhance exercise by providing a wide range of resistive loads.
Directory of Open Access Journals (Sweden)
Seungmun Jeon
2017-05-01
Full Text Available This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions. Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM.
CFD and Experimental Studies on Wind Turbines in Complex Terrain by Improved Actuator Disk Method
Liu, Xin; Yan, Shu; Mu, Yanfei; Chen, Xinming; Shi, Shaoping
2017-05-01
In this paper, an onshore wind farm in mountainous area of southwest China was investigated through numerical and experimental methods. An improved actuator disk method, taking rotor data (i.e. blade geometry information, attack angle, blade pitch angle) into account, was carried out to investigate the flow characteristic of the wind farm, especially the wake developing behind the wind turbines. Comparing to the classic AD method and the situ measurements, the improved AD shows better agreements with the measurements. The turbine power was automatically predicted in CFD by blade element method, which agreed well with the measurement results. The study proved that the steady CFD simulation with improved actuator disk method was able to evaluate wind resource well and give good balance between computing efficiency and accuracy, in contrary to much more expensive computation methods such as actuator-line/actuator-surface transient model, or less accurate methods such as linear velocity reduction wake model.
Feng, Guo-Hua; Liu, Kim-Min
2014-05-12
This paper presents a swirl-shaped microfeatured ionic polymer-metal composite (IPMC) actuator. A novel micromachining process was developed to fabricate an array of IPMC actuators on a glass substrate and to ensure that no shortcircuits occur between the electrodes of the actuator. We demonstrated a microfluidic scheme in which surface tension was used to construct swirl-shaped planar IPMC devices of microfeature size and investigated the flow velocity of Nafion solutions, which formed the backbone polymer of the actuator, within the microchannel. The unique fabrication process yielded top and bottom electrodes that exhibited asymmetric surface resistance. A tool for measuring surface resistance was developed and used to characterize the resistances of the electrodes for the fabricated IPMC device. The actuator, which featured asymmetric electrode resistance, caused a nonzero-bias current when the device was driven using a zero-bias square wave, and we propose a circuit model to describe this phenomenon. Moreover, we discovered and characterized a bending and rotating motion when the IPMC actuator was driven using a square wave. We observed a strain rate of 14.6% and a displacement of 700 μm in the direction perpendicular to the electrode surfaces during 4.5-V actuation.
International Nuclear Information System (INIS)
Komuro, Atsushi; Konno, Kaiki; Ando, Akira; Takashima, Keisuke; Kaneko, Toshiro; Tanaka, Naoki; Nonomura, Taku; Asai, Keisuke
2017-01-01
Gas-density perturbations near an airfoil surface generated by a nanosecond dielectric-barrier-discharge plasma actuator (ns-DBDPA) are visualized using a high-speed Schlieren imaging method. Wind-tunnel experiments are conducted for a wind speed of 20 m s −1 with an NACA0015 airfoil whose chord length is 100 mm. The results show that the ns-DBDPA first generates a pressure wave and then stochastic perturbations of the gas density near the leading edge of the airfoil. Two structures with different characteristics are observed in the stochastic perturbations. One structure propagates along the boundary between the shear layer and the main flow at a speed close to that of the main flow. The other propagates more slowly on the surface of the airfoil and causes mixing between the main and shear flows. It is observed that these two heated structures interact with each other, resulting in a recovery in the negative pressure coefficient at the leading edge of the airfoil. (paper)
Shape-Memory-Alloy Actuator For Flight Controls
Barret, Chris
1995-01-01
Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.
MacMillan, P. N.
1985-06-01
Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower dc motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless dc motor fed by a transistorized power conditioner utilizing high speed switching power transistors as final elements is presented. The influence of electronic commutation on instantaneous dynamic motor performance is particularly demonstrated and good correlation between computer simulation and typical experimentally obtained performance data is achieved. The model is implemented in CSMP language and features more accurate air gap flux representation over previous work. Hall effect sensor rotor position feedback is simulated. Both constant and variable air gap flux is modeled and the variable flux model treats the flux as a fundamental and one harmonic.
Smart Tendon Actuated Flexible Actuator
Directory of Open Access Journals (Sweden)
Md. Masum Billah
2015-01-01
Full Text Available We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM or to one particular type of the incompletely restrained positioning mechanism (IRPM where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.
Al Janaideh, Mohammad; Aljanaideh, Omar
2018-05-01
Apart from the output-input hysteresis loops, the magnetostrictive actuators also exhibit asymmetry and saturation, particularly under moderate to large magnitude inputs and at relatively higher frequencies. Such nonlinear input-output characteristics could be effectively characterized by a rate-dependent Prandtl-Ishlinskii model in conjunction with a function of deadband operators. In this study, an inverse model is formulated to seek real-time compensation of rate-dependent and asymmetric hysteresis nonlinearities of a Terfenol-D magnetostrictive actuator. The inverse model is formulated with the inverse of the rate-dependent Prandtl-Ishlinskii model, satisfying the threshold dilation condition, with the inverse of the deadband function. The inverse model was subsequently applied to the hysteresis model as a feedforward compensator. The proposed compensator is applied as a feedforward compensator to the actuator hardware to study its potential for rate-dependent and asymmetric hysteresis loops. The experimental results are obtained under harmonic and complex harmonic inputs further revealed that the inverse compensator can substantially suppress the hysteresis and output asymmetry nonlinearities in the entire frequency range considered in the study.
Supporting scalable Bayesian networks using configurable discretizer actuators
CSIR Research Space (South Africa)
Osunmakinde, I
2009-04-01
Full Text Available The authors propose a generalized model with configurable discretizer actuators as a solution to the problem of the discretization of massive numerical datasets. Their solution is based on a concurrent distribution of the actuators and uses dynamic...
Directory of Open Access Journals (Sweden)
Farong Kou
2018-01-01
Full Text Available In order to coordinate the damping performance and energy regenerative performance of energy regenerative suspension, this paper proposes a structure of a vehicle semi-active energy regenerative suspension with an electro-hydraulic actuator (EHA. In light of the proposed concept, a specific energy regenerative scheme is designed and a mechanical properties test is carried out. Based on the test results, the parameter identification for the system model is conducted using a recursive least squares algorithm. On the basis of the system principle, the nonlinear model of the semi-active energy regenerative suspension with an EHA is built. Meanwhile, linear-quadratic-Gaussian control strategy of the system is designed. Then, the influence of the main parameters of the EHA on the damping performance and energy regenerative performance of the suspension is analyzed. Finally, the main parameters of the EHA are optimized via the genetic algorithm. The test results show that when a sinusoidal is input at the frequency of 2 Hz and the amplitude of 30 mm, the spring mass acceleration root meam square value of the optimized EHA semi-active energy regenerative suspension is reduced by 22.23% and the energy regenerative power RMS value is increased by 40.51%, which means that while meeting the requirements of vehicle ride comfort and driving safety, the energy regenerative performance is improved significantly.
Electro-actuation characteristics of Cl2 and SF6 plasma-treated IPMC actuators
International Nuclear Information System (INIS)
Saher, Saim; Kim, Woojin; Moon, Sungwon; Jin Kim, H; Kim, Yong Hyup
2010-01-01
This paper describes plasma treatments that improve the actuation properties by modifying the surface morphology of ionic polymer metal composites (IPMC). The proposed Cl 2 and SF 6 plasmas change the surface appearance of the electroactive polymer, and scanning electron microscopy (SEM) of the plasma-treated surfaces reveals the development of round and cone-shaped microstructures. After electroless chemical metal plating, these microstructures significantly alter the characteristics of the IPMC electrode. In plasma-treated IPMCs, the densely packed platinum nanoparticles have produced a relatively thick electrode layer. This configuration has led to the improvement in the electrical properties of the IPMC: surface resistance is noticeably decreased, whereas electrical capacitance is increased. These changes in the electrical properties have considerably enhanced the actuation parameters: displacement, force and operational life are increased by more than three times relative to the conventional IPMC. Our experimental data suggest a relationship between the IPMC actuator's electrical properties and actuation parameters: actuators with lower surface resistance generate large deflection and actuators with higher capacitance generate large actuation force. The actuation tests including coin lifting suggests the potential of the modified IPMC for artificial muscle applications
Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.
2016-09-01
Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental
Soft, Rotating Pneumatic Actuator.
Ainla, Alar; Verma, Mohit S; Yang, Dian; Whitesides, George M
2017-09-01
This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle) and for locomotion that mimics a reptilian gait (by combining four actuators together).
Effect of plasma actuator control parameters on a transitional flow
Das Gupta, Arnob; Roy, Subrata
2018-04-01
This study uses a wall-resolved implicit large eddy simulation to investigate the effects of different surface dielectric barrier discharge actuator parameters such as the geometry of the electrodes, frequency, amplitude of actuation and thermal effect. The actuator is used as a tripping device on a zero-pressure gradient laminar boundary layer flow. It is shown that the standard linear actuator creates structures like the Tollmien-Schlichting wave transition. The circular serpentine, square serpentine and spanwise actuators have subharmonic sinuous streak breakdown and behave like oblique wave transition scenario. The spanwise and square actuators cause comparably faster transition to turbulence. The square actuator adds energy into the higher spanwise wavenumber modes resulting in a faster transition compared to the circular actuator. When the Strouhal number of actuation is varied, the transition does not occur for a value below 0.292. Higher frequencies with same amplitude of actuation lead to faster transition. Small changes (<4%) in the amplitude of actuation can have a significant impact on the transition location which suggests that an optimal combination of frequency and amplitude exists for highest control authority. The thermal bumps approximating the actuator heating only shows localized effects on the later stages of transition for temperatures up to 373 K and can be ignored for standard actuators operating in subsonic regimes.
Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.
2017-12-01
Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.
Reachability and Real-Time Actuation Strategies for the Active SLIP Model
2015-06-01
time. In gen- eral, animals’ anatomy is far more complex than what the SLIP model captures, due to the presence of joints, ankles , knees, hips, leg...strategies for locomotion. These strategies can then be applied to an anchor , a more complex and realistic model to mimic the animal’s morphology and...model. As clearly explained in [1], the ideal SLIP model is a template that can then be ” anchored ” to systems with more complex dynamics. The prototype
Surface-complexation models for sorption onto heterogeneous surfaces
International Nuclear Information System (INIS)
Harvey, K.B.
1997-10-01
This report provides a description of the discrete-logK spectrum model, together with a description of its derivation, and of its place in the larger context of surface-complexation modelling. The tools necessary to apply the discrete-logK spectrum model are discussed, and background information appropriate to this discussion is supplied as appendices. (author)
Application Actuation Trade Study
1982-01-01
32 RCA PRICE-L Podel Calculated 0 & S Values 138 33 RCA PRICE LCC Summery - Typical LRU 139 34 Airplane Actuation Trade Study LCC Summary 140 35...results achieved can be duplicated by a user. The RCA PRICE Podel calculates the RDTSE. Production cost, and creates the YiDF file for use in the PCA...PR ICE L). Some of the basic program ground rules for this study were as follows: RCA - PRICE Cost Podel RCA - PRICE L Model Prototype Hardware 10
Strain actuated aeroelastic control
Lazarus, Kenneth B.
1992-01-01
Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.
DEFF Research Database (Denmark)
Kristiansen, Martin; Kryger, Mille; Zhang, Zhao
2012-01-01
A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...
Intelligent Hydraulic Actuator and Exp-based Modelling of Losses in Pumps and .
DEFF Research Database (Denmark)
Zhang, Muzhi
A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed.......A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed....
International Nuclear Information System (INIS)
Moreau, Eric; Sosa, Roberto; Artana, Guillermo
2008-01-01
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
"Shape function + memory mechanism"-based hysteresis modeling of magnetorheological fluid actuators
Qian, Li-Jun; Chen, Peng; Cai, Fei-Long; Bai, Xian-Xu
2018-03-01
A hysteresis model based on "shape function + memory mechanism" is presented and its feasibility is verified through modeling the hysteresis behavior of a magnetorheological (MR) damper. A hysteresis phenomenon in resistor-capacitor (RC) circuit is first presented and analyzed. In the hysteresis model, the "memory mechanism" originating from the charging and discharging processes of the RC circuit is constructed by adopting a virtual displacement variable and updating laws for the reference points. The "shape function" is achieved and generalized from analytical solutions of the simple semi-linear Duhem model. Using the approach, the memory mechanism reveals the essence of specific Duhem model and the general shape function provides a direct and clear means to fit the hysteresis loop. In the frame of the structure of a "Restructured phenomenological model", the original hysteresis operator, i.e., the Bouc-Wen operator, is replaced with the new hysteresis operator. The comparative work with the Bouc-Wen operator based model demonstrates superior performances of high computational efficiency and comparable accuracy of the new hysteresis operator-based model.
Actuator disk model of wind farms based on the rotor average wind speed
DEFF Research Database (Denmark)
Han, Xing Xing; Xu, Chang; Liu, De You
2016-01-01
Due to difficulty of estimating the reference wind speed for wake modeling in wind farm, this paper proposes a new method to calculate the momentum source based on the rotor average wind speed. The proposed model applies volume correction factor to reduce the influence of the mesh recognition of ...
2014-05-01
Computer FHPCP Flexible Heat Pipe Cold Plate HPEAS High Performance Electric Actuation System HPU Hydraulic Power Unit HSM Hydraulic Service...provide improved thermal paths and phase change materials offer energy storage. Loop heat pipes (LHP’s) and Flexible Heat Pipe Cold Plates (FHPCP’s...flows upward due to density difference through centrally located vapor channels called risers and then condenses on the colder surface associated
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.
Pneumatic Variable Series Elastic Actuator.
Zheng, Hao; Wu, Molei; Shen, Xiangrong
2016-08-01
Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.
35 Hz shape memory alloy actuator with bending-twisting mode
Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon
2016-01-01
Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators. PMID:26892438
35 Hz shape memory alloy actuator with bending-twisting mode.
Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon
2016-02-19
Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators.
Electro-Active Polymer (EAP) Actuators for Planetary Applications
Bar-Cohen, Y.; Leary, S.; Shahinpoor, M.; Harrison, J. O.; Smith, J.
1999-01-01
NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper. Keywords: Miniature Robotics, Electroactive Polymers, Electroactive Actuators, EAP
3D printed soft parallel actuator
Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif
2018-04-01
This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.
ANS&A Equip-13 Dynamic Actuator
National Research Council Canada - National Science Library
Steedman, R
1996-01-01
The dynamic actuator is based on the principles of the stored angular momentum system for use in earthquake centrifuge modeling and is compatible with the Equivalent Shear Beam model container design...
Wen, Li; Ren, Ziyu; Di Santo, Valentina; Hu, Kainan; Yuan, Tao; Wang, Tianmiao; Lauder, George V
2018-04-10
Although linear accelerations are an important common component of the diversity of fish locomotor behaviors, acceleration is one of the least-understood aspects of propulsion. Analysis of acceleration behavior in fishes with both spiny and soft-rayed median fins demonstrates that fin area is actively modulated when fish accelerate. We implemented an undulatory biomimetic robotic fish model with median fins manufactured using multimaterial three-dimensional printing-a spiny-rayed dorsal fin, soft-rayed dorsal/anal fins, and a caudal fin-whose stiffnesses span three orders of magnitude. We used an array of fluidic elastomeric soft actuators to mimic the dorsal/anal inclinator and erector/depressor muscles of fish, which allowed the soft fins to be erected or folded within 0.3 s. We experimentally show that the biomimetic soft dorsal/anal fin can withstand external loading. We found that erecting the soft dorsal/anal fins significantly enhanced the linear acceleration rate, up to 32.5% over the folded fin state. Surprisingly, even though the projected area of the body (in the lateral plane) increased 16.9% when the median fins were erected, the magnitude of the side force oscillation decreased by 24.8%, which may have led to significantly less side-to-side sway in the robotic swimmer. Visualization of fluid flow in the wake of median fins reveals that during linear acceleration, the soft dorsal fin generates a wake flow opposite in direction to that of the caudal fin, which creates propulsive jets with time-variant circulations and jet angles. Erectable/foldable fins provide a new design space for bioinspired underwater robots with structures that morph to adapt to different locomotor behaviors. This biorobotic fish model is also a potentially promising system for studying the dynamics of complex multifin fish swimming behaviors, including linear acceleration, steady swimming, and burst and coast, which are difficult to analyze in freely swimming fishes.
Energy Technology Data Exchange (ETDEWEB)
Aaagard Madsen, H.
1983-01-01
The ideal and the real energy conversion in a straight bladed vertical axis wind turbine (VAWT) with variable pitch has been studied on basis of the actuator cylinder flow model and experimental data from free wind tests on a 9 m/sup 2/ turbine. Particularly, the theoretical upper power limit of VAWT's has been focused upon in the light of the already existing theories for horizontal axis wind turbines (HAWT's). A remarkable result, differing from prior theories, has turned out through the computations with the actuator cylinder flow model and that is: The maximum ideal power coefficient for VAWT's seams neither to be bounded by the Lanchester-Betz power coefficient limit of 16/27 (actuator disc concept), nor by Glauert's ideal power coefficient curve (taking into account the tip speed ratio), both limits derived with particular reference to HAWT's. Concerning the agreement between analysis and the measurements of the power coefficient, the rotor drag coefficient and the flow velocity vector adjacent to the swept area, it was in general found to be good. However, there seems still to be need for future research on the influence of turbulence in the free wind and dynamic stall on the real energy conversion in VAWT's.
Hybrid Multi-Physics Modeling of an Ultra-Fast Electro-Mechanical Actuator
Directory of Open Access Journals (Sweden)
Ara Bissal
2015-12-01
Full Text Available The challenges of an HVDC breaker are to generate impulsive forces in the order of hundreds of kilonewtons within fractions of a millisecond, to withstand the arising internal mechanical stresses and to transmit these forces via an electrically-insulating device to the contact system with minimum time delay. In this work, several models were developed with different levels of complexity, computation time and accuracy. Experiments were done with two mushroom-shaped armatures to validate the developed simulation models. It was concluded that although the electromagnetic force generation mechanism is highly sensitive to the mechanical response of the system, the developed first order hybrid model is able to predict the performance of the breaker with good accuracy.
Actuator forces in CFD: RANS and LES modeling in OpenFOAM
International Nuclear Information System (INIS)
Schito, P; Zasso, A
2014-01-01
Wind turbine wakes are a very challenging topic for scientific computations, but modern CFD frameworks and latest HPC centers allow setting up numerical computations on the wake induced by the wind turbine. The main issues is that the correct modeling of the wake is related to the correct modeling of the interaction between the blade and the incoming flow. The aim of the proposed work is to estimate the aerodynamic forces acting on the blades in order to correctly generate the rotor wake applying equivalent aerodynamic force source on the flow. The definition of a blade forces is done developing a model able to correctly estimate this aerodynamic forces as a function of the local flow seen by the blade during its revolution
Effective Multi-Model Motion Tracking Under Multiple Team Member Actuators
Gu, Yang; Veloso, Manuela
2009-01-01
Motivated by the interactions between a team and the tracked target, we contribute a method to achieve efficient tracking through using a play-based motion model and combined vision and infrared sensory information. This method gives the robot a more exact task-specific motion model when executing different tactics over the tracked target (e.g. the ball) or collaborating with the tracked target (e.g. the team member). Then we represent the system in a compact dynamic Bayesian network and use ...
Simulation of a MW rotor equipped with vortex generators using CFD and an actuator shape model
DEFF Research Database (Denmark)
Troldborg, Niels; Zahle, Frederik; Sørensen, Niels N.
2015-01-01
This article presents a comparison of CFD simulations of the DTU 10 MW reference wind turbine with and without vortex generators installed on the inboard part of the blades. The vortex generators are modelled by introducing body forces determined using a modified version of the so-called BAY mode...
Bi-directional series-parallel elastic actuator and overlap of the actuation layers.
Furnémont, Raphaël; Mathijssen, Glenn; Verstraten, Tom; Lefeber, Dirk; Vanderborght, Bram
2016-01-27
Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to humans. To combine both advantages, the series parallel elastic actuator (SPEA) was developed. The principle is inspired from biological muscles. Muscles are composed of motor units, placed in parallel, which are variably recruited as the required effort increases. This biological principle is exploited in the SPEA, where springs (layers), placed in parallel, can be recruited one by one. This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power consumption. The variable recruitment of the parallel springs can also be tuned in order to further decrease the consumption of the actuator for a given task. First, an explanation of the concept and a brief description of the prior work done will be given. Next, the design and the model of one of the layers will be presented. The working principle of the full actuator will then be given. At the end of this paper, experiments showing the electric consumption of the actuator will display the advantage of the SPEA over an equivalent stiff actuator.
Dynamical modeling of surface tension
International Nuclear Information System (INIS)
Brackbill, J.U.; Kothe, D.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 might be made more useful. Specifically, we consider a derivation of the CSF equations from a minimization of surface energy as outlined by Jacqmin. 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 are discussed
Modeling of ion beam surface treatment
Energy Technology Data Exchange (ETDEWEB)
Stinnett, R W [Quantum Manufacturing Technologies, Inc., Albuquerque, NM (United States); Maenchen, J E; Renk, T J [Sandia National Laboratories, Albuquerque, NM (United States); Struve, K W [Mission Research Corporation, Albuquerque, NM (United States); Campbell, M M [PASTDCO, Albuquerque, NM (United States)
1997-12-31
The use of intense pulsed ion beams is providing a new capability for surface engineering based on rapid thermal processing of the top few microns of metal, ceramic, and glass surfaces. The Ion Beam Surface Treatment (IBEST) process has been shown to produce enhancements in the hardness, corrosion, wear, and fatigue properties of surfaces by rapid melt and re-solidification. A new code called IBMOD was created, enabling the modeling of intense ion beam deposition and the resulting rapid thermal cycling of surfaces. This code was used to model the effect of treatment of aluminum, iron, and titanium using different ion species and pulse durations. (author). 3 figs., 4 refs.
Energy Technology Data Exchange (ETDEWEB)
Golovin, Y., E-mail: nano@tsutmb.ru [M.V. Lomonosov Moscow State University, School of Chemistry (Russian Federation); Golovin, D. [G.R. Derzhavin Tambov State University (Russian Federation); Klyachko, N.; Majouga, A.; Kabanov, A. [M.V. Lomonosov Moscow State University, School of Chemistry (Russian Federation)
2017-02-15
Various plausible acceleration mechanisms of drug release from nanocarriers composed of a single-domain magnetic nanoparticle core with attached long macromolecule chains activated by low frequency non-heating alternating magnetic field (AMF) are discussed. The most important system characteristics affecting the AMF exposure impact are determined. Impact of several reasonable mechanisms is estimated analytically or obtained using numerical modeling. Some conditions providing manifold release acceleration as a result from exposure in AMF are found.
International Nuclear Information System (INIS)
Golovin, Y.; Golovin, D.; Klyachko, N.; Majouga, A.; Kabanov, A.
2017-01-01
Various plausible acceleration mechanisms of drug release from nanocarriers composed of a single-domain magnetic nanoparticle core with attached long macromolecule chains activated by low frequency non-heating alternating magnetic field (AMF) are discussed. The most important system characteristics affecting the AMF exposure impact are determined. Impact of several reasonable mechanisms is estimated analytically or obtained using numerical modeling. Some conditions providing manifold release acceleration as a result from exposure in AMF are found.
Zhang, Wei; Ahmed, Saad; Masters, Sarah; Ounaies, Zoubeida; Frecker, Mary
2017-10-01
The incorporation of smart materials such as electroactive polymers and magnetoactive elastomers in origami structures can result in active folding using external electric and magnetic stimuli, showing promise in many origami-inspired engineering applications. In this study, 3D finite element analysis (FEA) models are developed using COMSOL Multiphysics software for three configurations that incorporate a combination of active and passive material layers, namely: (1) a single-notch unimorph folding configuration actuated using only external electric field, (2) a double-notch unimorph folding configuration actuated using only external electric field, and (3) a bifold configuration which is actuated using multi-field (electric and magnetic) stimuli. The objectives of the study are to verify the effectiveness of the FEA models to simulate folding behavior and to investigate the influence of geometric parameters on folding quality. Equivalent mechanical pressure and surface stress are used as external loads in the FEA to simulate electric and magnetic fields, respectively. Compared quantitatively with experimental data, FEA captured the folding performance of electric actuation well for notched configurations and magnetic actuation for a bifold structure, but underestimated electric actuation for the bifold structure. By investigating the impact of geometric parameters and locations to place smart materials, FEA can be used in design, avoiding trial-and-error iterations of experiments.
DEFF Research Database (Denmark)
Darula, Radoslav; Stein, George Juraj; Kallesøe, Carsten Skovmose
2012-01-01
Electromechanical systems for vibration control exhibit complex non-linear behaviour. Therefore advanced mathematical tools and appropriate simplifications are required for their modelling. To properly understand the dynamics of such a non-linear system, it is necessary to identify the parameters....... The electric circuit is closed with a shunt resistance connected to the electromagnet. The current induced in the circuit generates additional alternating magnetic force. This force counteracts the original vibration and damps it. In this way the coupled electro-magneto-mechanical system suppresses the forced...
Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM
Directory of Open Access Journals (Sweden)
Behrouz Najjari
2012-07-01
Full Text Available In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Two common control policies to track valve position, a Proportional Integrator (PI based on Pulse Width Modulation (PWM and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC.
Dynamic Factor Models for the Volatility Surface
DEFF Research Database (Denmark)
van der Wel, Michel; Ozturk, Sait R.; Dijk, Dick van
The implied volatility surface is the collection of volatilities implied by option contracts for different strike prices and time-to-maturity. We study factor models to capture the dynamics of this three-dimensional implied volatility surface. Three model types are considered to examine desirable...
Directory of Open Access Journals (Sweden)
Ying Zhang
2015-02-01
Full Text Available A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching’ and ‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
Force-deflection behavior of piezoelectric actuators
Singh, Ashok K.; Nagpal, Pawan
2001-11-01
In the present endeavour, force - deflection behavior of various piezoelectric actuator configurations has been analyzed for performance comparison. The response of stack actuator has been simulated using MATLAB Simulink, in a stack actuator-pendulum configuration. During simulation, stack actuator has been used in charge control feedback mode, because of the advantage of low hysteresis, and high linearity. The model incorporates three compensation blocks, viz 1) a PID position controller, 2) a PI piezoelectric current controller, and 3) a dynamic force feedback. A typical stack actuator, having 130 layers, 1.20x10-4 m thickness, 3.46x10-5m2 cross sectional area, of PZT-5H type, has been utilized for simulation. The response of the system has been tested by applying a sinusoidal input of frequency 500 Hz, and waveform amplitude of 1x10-3V.
Czech Academy of Sciences Publication Activity Database
Al Janaideh, M.; Krejčí, Pavel
2013-01-01
Roč. 18, č. 5 (2013), s. 1498-1507 ISSN 1083-4435 R&D Projects: GA ČR GAP201/10/2315 Institutional support: RVO:67985840 Keywords : hysteresis * inverse control * piezomicropositioning actuator Subject RIV: BA - General Mathematics Impact factor: 3.652, year: 2013 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6236190
Dynamic modeling of a thermo-piezo-electrically actuated nanosize beam subjected to a magnetic field
Ebrahimi, Farzad; Barati, Mohammad Reza
2016-04-01
In this article, free vibration behavior of magneto-electro-thermo-elastic functionally graded nanobeams is investigated based on a higher order shear deformation beam theory. Four types of thermal loading including uniform and linear temperature change as well as heat conduction and sinusoidal temperature rise through the thickness are assumed. Magneto-electro-thermo-elastic properties of FG nanobeam are supposed to change continuously throughout the thickness based on power-law model. Via nonlocal elasticity theory of Eringen, the small size effects are adopted. Based upon Hamilton's principle, the coupled nonlocal governing equations for higher order shear deformable METE-FG nanobeams are obtained and they are solved applying analytical solution. It is shown that the vibrational behavior of METE-FG nanobeams is significantly affected by various temperature rises, magnetic potential, external electric voltage, power-law index, nonlocal parameter and slenderness ratio.
Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF
Lu, Jun; Kim, Sang-Gyun; Lee, Sunwoo; Oh, Il-Kwon
2008-08-01
In this study, an ionic networking membrane (INM) of poly(styrene-alt-maleimide) (PSMI)-incorporated poly(vinylidene fluoride) (PVDF) was applied to fabricate electro-active polymer. Based on the same original membrane of PSMI-incorporated PVDF, various samples of INM actuator were prepared for different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performances were compared to those of the widely used traditional Nafion actuator. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic responses were observed for the newly developed INM actuators, they were found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after the optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage. The PSMI-incorporated PVDF actuator can become a promising smart material to be used in the fields of biomimetic robots, biomedical devices, sensors and actuator, haptic interfaces, energy harvesting and so on.
Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF
International Nuclear Information System (INIS)
Lu, Jun; Oh, Il-Kwon; Kim, Sang-Gyun; Lee, Sunwoo
2008-01-01
In this study, an ionic networking membrane (INM) of poly(styrene-alt-maleimide) (PSMI)-incorporated poly(vinylidene fluoride) (PVDF) was applied to fabricate electro-active polymer. Based on the same original membrane of PSMI-incorporated PVDF, various samples of INM actuator were prepared for different reduction times with the electroless-plating technique. The as-prepared INM actuators were tested in terms of surface resistance, platinum morphology, resonance frequency, tip displacement, current and blocked force, and their performances were compared to those of the widely used traditional Nafion actuator. Scanning electron microscopy (SEM) and transmission electron microscopy (TEM) revealed that much smaller and more uniform platinum particles were formed on the surfaces of the INM actuators as well as within their polymer matrix. Although excellent harmonic responses were observed for the newly developed INM actuators, they were found to be sensitive to the applied reduction times during the fabrication. The mechanical displacement of the INM actuator fabricated after the optimum reduction times was much larger than that of its Nafion counterpart of comparable thickness under the stimulus of constant and alternating current voltage. The PSMI-incorporated PVDF actuator can become a promising smart material to be used in the fields of biomimetic robots, biomedical devices, sensors and actuator, haptic interfaces, energy harvesting and so on
An experimental study of icing control using DBD plasma actuator
Cai, Jinsheng; Tian, Yongqiang; Meng, Xuanshi; Han, Xuzhao; Zhang, Duo; Hu, Haiyang
2017-08-01
Ice accretion on aircraft or wind turbine has been widely recognized as a big safety threat in the past decades. This study aims to develop a new approach for icing control using an AC-DBD plasma actuator. The experiments of icing control (i.e., anti-/de-icing) on a cylinder model were conducted in an icing wind tunnel with controlled wind speed (i.e., 15 m/s) and temperature (i.e., -10°C). A digital camera was used to record the dynamic processes of plasma anti-icing and de-icing whilst an infrared imaging system was utilized to map the surface temperature variations during the anti-/de-icing processes. It was found that the AC-DBD plasma actuator is very effective in both anti-icing and de-icing operations. While no ice formation was observed when the plasma actuator served as an anti-icing device, a complete removal of the ice layer with a thickness of 5 mm was achieved by activating the plasma actuator for ˜150 s. Such information demonstrated the feasibility of plasma anti-/de-icing, which could potentially provide more effective and safer icing mitigation strategies.
Energy Technology Data Exchange (ETDEWEB)
Yang, Dian; Whitesides, George M.
2017-12-26
A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.
Bag model with diffuse surface
International Nuclear Information System (INIS)
Phatak, S.C.
1986-01-01
The constraint of a sharp bag boundary in the bag model is relaxed in the present work. This has been achieved by replacing the square-well potential of the bag model by a smooth scalar potential and introducing a term similar to the bag pressure term. The constraint of the conservation of the energy-momentum tensor is used to obtain an expression for the added bag pressure term. The model is then used to determine the static properties of the nucleon. The calculation shows that the rms charge radius and the nucleon magnetic moment are larger than the corresponding bag model values. Also, the axial vector coupling constant and the πNN coupling constant are in better agreement with the experimental values
Single-layer model for surface roughness.
Carniglia, C K; Jensen, D G
2002-06-01
Random roughness of an optical surface reduces its specular reflectance and transmittance by the scattering of light. The reduction in reflectance can be modeled by a homogeneous layer on the surface if the refractive index of the layer is intermediate to the indices of the media on either side of the surface. Such a layer predicts an increase in the transmittance of the surface and therefore does not provide a valid model for the effects of scatter on the transmittance. Adding a small amount of absorption to the layer provides a model that predicts a reduction in both reflectance and transmittance. The absorbing layer model agrees with the predictions of a scalar scattering theory for a layer with a thickness that is twice the rms roughness of the surface. The extinction coefficient k for the layer is proportional to the thickness of the layer.
Surface chemistry of cellulose : from natural fibres to model surfaces
Kontturi, E.J.
2005-01-01
The theme of the thesis was to link together the research aspects of cellulose occurring in nature (in natural wood fibres) and model surfaces of cellulose. Fundamental changes in cellulose (or fibre) during recycling of paper was a pragmatic aspect which was retained throughout the thesis with
Digital Modeling Phenomenon Of Surface Ground Movement
Directory of Open Access Journals (Sweden)
Ioan Voina
2016-11-01
Full Text Available With the development of specialized software applications it was possible to approach and resolve complex problems concerning automating and process optimization for which are being used field data. Computerized representation of the shape and dimensions of the Earth requires a detailed mathematical modeling, known as "digital terrain model". The paper aims to present the digital terrain model of Vulcan mining, Hunedoara County, Romania. Modeling consists of a set of mathematical equations that define in detail the surface of Earth and has an approximate surface rigorously and mathematical, that calculated the land area. Therefore, the digital terrain model means a digital representation of the earth's surface through a mathematical model that approximates the land surface modeling, which can be used in various civil and industrial applications in. To achieve the digital terrain model of data recorded using linear and nonlinear interpolation method based on point survey which highlights the natural surface studied. Given the complexity of this work it is absolutely necessary to know in detail of all topographic elements of work area, without the actions to be undertaken to project and manipulate would not be possible. To achieve digital terrain model, within a specialized software were set appropriate parameters required to achieve this case study. After performing all steps we obtained digital terrain model of Vulcan Mine. Digital terrain model is the complex product, which has characteristics that are equivalent to the specialists that use satellite images and information stored in a digital model, this is easier to use.
Magnetic actuators and sensors
Brauer, John R
2014-01-01
An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva
Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.
Koh, Keng Huat; Sreekumar, M; Ponnambalam, S G
2014-06-25
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.
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.
Electrostatically Driven Nanoballoon Actuator.
Barzegar, Hamid Reza; Yan, Aiming; Coh, Sinisa; Gracia-Espino, Eduardo; Dunn, Gabriel; Wågberg, Thomas; Louie, Steven G; Cohen, Marvin L; Zettl, Alex
2016-11-09
We demonstrate an inflatable nanoballoon actuator based on geometrical transitions between the inflated (cylindrical) and collapsed (flattened) forms of a carbon nanotube. In situ transmission electron microscopy experiments employing a nanoelectromechanical manipulator show that a collapsed carbon nanotube can be reinflated by electrically charging the nanotube, thus realizing an electrostatically driven nanoballoon actuator. We find that the tube actuator can be reliably cycled with only modest control voltages (few volts) with no apparent wear or fatigue. A complementary theoretical analysis identifies critical parameters for nanotube nanoballoon actuation.
Actuators Using Piezoelectric Stacks and Displacement Enhancers
Bar-Cohen, Yoseph; Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Lee, Hyeong Jae; Walkenmeyer, Phillip; Lih, Shyh-Shiuh
2015-01-01
Actuators are used to drive all active mechanisms including machines, robots, and manipulators to name a few. The actuators are responsible for moving, manipulating, displacing, pushing and executing any action that is needed by the mechanism. There are many types and principles of actuation that are responsible for these movements ranging from electromagnetic, electroactive, thermo-mechanic, piezoelectric, electrostrictive etc. Actuators are readily available from commercial producers but there is a great need for reducing their size, increasing their efficiency and reducing their weight. Studies at JPL’s Non Destructive Evaluation and Advanced Actuators (NDEAA) Laboratory have been focused on the use of piezoelectric stacks and novel designs taking advantage of piezoelectric’s potential to provide high torque/force density actuation and high electromechanical conversion efficiency. The actuators/motors that have been developed and reviewed in this paper are operated by various horn configurations as well as the use of pre-stress flexures that make them thermally stable and increases their coupling efficiency. The use of monolithic designs that pre-stress the piezoelectric stack eliminates the use of compression stress bolt. These designs enable the embedding of developed solid-state motors/actuators in any structure with the only macroscopically moving parts are the rotor or the linear translator. Finite element modeling and design tools were used to determine the requirements and operation parameters and the results were used to simulate, design and fabricate novel actuators/motors. The developed actuators and performance will be described and discussed in this paper.
Robust Tracking Control for a Piezoelectric Actuator
National Research Council Canada - National Science Library
Salah, M; McIntyre, M; Dawson, D; Wagner, J
2006-01-01
In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...
Optimal Control Surface Layout for an Aeroservoelastic Wingbox
Stanford, Bret K.
2017-01-01
This paper demonstrates a technique for locating the optimal control surface layout of an aeroservoelastic Common Research Model wingbox, in the context of maneuver load alleviation and active utter suppression. The combinatorial actuator layout design is solved using ideas borrowed from topology optimization, where the effectiveness of a given control surface is tied to a layout design variable, which varies from zero (the actuator is removed) to one (the actuator is retained). These layout design variables are optimized concurrently with a large number of structural wingbox sizing variables and control surface actuation variables, in order to minimize the sum of structural weight and actuator weight. Results are presented that demonstrate interdependencies between structural sizing patterns and optimal control surface layouts, for both static and dynamic aeroelastic physics.
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.
International Nuclear Information System (INIS)
Francioso, L; De Pascali, C; Siciliano, P; Pescini, E; De Giorgi, M G
2016-01-01
Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0–100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa −1 for the best devices. (paper)
Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.
2016-06-01
Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.
International Nuclear Information System (INIS)
Daraji, A H; Hale, J M
2014-01-01
This study concerns new investigation of active vibration reduction of a stiffened plate bonded with discrete sensor/actuator pairs located optimally using genetic algorithms based on a developed finite element modeling. An isotropic plate element stiffened by a number of beam elements on its edges and having a piezoelectric sensor and actuator pair bonded to its surfaces is modeled using the finite element method and Hamilton’s principle, taking into account the effects of piezoelectric mass, stiffness and electromechanical coupling. The modeling is based on the first order shear deformation theory taking into account the effects of bending, membrane and shear deformation for the plate, the stiffening beam and the piezoelectric patches. A Matlab finite element program has been built for the stiffened plate model and verified with ANSYS and also experimentally. Optimal placement of ten piezoelectric sensor/actuator pairs and optimal feedback gain for active vibration reduction are investigated for a plate stiffened by two beams arranged in the form of a cross. The genetic algorithm was set up for optimization of sensor/actuator placement and feedback gain based on the minimization of the optimal linear quadratic index as an objective function to suppress the first six modes of vibration. Comparison study is presented for active vibration reduction of a square cantilever plate stiffened by crossed beams with two sensor/actuator configurations: firstly, ten piezoelectric sensor/actuator pairs are located in optimal positions; secondly, a piezoelectric layer of single sensor/actuator pair covering the whole of the stiffened plate as a SISO system. (paper)
DEFF Research Database (Denmark)
Sarmast, Sasan; Segalini, Antonio; Mikkelsen, Robert Flemming
2016-01-01
). The vortex model matched the numerical simulation of the turbine with constant blade circulation in terms of the near-wake structure and local forces along the blade. The results from the Tjæreborg turbine case showed some discrepancies between the two approaches, but overall, the agreement is qualitatively...... good, validating the analytical method for more general conditions. The present results show that a simple vortex code is able to provide an estimation of the flow around the wind turbine similar to the actuator-line approach but with a negligible computational effort. Copyright © 2015 John Wiley...
Analysis of a spherical permanent magnet actuator
International Nuclear Information System (INIS)
Wang, J.; Jewell, G.W.; Howe, D.
1997-01-01
This paper describes a new form of actuator with a spherical permanent magnet rotor and a simple winding arrangement, which is capable of a high specific torque by utilizing a rare-earth permanent magnet. The magnetic-field distribution is established using an analytical technique formulated in spherical coordinates, and the results are validated by finite element analysis. The analytical field solution allows the prediction of the actuator torque and back emf in closed forms. In turn, these facilitate the characterization of the actuator and provide a firm basis for design optimization, system dynamic modeling, and closed-loop control law development. copyright 1997 American Institute of Physics
Another Lesson from Plants: The Forward Osmosis-Based Actuator
Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara
2014-01-01
Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2–5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems. PMID:25020043
Another lesson from plants: the forward osmosis-based actuator.
Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara
2014-01-01
Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
Another lesson from plants: the forward osmosis-based actuator.
Directory of Open Access Journals (Sweden)
Edoardo Sinibaldi
Full Text Available Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW. Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.
Conjugated Polymers as Actuators: Modes of Actuation
DEFF Research Database (Denmark)
Skaarup, Steen
2004-01-01
The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...
Conjugated polymers as actuators: modes of actuation
DEFF Research Database (Denmark)
Skaarup, Steen
2007-01-01
The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...
Minimal model for spoof acoustoelastic surface states
Directory of Open Access Journals (Sweden)
J. Christensen
2014-12-01
Full Text Available Similar to textured perfect electric conductors for electromagnetic waves sustaining artificial or spoof surface plasmons we present an equivalent phenomena for the case of sound. Aided by a minimal model that is able to capture the complex wave interaction of elastic cavity modes and airborne sound radiation in perfect rigid panels, we construct designer acoustoelastic surface waves that are entirely controlled by the geometrical environment. Comparisons to results obtained by full-wave simulations confirm the feasibility of the model and we demonstrate illustrative examples such as resonant transmissions and waveguiding to show a few examples of many where spoof elastic surface waves are useful.
International Nuclear Information System (INIS)
Uvarov, I V; Postnikov, A V; Svetovoy, V B
2016-01-01
Lack of fast and strong microactuators is a well-recognized problem in MEMS community. Electrochemical actuators can develop high pressure but they are notoriously slow. Water electrolysis produced by short voltage pulses of alternating polarity can overcome the problem of slow gas termination. Here we demonstrate an actuation regime, for which the gas pressure is relaxed just for 10 μs or so. The actuator consists of a microchamber filled with the electrolyte and covered with a flexible membrane. The membrane bends outward when the pressure in the chamber increases. Fast termination of gas and high pressure developed in the chamber are related to a high density of nanobubbles in the chamber. The physical processes happening in the chamber are discussed so as problems that have to be resolved for practical applications of this actuation regime. The actuator can be used as a driving engine for microfluidics. (paper)
Mechatronics and Bioinspiration in Actuator Design and Control
Directory of Open Access Journals (Sweden)
J. L. Pons
2008-01-01
Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.
Evaluation of piezoceramic actuators for control of aircraft interior noise
Silcox, Richard J.; Lefebvre, Sylvie; Metcalf, Vern L.; Beyer, Todd B.; Fuller, Chris R.
1992-01-01
Results of an experiment to evaluate piezoceramic actuators as the control actuator for active control of interior noise in a large-scale fuselage model are presented. Control was demonstrated for tonal excitation using a time domain least mean squares algorithm. A maximum of four actuator channels and six error signals were used. The actuators were employed for control of noise at frequencies where interior cavity modes were the dominant response and for driven acoustic responses where a structure resonance was dominant. Global reductions of 9 to 12 dB were obtained for the cases examined. The most effective configuration of skin-mounted actuators was found to be a pure in-plane forcing function as opposed to a bending excitation. The frame-mounted actuators were found to be equally effective as the skin-mounted actuators. However, both configurations resulted in local regions of unacceptably high vibration response in the structure.
Bagherpoor, H M; Salmasi, Farzad R
2015-07-01
In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Foundations of elastoplasticity subloading surface model
Hashiguchi, Koichi
2017-01-01
This book is the standard text book of elastoplasticity in which the elastoplasticity theory is comprehensively described from the conventional theory for the monotonic loading to the unconventional theory for the cyclic loading behavior. Explanations of vector-tensor analysis and continuum mechanics are provided first as a foundation for elastoplasticity theory, covering various strain and stress measures and their rates with their objectivities. Elastoplasticity has been highly developed by the creation and formulation of the subloading surface model which is the unified fundamental law for irreversible mechanical phenomena in solids. The assumption that the interior of the yield surface is an elastic domain is excluded in order to describe the plastic strain rate due to the rate of stress inside the yield surface in this model aiming at the prediction of cyclic loading behavior, although the yield surface enclosing the elastic domain is assumed in all the elastoplastic models other than the subloading surf...
A low-power-consumption out-of-Plane electrothermal actuator
Girbau Sala, David; Llamas Morote, Marco Antonio; Casals Terré, Jasmina; Simó Selvas, Francisco Javier; Pradell i Cara, Lluís; Lázaro Guillén, Antoni
2007-01-01
This paper proposes a new vertical electrothermal actuator. It can be considered as a hybrid between the traditional in-plane buckle-beam actuator and the vertical hot-cold actuator. It is here referred to as vertical buckle beam. At identical dimensional and bias conditions, it features a displacement larger than that of other vertical electrothermal actuators proposed so far in the literature. The actuator performance is demonstrated by means of an analytical model along with finite-element...
Evaluation of linear DC motor actuators for control of large space structures
Ide, Eric Nelson
1988-01-01
This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...
Virtual Shaping of a Two-dimensional NACA 0015 Airfoil Using Synthetic Jet Actuator
Chen, Fang-Jenq; Beeler, George B.
2002-01-01
The Aircraft Morphing Program at NASA Langley envisions an aircraft without conventional control surfaces. Instead of moving control surfaces, the vehicle control systems may be implemented with a combination of propulsive forces, micro surface effectors, and fluidic devices dynamically operated by an intelligent flight control system to provide aircraft maneuverability over each mission segment. As a part of this program, a two-dimensional NACA 0015 airfoil model was designed to test mild maneuvering capability of synthetic jets in a subsonic wind tunnel. The objective of the experiments is to assess the applicability of using unsteady suction and blowing to alter the aerodynamic shape of an airfoil with a purpose to enhance lift and/or to reduce drag. Synthetic jet actuation at different chordwise locations, different forcing frequencies and amplitudes, under different freestream velocities are investigated. The effect of virtual shape change is indicated by a localized increase of surface pressure in the neighborhood of synthetic jet actuation. That causes a negative lift to the airfoil with an upper surface actuation. When actuation is applied near the airfoil leading edge, it appears that the stagnation line is shifted inducing an effect similar to that caused by a small angle of attack to produce an overall lift change.
Surface Adsorption in Nonpolarizable Atomic Models.
Whitmer, Jonathan K; Joshi, Abhijeet A; Carlton, Rebecca J; Abbott, Nicholas L; de Pablo, Juan J
2014-12-09
Many ionic solutions exhibit species-dependent properties, including surface tension and the salting-out of proteins. These effects may be loosely quantified in terms of the Hofmeister series, first identified in the context of protein solubility. Here, our interest is to develop atomistic models capable of capturing Hofmeister effects rigorously. Importantly, we aim to capture this dependence in computationally cheap "hard" ionic models, which do not exhibit dynamic polarization. To do this, we have performed an investigation detailing the effects of the water model on these properties. Though incredibly important, the role of water models in simulation of ionic solutions and biological systems is essentially unexplored. We quantify this via the ion-dependent surface attraction of the halide series (Cl, Br, I) and, in so doing, determine the relative importance of various hypothesized contributions to ionic surface free energies. Importantly, we demonstrate surface adsorption can result in hard ionic models combined with a thermodynamically accurate representation of the water molecule (TIP4Q). The effect observed in simulations of iodide is commensurate with previous calculations of the surface potential of mean force in rigid molecular dynamics and polarizable density-functional models. Our calculations are direct simulation evidence of the subtle but sensitive role of water thermodynamics in atomistic simulations.
International Nuclear Information System (INIS)
Kim, Dae-Kwan; Han, Jae-Hung; Kwon, Ki-Jung
2009-01-01
In the present study, a biomimetic flexible flapping wing was developed on a real ornithopter scale by using macro-fiber composite (MFC) actuators. With the actuators, the maximum camber of the wing can be linearly changed from −2.6% to +4.4% of the maximum chord length. Aerodynamic tests were carried out in a low-speed wind tunnel to investigate the aerodynamic characteristics, particularly the camber effect, the chordwise flexibility effect and the unsteady effect. Although the chordwise wing flexibility reduces the effective angle of attack, the maximum lift coefficient can be increased by the MFC actuators up to 24.4% in a static condition. Note also that the mean values of the perpendicular force coefficient rise to a value of considerably more than 3 in an unsteady aerodynamic flow region. Additionally, particle image velocimetry (PIV) tests were performed in static and dynamic test conditions to validate the flexibility and unsteady effects. The static PIV results confirm that the effective angle of attack is reduced by the coupling of the chordwise flexibility and the aerodynamic force, resulting in a delay in the stall phenomena. In contrast to the quasi-steady flow condition of a relatively high advance ratio, the unsteady aerodynamic effect due to a leading edge vortex can be found along the wing span in a low advance ratio region. The overall results show that the chordwise wing flexibility can produce a positive effect on flapping aerodynamic characteristics in quasi-steady and unsteady flow regions; thus, wing flexibility should be considered in the design of efficient flapping wings
Cruise and turning performance of an improved fish robot actuated by piezoceramic actuators
Nguyen, Quang Sang; Heo, Seok; Park, Hoon Cheol; Goo, Nam Seo; Byun, Doyoung
2009-03-01
The purpose of this study is improvement of a fish robot actuated by four light-weight piezocomposite actuators (LIPCAs). In the fish robot, we developed a new actuation mechanism working without any gear and thus the actuation mechanism was simple in fabrication. By using the new actuation mechanism, cross section of the fish robot became 30% smaller than that of the previous model. Performance tests of the fish robot in water were carried out to measure tail-beat angle, thrust force, swimming speed and turning radius for tail-beat frequencies from 1Hz to 5Hz. The maximum swimming speed of the fish robot was 7.7 cm/s at 3.9Hz tail-beat frequency. Turning experiment showed that swimming direction of the fish robot could be controlled with 0.41 m turning radius by controlling tail-beat angle.
Actuator disc edge singularity. The key to a revised actuator disc concept and momentum theory
Energy Technology Data Exchange (ETDEWEB)
Kuik, G.A.M. van (The Wind Energy Group of the Technical University Eindhoven (NL))
1989-01-01
Since the beginning of rotor aerodynamics the actuator disc momentum theory occupies a prominant place in almost any textbook on this subject. Specially in axial flow the theory provides an easy and rather accurate performance prediction. The results first obtained by Lanchester for the induced power of a hovering rotor and the maximum power of a wind turbine are still used as guidelines for complicated calculations. On the other hand, experimental results for propellers are known to deviate systematically (some 10%) from the momentum theory results. This is commonly attributed to the differences between a real rotor and an actuator disc. However, some actuator disc- and actuator strip (the 2-dimensional version) experiments are described in literature, showing the same deviations from momentum theory results. Therefore, apart from the question how representative an actuator disc is for a real rotor, the actuator disc concept itself may be inadequate. This problem is the subject of the work describe here. It will be shown that the classical actuator disc concept ignores discrete forces resulting from a flow singularity at the edge of the disc. The (extended) momentum theory, applied to this actuator strip model, shows a shift of the results towards the experimental data, and for the static case (hover) even a quantitative agreement is obtained. (author) 12 refs.
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...
Surface physics theoretical models and experimental methods
Mamonova, Marina V; Prudnikova, I A
2016-01-01
The demands of production, such as thin films in microelectronics, rely on consideration of factors influencing the interaction of dissimilar materials that make contact with their surfaces. Bond formation between surface layers of dissimilar condensed solids-termed adhesion-depends on the nature of the contacting bodies. Thus, it is necessary to determine the characteristics of adhesion interaction of different materials from both applied and fundamental perspectives of surface phenomena. Given the difficulty in obtaining reliable experimental values of the adhesion strength of coatings, the theoretical approach to determining adhesion characteristics becomes more important. Surface Physics: Theoretical Models and Experimental Methods presents straightforward and efficient approaches and methods developed by the authors that enable the calculation of surface and adhesion characteristics for a wide range of materials: metals, alloys, semiconductors, and complex compounds. The authors compare results from the ...
Sensitivity study on Duty cycles for Actuator fatigue analysis
Jacamon, Pauline
2016-01-01
During the aircraft's ight, the control surfaces that enable the aircraft to perform the required maneuvers and the actuator that control them have to withstand loads. Those loads will a ect the actuators lifetime and that is why it is very important to be able to predict their amplitude in order to make sure the actuators will last long enough and be ecient enough during the aircraft lifetime. Duty cycles are thus computed in order to compute the actuators fatigue severity and endurance crit...
Wang, Nianfeng; Guo, Hao; Chen, Bicheng; Cui, Chaoyu; Zhang, Xianmin
2018-05-01
Dielectric elastomers (DE), known as electromechanical transducers, have been widely used in the field of sensors, generators, actuators and energy harvesting for decades. A large number of DE actuators including bending actuators, linear actuators and rotational actuators have been designed utilizing an experience design method. This paper proposes a new method for the design of DE actuators by using a topology optimization method based on pairs of curves. First, theoretical modeling and optimization design are discussed, after which a rotary dielectric elastomer actuator has been designed using this optimization method. Finally, experiments and comparisons between several DE actuators have been made to verify the optimized result.
Modelling the appearance of heritage metallic surfaces
Directory of Open Access Journals (Sweden)
L. MacDonald
2014-06-01
Full Text Available Polished metallic surfaces exhibit a high degree of specularity, which makes them difficult to reproduce accurately. We have applied two different techniques for modelling a heritage object known as the Islamic handbag. Photogrammetric multi-view stereo enabled a dense point cloud to be extracted from a set of photographs with calibration targets, and a geometrically accurate 3D model produced. A new method based on photometric stereo from a set of images taken in an illumination dome enabled surface normals to be generated for each face of the object and its appearance to be rendered, to a high degree of visual realism, when illuminated by one or more light sources from any angles. The specularity of the reflection from the metal surface was modelled by a modified Lorentzian function.
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.
Aizenberg, Joanna; Aizenberg, Michael; Kim, Philseok
2016-01-05
Microstructured hybrid actuator assemblies in which microactuators carrying designed surface properties to be revealed upon actuation are embedded in a layer of responsive materials. The microactuators in a microactuator array reversibly change their configuration in response to a change in the environment without requiring an external power source to switch their optical properties.
MEMS Actuators for Improved Performance and Durability
Yearsley, James M.
Micro-ElectroMechanical Systems (MEMS) devices take advantage of force-scaling at length scales smaller than a millimeter to sense and interact with directly with phenomena and targets at the microscale. MEMS sensors found in everyday devices like cell-phones and cars include accelerometers, gyros, pressure sensors, and magnetic sensors. MEMS actuators generally serve more application specific roles including micro- and nano-tweezers used for single cell manipulation, optical switching and alignment components, and micro combustion engines for high energy density power generation. MEMS rotary motors are actuators that translate an electric drive signal into rotational motion and can serve as rate calibration inputs for gyros, stages for optical components, mixing devices for micro-fluidics, etc. Existing rotary micromotors suffer from friction and wear issues that affect lifetime and performance. Attempts to alleviate friction effects include surface treatment, magnetic and electrostatic levitation, pressurized gas bearings, and micro-ball bearings. The present work demonstrates a droplet based liquid bearing supporting a rotary micromotor that improves the operating characteristics of MEMS rotary motors. The liquid bearing provides wear-free, low-friction, passive alignment between the rotor and stator. Droplets are positioned relative to the rotor and stator through patterned superhydrophobic and hydrophilic surface coatings. The liquid bearing consists of a central droplet that acts as the motor shaft, providing axial alignment between rotor and stator, and satellite droplets, analogous to ball-bearings, that provide tip and tilt stable operation. The liquid bearing friction performance is characterized through measurement of the rotational drag coefficient and minimum starting torque due to stiction and geometric effects. Bearing operational performance is further characterized by modeling and measuring stiffness, environmental survivability, and high
[Modeling polarimetric BRDF of leaves surfaces].
Xie, Dong-Hui; Wang, Pei-Juan; Zhu, Qi-Jiang; Zhou, Hong-Min
2010-12-01
The purpose of the present paper is to model a physical polarimetric bidirectional reflectance distribution function (pBRDF), which can character not only the non-Lambertian but also the polarized features in order that the pBRDF can be applied to analyze the relationship between the degree of polarization and the physiological and biochemical parameters of leaves quantitatively later. Firstly, the bidirectional polarized reflectance distributions from several leaves surfaces were measured by the polarized goniometer developed by Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences. The samples of leaves include two pieces of zea mays L. leaves (young leaf and mature leaf) and a piece of E. palcherrima wild leaf. Non-Lambertian characteristics of directional reflectance from the surfaces of these three leaves are obvious. A Cook-Torrance model was modified by coupling the polarized Fresnel equations to simulate the bidirectional polarized reflectance properties of leaves surfaces. The three parameters in the modified pBRDF model, such as diffuse reflectivity, refractive index and roughness of leaf surface were inversed with genetic algorithm (GA). It was found that the pBRDF model can fit with the measured data well. In addition, these parameters in the model are related with both the physiological and biochemical properties and the polarized characteristics of leaves, therefore it is possible to build the relationships between them later.
Uncertainty quantification for PZT bimorph actuators
Bravo, Nikolas; Smith, Ralph C.; Crews, John
2018-03-01
In this paper, we discuss the development of a high fidelity model for a PZT bimorph actuator used for micro-air vehicles, which includes the Robobee. We developed a high-fidelity model for the actuator using the homogenized energy model (HEM) framework, which quantifies the nonlinear, hysteretic, and rate-dependent behavior inherent to PZT in dynamic operating regimes. We then discussed an inverse problem on the model. We included local and global sensitivity analysis of the parameters in the high-fidelity model. Finally, we will discuss the results of Bayesian inference and uncertainty quantification on the HEM.
Pneumatic Muscle Actuator Control
National Research Council Canada - National Science Library
Lilly, John
2000-01-01
This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans...
Energy Technology Data Exchange (ETDEWEB)
Higuchi, Toshiro
1987-06-01
This report explains on the present status of the clean room actuators including the author's research results. In a clean room, there exists a possibility of dust generation, even when a direct human work is eliminated by the use of robots or automatic machines, from the machines themselves. For this, it is important to develop such clean robots and transfer/positioning mechanism that do not generate dusts, and to develop an actuator and its control technique. Topics described in the report are as follows: 1. Prevention of dust diffusion by means of sealing. 2. Elimination of mechanical contact (Linear induction motor and pneumatic float, linear motor and magnetic attraction float, linear motor and air bearing, and magnetic bearing). 3. Contactless actuator having a positioning mechanism (Use of linear step motor and rotary contactless actuator). (15 figs, 11 refs)
Mass and charge transport in IPMC actuators with fractal interfaces
Chang, Longfei; Wu, Yucheng; Zhu, Zicai; Li, Heng
2016-04-01
Ionic Polymer-Metal Composite (IPMC) actuators have been attracting a growing interest in extensive applications, which consequently raises the demands on the accuracy of its theoretical modeling. For the last few years, rough landscape of the interface between the electrode and the ionic membrane of IPMC has been well-documented as one of the key elements to ensure a satisfied performance. However, in most of the available work, the interface morphology of IPMC was simplified with structural idealization, which lead to perplexity in the physical interpretation on its interface mechanism. In this paper, the quasi-random rough interface of IPMC was described with fractal dimension and scaling parameters. And the electro-chemical field was modeled by Poisson equation and a properly simplified Nernst-Planck equation set. Then, by simulation with Finite Element Method, a comprehensive analysis on he inner mass and charge transportation in IPMC actuators with different fractal interfaces was provided, which may be further adopted to instruct the performance-oriented interface design for ionic electro-active actuators. The results also verified that rough interface can impact the electrical and mechanical response of IPMC, not only from the respect of the real surface increase, but also from mass distribution difference caused by the complexity of the micro profile.
Tetherless thermobiochemically actuated microgrippers.
Leong, Timothy G; Randall, Christina L; Benson, Bryan R; Bassik, Noy; Stern, George M; Gracias, David H
2009-01-20
We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy).
Modeling of hydrogen desorption from tungsten surface
Energy Technology Data Exchange (ETDEWEB)
Guterl, J., E-mail: jguterl@ucsd.edu [University of California, San Diego, La Jolla, CA 92093 (United States); Smirnov, R.D. [University of California, San Diego, La Jolla, CA 92093 (United States); Krasheninnikov, S.I. [University of California, San Diego, La Jolla, CA 92093 (United States); Nuclear Research National University MEPhI, Moscow 115409 (Russian Federation); Uberuaga, B.; Voter, A.F.; Perez, D. [Los Alamos National Laboratory, Los Alamos, NM 8754 (United States)
2015-08-15
Hydrogen retention in metallic plasma-facing components is among key-issues for future fusion devices. For tungsten, which has been chosen as divertor material in ITER, hydrogen desorption parameters experimentally measured for fusion-related conditions show large discrepancies. In this paper, we therefore investigate hydrogen recombination and desorption on tungsten surfaces using molecular dynamics simulations and accelerated molecular dynamics simulations to analyze adsorption states, diffusion, hydrogen recombination into molecules, and clustering of hydrogen on tungsten surfaces. The quality of tungsten hydrogen interatomic potential is discussed in the light of MD simulations results, showing that three body interactions in current interatomic potential do not allow to reproduce hydrogen molecular recombination and desorption. Effects of surface hydrogen clustering on hydrogen desorption are analyzed by introducing a kinetic model describing the competition between surface diffusion, clustering and recombination. Different desorption regimes are identified and reproduce some aspects of desorption regimes experimentally observed.
Actuators of 3-element unimorph deformable mirror
Fu, Tianyang; Ning, Yu; Du, Shaojun
2016-10-01
Kinds of wavefront aberrations exist among optical systems because of atmosphere disturbance, device displacement and a variety of thermal effects, which disturb the information of transmitting beam and restrain its energy. Deformable mirror(DM) is designed to adjust these wavefront aberrations. Bimorph DM becomes more popular and more applicable among adaptive optical(AO) systems with advantages in simple structure, low cost and flexible design compared to traditional discrete driving DM. The defocus aberration accounted for a large proportion of all wavefront aberrations, with a simpler surface and larger amplitude than others, so it is very useful to correct the defocus aberration effectively for beam controlling and aberration adjusting of AO system. In this study, we desired on correcting the 3rd and 10th Zernike modes, analyze the characteristic of the 3rd and 10th defocus aberration surface distribution, design 3-element actuators unimorph DM model study on its structure and deformation principle theoretically, design finite element models of different electrode configuration with different ring diameters, analyze and compare effects of different electrode configuration and different fixing mode to DM deformation capacity through COMSOL finite element software, compare fitting efficiency of DM models to the 3rd and 10th Zernike modes. We choose the inhomogeneous electrode distribution model with better result, get the influence function of every electrode and the voltage-PV relationship of the model. This unimorph DM is suitable for the AO system with a mainly defocus aberration.
Soft actuators and soft actuating devices
Energy Technology Data Exchange (ETDEWEB)
Yang, Dian; Whitesides, George M.
2017-10-17
A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.
Compact electrostatic comb actuator
Rodgers, M. Steven; Burg, Michael S.; Jensen, Brian D.; Miller, Samuel L.; Barnes, Stephen M.
2000-01-01
A compact electrostatic comb actuator is disclosed for microelectromechanical (MEM) applications. The actuator is based upon a plurality of meshed electrostatic combs, some of which are stationary and others of which are moveable. One or more restoring springs are fabricated within an outline of the electrostatic combs (i.e. superposed with the moveable electrostatic combs) to considerably reduce the space required for the actuator. Additionally, a truss structure is provided to support the moveable electrostatic combs and prevent bending or distortion of these combs due to unbalanced electrostatic forces or external loading. The truss structure formed about the moveable electrostatic combs allows the spacing between the interdigitated fingers of the combs to be reduced to about one micron or less, thereby substantially increasing the number of active fingers which can be provided in a given area. Finally, electrostatic shields can be used in the actuator to substantially reduce unwanted electrostatic fields to further improve performance of the device. As a result, the compact electrostatic comb actuator of the present invention occupies only a fraction of the space required for conventional electrostatic comb actuators, while providing a substantial increase in the available drive force (up to one-hundred times).
A saw-tooth plasma actuator for film cooling efficiency enhancement of a shaped hole
Li, Guozhan; Yu, Jianyang; Liu, Huaping; Chen, Fu; Song, Yanping
2017-08-01
This paper reports the large eddy simulations of the effects of a saw-tooth plasma actuator and the laidback fan-shaped hole on the film cooling flow characteristics, and the numerical results are compared with a corresponding standard configuration (cylindrical hole without the saw-tooth plasma actuator). For this numerical research, the saw-tooth plasma actuator is installed just downstream of the cooling hole and a phenomenological plasma model is employed to provide the 3D plasma force vectors. The results show that thanks to the downward force and the momentum injection effect of the saw-tooth plasma actuator, the cold jet comes closer to the wall surface and extends further downstream. The saw-tooth plasma actuator also induces a new pair of vortex which weakens the strength of the counter-rotating vortex pair (CRVP) and entrains the coolant towards the wall, and thus the diffusion of the cold jet in the crossflow is suppressed. Furthermore, the laidback fan-shaped hole reduces the vertical jet velocity causing the disappearance of downstream spiral separation node vortices, this compensates for the deficiency of the saw-tooth plasma actuator. Both effects of the laidback fan-shaped hole and the saw-tooth plasma actuator effectively control the development of the CRVP whose size and strength are smaller than those of the anti-counter rotating vortex pair in the far field, thus the centerline and the spanwise-averaged film cooling efficiency are enhanced. The average film cooling efficiency is the biggest in the Fan-Dc = 1 case, which is 80% bigger than that in the Fan-Dc = 0 case and 288% bigger than that in the Cyl-Dc = 0 case.
Modeling surface roughness scattering in metallic nanowires
Energy Technology Data Exchange (ETDEWEB)
Moors, Kristof, E-mail: kristof@itf.fys.kuleuven.be [KU Leuven, Institute for Theoretical Physics, Celestijnenlaan 200D, B-3001 Leuven (Belgium); IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Sorée, Bart [IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Physics Department, University of Antwerp, Groenenborgerlaan 171, B-2020 Antwerpen (Belgium); KU Leuven, Electrical Engineering (ESAT) Department, Kasteelpark Arenberg 10, B-3001 Leuven (Belgium); Magnus, Wim [IMEC, Kapeldreef 75, B-3001 Leuven (Belgium); Physics Department, University of Antwerp, Groenenborgerlaan 171, B-2020 Antwerpen (Belgium)
2015-09-28
Ando's model provides a rigorous quantum-mechanical framework for electron-surface roughness scattering, based on the detailed roughness structure. We apply this method to metallic nanowires and improve the model introducing surface roughness distribution functions on a finite domain with analytical expressions for the average surface roughness matrix elements. This approach is valid for any roughness size and extends beyond the commonly used Prange-Nee approximation. The resistivity scaling is obtained from the self-consistent relaxation time solution of the Boltzmann transport equation and is compared to Prange-Nee's approach and other known methods. The results show that a substantial drop in resistivity can be obtained for certain diameters by achieving a large momentum gap between Fermi level states with positive and negative momentum in the transport direction.
Quantitative Modeling of Earth Surface Processes
Pelletier, Jon D.
This textbook describes some of the most effective and straightforward quantitative techniques for modeling Earth surface processes. By emphasizing a core set of equations and solution techniques, the book presents state-of-the-art models currently employed in Earth surface process research, as well as a set of simple but practical research tools. Detailed case studies demonstrate application of the methods to a wide variety of processes including hillslope, fluvial, aeolian, glacial, tectonic, and climatic systems. Exercises at the end of each chapter begin with simple calculations and then progress to more sophisticated problems that require computer programming. All the necessary computer codes are available online at www.cambridge.org/9780521855976. Assuming some knowledge of calculus and basic programming experience, this quantitative textbook is designed for advanced geomorphology courses and as a reference book for professional researchers in Earth and planetary science looking for a quantitative approach to Earth surface processes. More details...
Towards predictive models for transitionally rough surfaces
Abderrahaman-Elena, Nabil; Garcia-Mayoral, Ricardo
2017-11-01
We analyze and model the previously presented decomposition for flow variables in DNS of turbulence over transitionally rough surfaces. The flow is decomposed into two contributions: one produced by the overlying turbulence, which has no footprint of the surface texture, and one induced by the roughness, which is essentially the time-averaged flow around the surface obstacles, but modulated in amplitude by the first component. The roughness-induced component closely resembles the laminar steady flow around the roughness elements at the same non-dimensional roughness size. For small - yet transitionally rough - textures, the roughness-free component is essentially the same as over a smooth wall. Based on these findings, we propose predictive models for the onset of the transitionally rough regime. Project supported by the Engineering and Physical Sciences Research Council (EPSRC).
Global modelling of Cryptosporidium in surface water
Vermeulen, Lucie; Hofstra, Nynke
2016-04-01
Introduction Waterborne pathogens that cause diarrhoea, such as Cryptosporidium, pose a health risk all over the world. In many regions quantitative information on pathogens in surface water is unavailable. Our main objective is to model Cryptosporidium concentrations in surface waters worldwide. We present the GloWPa-Crypto model and use the model in a scenario analysis. A first exploration of global Cryptosporidium emissions to surface waters has been published by Hofstra et al. (2013). Further work has focused on modelling emissions of Cryptosporidium and Rotavirus to surface waters from human sources (Vermeulen et al 2015, Kiulia et al 2015). A global waterborne pathogen model can provide valuable insights by (1) providing quantitative information on pathogen levels in data-sparse regions, (2) identifying pathogen hotspots, (3) enabling future projections under global change scenarios and (4) supporting decision making. Material and Methods GloWPa-Crypto runs on a monthly time step and represents conditions for approximately the year 2010. The spatial resolution is a 0.5 x 0.5 degree latitude x longitude grid for the world. We use livestock maps (http://livestock.geo-wiki.org/) combined with literature estimates to calculate spatially explicit livestock Cryptosporidium emissions. For human Cryptosporidium emissions, we use UN population estimates, the WHO/UNICEF JMP sanitation country data and literature estimates of wastewater treatment. We combine our emissions model with a river routing model and data from the VIC hydrological model (http://vic.readthedocs.org/en/master/) to calculate concentrations in surface water. Cryptosporidium survival during transport depends on UV radiation and water temperature. We explore pathogen emissions and concentrations in 2050 with the new Shared Socio-economic Pathways (SSPs) 1 and 3. These scenarios describe plausible future trends in demographics, economic development and the degree of global integration. Results and
Olkiluoto surface and near-surface hydrological modelling in 2010
International Nuclear Information System (INIS)
Karvonen, T.
2011-08-01
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
Tsushima, Takafumi; Asahi, Yoichi; Tanigawa, Hiroshi; Furutsuka, Takashi; Suzuki, Kenichiro
2018-06-01
In this paper, we describe p–n diode actuators that are formed in the lateral direction on resonators. Because previously reported p–n diode actuators, which were driven by a force parallel to the electrostatic force induced in a p–n diode, were fabricated in the perpendicular direction to the surface, the fabrication process to satisfy the requirement of realizing a p–n junction set in the middle of the plate thickness has been difficult. The resonators in this work are driven by p–n diodes formed in the lateral direction, making the process easy. We have fabricated a silicon ring resonator that has in-plane vibration using p–n–p and n–p–n diode actuators formed in the lateral direction. First, we consider a space charge model that can sufficiently accurately describe the force induced in p–n diode actuators and compare it with the capacitance model used in most computer simulations. Then, we show that multiplying the vibration amplitude calculated by computer simulation by the modification coefficient of 4/3 provides the vibration amplitude in the p–n diode actuators. Good agreement of the theory with experimental results of the in-plane vibration measured for silicon ring resonators is obtained. The computer simulation is very useful for evaluating various vibration modes in resonators driven by the p–n diode actuators. The small amplitude of the p–n diode actuator measured in this work is expected to increase greatly with increased doping of the actuator.
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)
A Parallel Approach To Optimum Actuator Selection With a Genetic Algorithm
Rogers, James L.
2000-01-01
Recent discoveries in smart technologies have created a variety of aerodynamic actuators which have great potential to enable entirely new approaches to aerospace vehicle flight control. For a revolutionary concept such as a seamless aircraft with no moving control surfaces, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements. The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement Maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. Genetic algorithms have been instrumental in achieving good solutions to discrete optimization problems, such as the actuator placement problem. As a proof of concept, a genetic has been developed to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control for a simplified, untapered, unswept wing model. To find the optimum placement by searching all possible combinations would require 1,100 hours. Formulating the problem and as a multi-objective problem and modifying it to take advantage of the parallel processing capabilities of a multi-processor computer, reduces the optimization time to 22 hours.
A microelectrostatic repulsive-torque rotation actuator with two-width fingers
International Nuclear Information System (INIS)
Fan, Chao; He, Siyuan
2015-01-01
A microelectrostatic repulsive-torque rotation actuator with two-width fingers is presented. The actuator consists of finger-shaped electrodes and is made of two thin film layers, i.e. one movable layer and one fixed layer. There are two types of finger electrodes, namely constant-width and two-width fingers. The two-width finger has a narrow lower segment and a wide top segment. The constant-width finger has only the narrow lower segment. Each rotation finger has its corresponding aligned and unaligned fixed fingers. The electrostatic repulsive torque is generated and acts on the rotation fingers to rotate them up and away from the substrate. As a result, rotation is not limited by the gap between the movable and fixed layers and the ‘pull-in’ instability is avoided. Thus a large out-of-plane rotation and high operational stability can be achieved. The actuator is suitable for two-layer surface micromachining. The model of the actuator is developed. Prototypes are fabricated and tested. The experimental tests show that the actuator achieved a mechanical rotation of 7.65° at a driving voltage of 150 V. The settling time for a mechanical rotation of 5° is 5.7 ms. (paper)
Nuclear surface vibrations in bag models
International Nuclear Information System (INIS)
Tomio, L.
1984-01-01
The main difficulties found in the hadron bag models are reviewed from the original version of the MIT bag model. Following, with the aim to answer two of the main difficulties in bag models, viz., the parity and the divergence illness, a dynamical model is presented. In the model, the confinement surface of the quarks (bag) is treated like a real physical object which interacts with the quarks and is exposed to vibrations. The model is applied to the nucleon, being observed that his spectrum, in the first excited levels, can be reproduced with resonable precision and obeying to the correct parity order. In the same way that in a similar work of Brown et al., it is observed to be instrumental the inclusion of the effect due to pions. (L.C.) [pt
Sun, Zhuangzhi; Zhao, Gang; Qiao, Dongpan; Song, Wenlong
2017-12-01
Artificial muscles have attracted great attention for their potentials in intelligent robots, biomimetic devices, and micro-electromechanical system. However, there are many performance bottlenecks restricting the development of artificial muscles in engineering applications, e.g., the little blocking force and short working life. Focused on the larger requirements of the output force and the lack characteristics of the linear motion, an innovative muscle-like linear actuator based on two segmented IPMC strips was developed to imitate linear motion of artificial muscles. The structures of the segmented IPMC strip of muscle-like linear actuator were developed and the established mathematical model was to determine the appropriate segmented proportion as 1:2:1. The muscle-like linear actuator with two segmented IPMC strips assemble by two supporting link blocks was manufactured for the study of electromechanical properties. Electromechanical properties of muscle-like linear actuator under the different technological factors were obtained to experiment, and the corresponding changing rules of muscle-like linear actuators were presented to research. Results showed that factors of redistributed resistance and surface strain on both end-sides were two main reasons affecting the emergence of different electromechanical properties of muscle-like linear actuators.
INTEGRATION OF HETEROGENOUS DIGITAL SURFACE MODELS
Directory of Open Access Journals (Sweden)
R. Boesch
2012-08-01
Full Text Available The application of extended digital surface models often reveals, that despite an acceptable global accuracy for a given dataset, the local accuracy of the model can vary in a wide range. For high resolution applications which cover the spatial extent of a whole country, this can be a major drawback. Within the Swiss National Forest Inventory (NFI, two digital surface models are available, one derived from LiDAR point data and the other from aerial images. Automatic photogrammetric image matching with ADS80 aerial infrared images with 25cm and 50cm resolution is used to generate a surface model (ADS-DSM with 1m resolution covering whole switzerland (approx. 41000 km2. The spatially corresponding LiDAR dataset has a global point density of 0.5 points per m2 and is mainly used in applications as interpolated grid with 2m resolution (LiDAR-DSM. Although both surface models seem to offer a comparable accuracy from a global view, local analysis shows significant differences. Both datasets have been acquired over several years. Concerning LiDAR-DSM, different flight patterns and inconsistent quality control result in a significantly varying point density. The image acquisition of the ADS-DSM is also stretched over several years and the model generation is hampered by clouds, varying illumination and shadow effects. Nevertheless many classification and feature extraction applications requiring high resolution data depend on the local accuracy of the used surface model, therefore precise knowledge of the local data quality is essential. The commercial photogrammetric software NGATE (part of SOCET SET generates the image based surface model (ADS-DSM and delivers also a map with figures of merit (FOM of the matching process for each calculated height pixel. The FOM-map contains matching codes like high slope, excessive shift or low correlation. For the generation of the LiDAR-DSM only first- and last-pulse data was available. Therefore only the point
International Nuclear Information System (INIS)
Kim, S. T.; Jeong, W. T.
2008-01-01
The sludge grown up in steam generators of nuclear power plants shortens the life-cycle of steam generators and reduces the output of power plants. So KHNP(Korea Hydro and Nuclear Power), the only nuclear power utility in Korea, removes it periodically using a steam generator lancing system during the outage of plants for an overhaul. KEPRI(Korea Electric Power Research Institute) has developed lancing systems with high pressured water nozzle for steam generators of nuclear power plants since 2001. In this paper, the design of a partial inter-tube lancing system for model F type steam generators will be described. The system is actuated without a DC motor inner steam generators because the motors in a steam generator make a trouble from high intensity of radioactivity as a break down
Modeling radon flux from the earth's surface
International Nuclear Information System (INIS)
Schery, S.D.; Wasiolek, M.A.
1998-01-01
We report development of a 222 Rn flux density model and its use to estimate the 222 Rn flux density over the earth's land surface. The resulting maps are generated on a grid spacing of 1 0 x 1 0 using as input global data for soil radium, soil moisture, and surface temperature. While only a first approximation, the maps suggest a significant regional variation (a factor of three is not uncommon) and a significant seasonal variation (a factor of two is not uncommon) in 222 Rn flux density over the earth's surface. The estimated average global flux density from ice-free land is 34 ± 9 mBq m -2 s -1 . (author)
Energy Technology Data Exchange (ETDEWEB)
Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst
2014-09-01
There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator
Coordination Protocols for a Reliable Sensor, Actuator, and Device Network (SADN
Directory of Open Access Journals (Sweden)
Keiji Ozaki
2008-01-01
Full Text Available A sensor, actuator, and device network (SADN is composed of three types of nodes, which are sensor, actuator, and actuation device nodes. Sensor nodes and actuator nodes are interconnected in wireless networks as discussed in wireless sensor and actuator networks (WSANs. Actuator nodes and device nodes are interconnected in types of networks, i.e. wireless and wired network. Sensor nodes sense an physical event and send sensed values of the event to actuator nodes. An actuator node makes a decision on proper actions on receipt of sensed values and then issue the action requests to the device nodes. A device node really acts to the physical world. For example, moves a robot arms by performing the action on receipt of the action request. Messages may be lost and nodes may be faulty. Especially, messages are lost due to noise and collision in a wireless network. We propose a fully redundant model for an SADN where each of sensor, actuator, and device functions is replicated in multiple nodes and each of sensor-actuator and actuator-device communication is realized in many-to-many type of communication protocols. Even if some number of nodes are faulty, the other nodes can perform requested tasks. Here, each sensor node sends sensed values to multiple actuator nodes and each actuator node receives sensed values from multiple sensor nodes. While multiple actuator nodes communicate with multiple replica nodes of a device. Even if messages are lost and some number of nodes are faulty, device nodes can surely receive action requests required for sensed values and the actions are performed. In this paper, we discuss a type of semi-passive coordination (SPC protocol of multiple actuator nodes for multiple sensor nodes. We discuss a type of active coordination protocol for multiple actuator nodes and multiple actuation device nodes. We evaluate the SPC protocol for the sensor-actuator coordination in terms of the number of messages exchanged among
Modeling superhydrophobic surfaces comprised of random roughness
Samaha, M. A.; Tafreshi, H. Vahedi; Gad-El-Hak, M.
2011-11-01
We model the performance of superhydrophobic surfaces comprised of randomly distributed roughness that resembles natural surfaces, or those produced via random deposition of hydrophobic particles. Such a fabrication method is far less expensive than ordered-microstructured fabrication. The present numerical simulations are aimed at improving our understanding of the drag reduction effect and the stability of the air-water interface in terms of the microstructure parameters. For comparison and validation, we have also simulated the flow over superhydrophobic surfaces made up of aligned or staggered microposts for channel flows as well as streamwise or spanwise ridge configurations for pipe flows. The present results are compared with other theoretical and experimental studies. The numerical simulations indicate that the random distribution of surface roughness has a favorable effect on drag reduction, as long as the gas fraction is kept the same. The stability of the meniscus, however, is strongly influenced by the average spacing between the roughness peaks, which needs to be carefully examined before a surface can be recommended for fabrication. Financial support from DARPA, contract number W91CRB-10-1-0003, is acknowledged.
International Nuclear Information System (INIS)
Pawar, Prashant M; Jung, Sung Nam
2008-01-01
In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades
Pawar, Prashant M.; Jung, Sung Nam
2008-12-01
In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades.
Stochastic models for surface diffusion of molecules
Energy Technology Data Exchange (ETDEWEB)
Shea, Patrick, E-mail: patrick.shea@dal.ca; Kreuzer, Hans Jürgen [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 3J5 (Canada)
2014-07-28
We derive a stochastic model for the surface diffusion of molecules, starting from the classical equations of motion for an N-atom molecule on a surface. The equation of motion becomes a generalized Langevin equation for the center of mass of the molecule, with a non-Markovian friction kernel. In the Markov approximation, a standard Langevin equation is recovered, and the effect of the molecular vibrations on the diffusion is seen to lead to an increase in the friction for center of mass motion. This effective friction has a simple form that depends on the curvature of the lowest energy diffusion path in the 3N-dimensional coordinate space. We also find that so long as the intramolecular forces are sufficiently strong, memory effects are usually not significant and the Markov approximation can be employed, resulting in a simple one-dimensional model that can account for the effect of the dynamics of the molecular vibrations on the diffusive motion.
Neelakantan, Vijay A.; Washington, Gregory N.; Bucknor, Norman K.
2005-05-01
High bandwidth actuation systems that are capable of simultaneously producing relatively large forces and displacements are required for use in automobiles and other industrial applications. Conventional hydraulic actuation mechanisms used in automotive brakes and clutches are complex, inefficient and have poor control robustness. These lead to reduced fuel economy, controllability issues and other disadvantages. This paper involves the design, development, testing and control of a two-stage hybrid actuation mechanism by combining classical actuators like DC motors and advanced smart material actuators like piezoelectric actuators. The paper also discusses the development of a robust control methodology using the Internal Model Control (IMC) principle and emphasizes the robustness property of this control methodology by comparing and studying simulation and experimental results.
Parameter optimization for surface flux transport models
Whitbread, T.; Yeates, A. R.; Muñoz-Jaramillo, A.; Petrie, G. J. D.
2017-11-01
Accurate prediction of solar activity calls for precise calibration of solar cycle models. Consequently we aim to find optimal parameters for models which describe the physical processes on the solar surface, which in turn act as proxies for what occurs in the interior and provide source terms for coronal models. We use a genetic algorithm to optimize surface flux transport models using National Solar Observatory (NSO) magnetogram data for Solar Cycle 23. This is applied to both a 1D model that inserts new magnetic flux in the form of idealized bipolar magnetic regions, and also to a 2D model that assimilates specific shapes of real active regions. The genetic algorithm searches for parameter sets (meridional flow speed and profile, supergranular diffusivity, initial magnetic field, and radial decay time) that produce the best fit between observed and simulated butterfly diagrams, weighted by a latitude-dependent error structure which reflects uncertainty in observations. Due to the easily adaptable nature of the 2D model, the optimization process is repeated for Cycles 21, 22, and 24 in order to analyse cycle-to-cycle variation of the optimal solution. We find that the ranges and optimal solutions for the various regimes are in reasonable agreement with results from the literature, both theoretical and observational. The optimal meridional flow profiles for each regime are almost entirely within observational bounds determined by magnetic feature tracking, with the 2D model being able to accommodate the mean observed profile more successfully. Differences between models appear to be important in deciding values for the diffusive and decay terms. In like fashion, differences in the behaviours of different solar cycles lead to contrasts in parameters defining the meridional flow and initial field strength.
Aerodynamic Optimization for Distributed Electro Mechanical Actuators, Phase I
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,...
Impact-Actuated Digging Tool for Lunar Excavation, Phase I
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...
Actuator with Multi Degrees of Freedom(Actuator)
矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所
2006-01-01
The advantages, problems and the recent developments of the actuator with multi degrees of freedom are presented. At first, the advantages of the actuator with multi degrees of freedom are described. Next, the problems needed to solve for practical use are presented. The recent applications of the actuator with multi degrees of freedom are also reviewed.
Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.
Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil
2018-04-01
Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.
DEFF Research Database (Denmark)
Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.
2013-01-01
Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand...... interaction with the guitar is immense. We therefore divided the right hand techniques into three main areas: Strumming, string picking / skipping, and string muting. This paper explores the first stage, strum- ming. We have developed an exploratory platform called the Actuated Guitar that utilizes a normal...
Fault tolerant linear actuator
Tesar, Delbert
2004-09-14
In varying embodiments, the fault tolerant linear actuator of the present invention is a new and improved linear actuator with fault tolerance and positional control that may incorporate velocity summing, force summing, or a combination of the two. In one embodiment, the invention offers a velocity summing arrangement with a differential gear between two prime movers driving a cage, which then drives a linear spindle screw transmission. Other embodiments feature two prime movers driving separate linear spindle screw transmissions, one internal and one external, in a totally concentric and compact integrated module.
Fiber-Reinforced Origamic Robotic Actuator.
Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng
2018-02-01
A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.
Numerical simulation of mechatronic sensors and actuators
Kaltenbacher, Manfred
2007-01-01
Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.
Performance evaluation of an improved fish robot actuated by piezoceramic actuators
Nguyen, Q. S.; Heo, S.; Park, H. C.; Byun, D.
2010-03-01
This paper presents an improved fish robot actuated by four lightweight piezocomposite actuators. Our newly developed actuation mechanism is simple to fabricate because it works without gears. With the new actuation mechanism, the fish robot has a 30% smaller cross section than our previous model. Performance tests of the fish robot in water were carried out to measure the tail-beat angle, the thrust force, the swimming speed for various tail-beat frequencies from 1 to 5 Hz and the turning radius at the optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s - 1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming direction of the fish robot can be controlled by changing the duty ratio of the driving voltage; the fish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn.
Electric-Pneumatic Actuator: A New Muscle for Locomotion
Directory of Open Access Journals (Sweden)
Maziar Ahmad Sharbafi
2017-10-01
Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.
Micro-mechanics of ionic electroactive polymer actuators
Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo
2015-04-01
Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.
Liquid surface model for carbon nanotube energetics
DEFF Research Database (Denmark)
Solov'yov, Ilia; Mathew, Maneesh; Solov'yov, Andrey V.
2008-01-01
an important insight in the energetics and stability of nanotubes of different chirality and might be important for the understanding of nanotube growth process. For the computations we use empirical Brenner and Tersoff potentials and discuss their applicability to the study of carbon nanotubes. From......In the present paper we developed a model for calculating the energy of single-wall carbon nanotubes of arbitrary chirality. This model, which we call as the liquid surface model, predicts the energy of a nanotube with relative error less than 1% once its chirality and the total number of atoms...... 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....
Iterative Learning Control of Hysteresis in Piezoelectric Actuators
Directory of Open Access Journals (Sweden)
Guilin Zhang
2014-01-01
input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.
Design and development of a linear thermal actuator
Bush, G.; Osborne, D.
1985-01-01
The design and development of a linear thermal actuator (LTA) for space applications is described. The actuator is driven by thermal energy and utilizes the property of thermal expansion to do work. Equations to predict performance are developed and used to optimize the design of the development model LTA. Design details and test results are presented and discussed.
Parallel-beams/lever electrothermal out-of-plane actuator
Deladi, S.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt
2004-01-01
We report on the design, modeling, fabrication and testing of a powerful electrothermal actuator allowing for various modes of movement and exhibiting forces large enough to be usable in a micro-tribotester. The performance of the actuator has been simulated combining numerical and analytical
Actuators based on polyurethanes with different types of polyol
Lim, Hyun-Ok; Bark, Geong-Mi; Jo, Nam-Ju
2007-07-01
This study dealt with the electrostrictive responses of polyurethane (PU) actuators with different microphase separation structure, which was a promising candidate for a material used in polymer actuators. In order to construct PUs with different higher-order structure, we synthesized PUs with different diols; poly(neopentyl glycol adipate) (PNAD), poly(tetramethylene glycol) (PTMG), and poly(dimethyl siloxnae) (PDMS). Synthesized PU was characterized by FT-IR spectroscopy and GPC. Thermal analysis and mechanical properties of PU films were carried out with DSC and UTM, respectively. And PU actuator was formed in a monomorph type which made by carbon black electrodes on the both surfaces of PU film by spin coating method. Actuation behavior was mainly influenced on microphase separation structure and mechanical property of PU. In result, PU actuator with PNAD, polyester urethane, had the largest field-induced displacement.
Actuating movement in refined wearables
Toeters, M.J.; Feijs, L.M.G.
2014-01-01
Nowadays it is quite possible to deploy textiles as sensors and avoid traditional hard sensors. Actuation (movement) turns out more difficult. It is advantageous to combine sensing and actuation, similar to ecological perception theory. Although several actuators are known: SMA, voice coil, motors,
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.
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
Bistable microelectromechanical actuator
Fleming, James G.
1999-01-01
A bistable microelectromechanical (MEM) actuator is formed on a substrate and includes a stressed membrane of generally rectangular shape that upon release assumes a curvilinear cross-sectional shape due to attachment at a midpoint to a resilient member and at opposing edges to a pair of elongate supports. The stressed membrane can be electrostatically switched between a pair of mechanical states having mirror-image symmetry, with the MEM actuator remaining in a quiescent state after a programming voltage is removed. The bistable MEM actuator according to various embodiments of the present invention can be used to form a nonvolatile memory element, an optical modulator (with a pair of mirrors supported above the membrane and moving in synchronism as the membrane is switched), a switchable mirror (with a single mirror supported above the membrane at the midpoint thereof) and a latching relay (with a pair of contacts that open and close as the membrane is switched). Arrays of bistable MEM actuators can be formed for applications including nonvolatile memories, optical displays and optical computing.
Airplane Actuation Trade Study
1983-01-01
Some of these advancements were high voltage power supplies, permanent magnet motors using rare earth magnets, electronic comnmutation and an...Essentially the inverter chops and pulse width modulates the 270 VDC power supplied by the electrical power system to cause the actuator’s permanent magnet motors to
Thermally Actuated Hydraulic Pumps
Jones, Jack; Ross, Ronald; Chao, Yi
2008-01-01
Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research
Method for driving an actuator, actuator drive, and apparatus comprising an actuator
2010-01-01
An actuator driver circuit includes a drive signal source and an electrical damping element having a negative resistance connected in series with the drive signal source. A controllable switch is provided for selectively switching the electrical damping element into or put of a signal path from a drive signal source output to a driver circuit output, in order to selectively change the electrical damping of an actuator. For example, the electrical damping of a radial actuator or a focus actuat...
EMC design for actuators in the FAST reflector
Zhang, Hai-Yan; Wu, Ming-Chang; Yue, You-Ling; Gan, Heng-Qian; Hu, Hao; Huang, Shi-Jie
2018-04-01
An active reflector is one of the three main innovations incorporated in the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The deformation of such a huge spherically shaped reflector into different transient parabolic shapes is achieved by using 2225 hydraulic actuators which change the position of the 2225 nodes through the connected down tied cables. For each different tracking process of the telescope, more than 1/3 of these 2225 actuators must be in operation to tune the parabolic aperture accurately and meet the surface error restriction. This means that some of these actuators are inevitably located within the main beam of the receiver, and Electromagnetic Interference (EMI) from the actuators must be mitigated to ensure the scientific output of the telescope. Based on the threshold level of interference detrimental to radio astronomy described in ITU-R Recommendation RA.769 and EMI measurements, the shielding efficiency (SE) requirement for each actuator is set to be 80 dB in the frequency range from 70 MHz to 3 GHz. Therefore, Electromagnetic Compatibility (EMC) was taken into account in the actuator design by measures such as power line filters, optical fibers, shielding enclosures and other structural measures. In 2015, all the actuators had been installed at the FAST site. Till now, no apparent EMI from the actuators has been detected by the receiver, which demonstrates the effectiveness of these EMC measures.
Failure of cargo aileron’s actuator
Directory of Open Access Journals (Sweden)
G. Zucca
2014-10-01
Full Text Available During a ferry flight, in a standard operation condition and at cruising level, a military cargo experienced a double hydraulic system failure due to a structural damage of the dual booster actuator. The booster actuator is the main component in mechanism of aileron’s deflection. The crew was able to arrange an emergency landing thanks to the spare oil onboard: load specialists refilled the hydraulic reservoirs. Due to safety concerns and in order to prevent the possibility of other similar incidents, a technical investigation took place. The study aimed to carry out the analysis of root causes of the actuator failure. The Booster actuator is composed mainly by the piston rod and its aluminum external case (AA7049. The assembly has two bronze caps on both ends. These are fixed in position by means of two retainers. At one end of the actuator case is placed a trunnion: a cylindrical protrusion used as a pivoting point on the aircraft. The fracture was located at one end of the case, on the trunnion side, in correspondence to the cap and over the retainer. One of the two fracture surfaces was found separated to the case and with the cap entangled inside. The fracture surfaces of the external case indicated fatigue crack growth followed by ductile separation. The failure analysis was performed by means of optical, metallographic, digital and electronic microscopy. The collected evidences showed a multiple initiation fracture mechanism. Moreover, 3D scanner reconstruction and numerical simulation demonstrated that dimensional non conformances and thermal loads caused an abnormal stress concentration. Stress concentration was located along the case assy outer surface where the fatigue crack originated. The progressive rupture mechanism grew under cyclical axial load due to the normal operations. Recommendations were issued in order to improve dimensional controls and assembly procedures during production and overhaul activities.
Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator
Directory of Open Access Journals (Sweden)
Keng Huat Koh
2014-06-01
Full Text Available This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force and V (driving voltage within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.
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.
Dielectric Actuation of Polymers
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
A new MRI land surface model HAL
Hosaka, M.
2011-12-01
A land surface model HAL is newly developed for MRI-ESM1. It is used for the CMIP simulations. HAL consists of three submodels: SiByl (vegetation), SNOWA (snow) and SOILA (soil) in the current version. It also contains a land coupler LCUP which connects some submodels and an atmospheric model. The vegetation submodel SiByl has surface vegetation processes similar to JMA/SiB (Sato et al. 1987, Hirai et al. 2007). SiByl has 2 vegetation layers (canopy and grass) and calculates heat, moisture, and momentum fluxes between the land surface and the atmosphere. The snow submodel SNOWA can have any number of snow layers and the maximum value is set to 8 for the CMIP5 experiments. Temperature, SWE, density, grain size and the aerosol deposition contents of each layer are predicted. The snow properties including the grain size are predicted due to snow metamorphism processes (Niwano et al., 2011), and the snow albedo is diagnosed from the aerosol mixing ratio, the snow properties and the temperature (Aoki et al., 2011). The soil submodel SOILA can also have any number of soil layers, and is composed of 14 soil layers in the CMIP5 experiments. The temperature of each layer is predicted by solving heat conduction equations. The soil moisture is predicted by solving the Darcy equation, in which hydraulic conductivity depends on the soil moisture. The land coupler LCUP is designed to enable the complicated constructions of the submidels. HAL can include some competing submodels (precise and detailed ones, and simpler ones), and they can run at the same simulations. LCUP enables a 2-step model validation, in which we compare the results of the detailed submodels with the in-situ observation directly at the 1st step, and follows the comparison between them and those of the simpler ones at the 2nd step. When the performances of the detailed ones are good, we can improve the simpler ones by using the detailed ones as reference models.
Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices
Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie
2016-09-01
Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.
Design method for marine direct drive volume control ahead actuator
Directory of Open Access Journals (Sweden)
WANG Haiyang
2018-02-01
Full Text Available [Objectives] In order to reduce the size, weight and auxiliary system configuration of marine ahead actuators, this paper proposes a kind of direct drive volume control electro-hydraulic servo ahead actuator. [Methods] The protruding and indenting control of the servo oil cylinder are realized through the forward and reverse of the bidirectional working gear pump, and the flow matching valve implements the self-locking of the ahead actuator in the target position. The mathematical model of the ahead actuator is established, and an integral separation fuzzy PID controller designed. On this basis, using AMESim software to build a simulation model of the ahead actuator, and combined with testing, this paper completes an analysis of the control strategy research and dynamic and static performance of the ahead actuator. [Results] The experimental results agree well with the simulation results and verify the feasibility of the ahead actuator's design. [Conclusions] The research results of this paper can provide valuable references for the integration and miniaturization design of marine ahead actuators.
Soft Sensors and Actuators based on Nanomaterials
Yao, Shanshan
NW based heaters, which exhibited a fast heating rate of 18°C/s and stable heating performance under large bending. The actuators offered the largest bending angle (720°) or curvature (2.6 cm-1) at a very low actuation voltage (0.2 V sq-1 or 4.5 V) among all types of bimorph actuators that have been reported. The actuators can be designed and fabricated in different configurations that can achieve complex patterns and shapes upon actuation. Two applications of this type of soft actuators were demonstrated towards biomimetic robotics - a crawling robot that can walk spontaneously on ratchet surfaces and a soft gripper that is capable of manipulating lightweight and delicate objects. In another application towards wearable drug delivery, a wearable, tensile strain-triggered drug delivery device consisting of a stretchable elastomer and microgel depots containing drug loaded nanoparticles is described. By applying a tensile strain to the elastomer film, the release of drug from the micro-depot is promoted. Correspondingly, both sustained drug release by daily body motions and pulsatile release by intentional administration can be conveniently achieved. The work demonstrated that the tensile strain, applied to the stretchable device, facilitated release of therapeutics from micro-depots for anticancer and antibacterial treatments, respectively. Moreover, polymeric microneedles were further integrated with the stretch-responsive device for transcutaneous delivery of insulin and regulation of blood glucose levels of chemically-induced type 1 diabetic mice.
Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application
Panda, S. K.; Bandopadhya, D.
2018-02-01
Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.
Bassan, M.; Cavalleri, A.; De Laurentis, M.; De Marchi, F.; De Rosa, R.; Di Fiore, L.; Dolesi, R.; Finetti, N.; Garufi, F.; Grado, A.; Hueller, M.; Marconi, L.; Milano, L.; Minenkov, Y.; Pucacco, G.; Stanga, R.; Vetrugno, D.; Visco, M.; Vitale, S.; Weber, W. J.
2018-01-01
In this paper we report on measurements on actuation crosstalk, relevant to the gravitational reference sensors for LISA Pathfinder and LISA. In these sensors, a Test Mass (TM) falls freely within a system of electrodes used for readout and control. These measurements were carried out on ground with a double torsion pendulum that allowed us to estimate both the torque injected into the sensor when a control force is applied and, conversely, the force leaking into the translational degree of freedom due to the applied torque.The values measured on our apparatus (the engineering model of the LISA Pathfinder sensor) agree to within 0.2% (over a maximum measured crosstalk of 1%) with predictions of a mathematical model when measuring force to torque crosstalk, while it is somewhat larger than expected (up to 3.5%) when measuring torque to force crosstalk. However, the values in the relevant range, i.e. when the TM is well centered ( ± 10 μm) in the sensor, remain smaller than 0.2%, satisfying the LISA Pathfinder requirements.
Merging Digital Surface Models Implementing Bayesian Approaches
Sadeq, H.; Drummond, J.; Li, Z.
2016-06-01
In this research different DSMs from different sources have been merged. The merging is based on a probabilistic model using a Bayesian Approach. The implemented data have been sourced from very high resolution satellite imagery sensors (e.g. WorldView-1 and Pleiades). It is deemed preferable to use a Bayesian Approach when the data obtained from the sensors are limited and it is difficult to obtain many measurements or it would be very costly, thus the problem of the lack of data can be solved by introducing a priori estimations of data. To infer the prior data, it is assumed that the roofs of the buildings are specified as smooth, and for that purpose local entropy has been implemented. In addition to the a priori estimations, GNSS RTK measurements have been collected in the field which are used as check points to assess the quality of the DSMs and to validate the merging result. The model has been applied in the West-End of Glasgow containing different kinds of buildings, such as flat roofed and hipped roofed buildings. Both quantitative and qualitative methods have been employed to validate the merged DSM. The validation results have shown that the model was successfully able to improve the quality of the DSMs and improving some characteristics such as the roof surfaces, which consequently led to better representations. In addition to that, the developed model has been compared with the well established Maximum Likelihood model and showed similar quantitative statistical results and better qualitative results. Although the proposed model has been applied on DSMs that were derived from satellite imagery, it can be applied to any other sourced DSMs.
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.
Accuracy Assessment of Different Digital Surface Models
Directory of Open Access Journals (Sweden)
Ugur Alganci
2018-03-01
Full Text Available Digital elevation models (DEMs, which can occur in the form of digital surface models (DSMs or digital terrain models (DTMs, are widely used as important geospatial information sources for various remote sensing applications, including the precise orthorectification of high-resolution satellite images, 3D spatial analyses, multi-criteria decision support systems, and deformation monitoring. The accuracy of DEMs has direct impacts on specific calculations and process chains; therefore, it is important to select the most appropriate DEM by considering the aim, accuracy requirement, and scale of each study. In this research, DSMs obtained from a variety of satellite sensors were compared to analyze their accuracy and performance. For this purpose, freely available Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER 30 m, Shuttle Radar Topography Mission (SRTM 30 m, and Advanced Land Observing Satellite (ALOS 30 m resolution DSM data were obtained. Additionally, 3 m and 1 m resolution DSMs were produced from tri-stereo images from the SPOT 6 and Pleiades high-resolution (PHR 1A satellites, respectively. Elevation reference data provided by the General Command of Mapping, the national mapping agency of Turkey—produced from 30 cm spatial resolution stereo aerial photos, with a 5 m grid spacing and ±3 m or better overall vertical accuracy at the 90% confidence interval (CI—were used to perform accuracy assessments. Gross errors and water surfaces were removed from the reference DSM. The relative accuracies of the different DSMs were tested using a different number of checkpoints determined by different methods. In the first method, 25 checkpoints were selected from bare lands to evaluate the accuracies of the DSMs on terrain surfaces. In the second method, 1000 randomly selected checkpoints were used to evaluate the methods’ accuracies for the whole study area. In addition to the control point approach, vertical cross
Electrical Actuation Technology Bridging
Hammond, Monica (Compiler); Sharkey, John (Compiler)
1993-01-01
This document contains the proceedings of the NASA Electrical Actuation Technology Bridging (ELA-TB) Workshop held in Huntsville, Alabama, September 29-October 1, 1992. The workshop was sponsored by the NASA Office of Space Systems Development and Marshall Space Flight Center (MSFC). The workshop addressed key technologies bridging the entire field of electrical actuation including systems methodology, control electronics, power source systems, reliability, maintainability, and vehicle health management with special emphasis on thrust vector control (TVC) applications on NASA launch vehicles. Speakers were drawn primarily from industry with participation from universities and government. In addition, prototype hardware demonstrations were held at the MSFC Propulsion Laboratory each afternoon. Splinter sessions held on the final day afforded the opportunity to discuss key issues and to provide overall recommendations. Presentations are included in this document.
Thermally actuated linkage arrangement
International Nuclear Information System (INIS)
Anderson, P.M.
1981-01-01
A reusable thermally actuated linkage arrangement includes a first link member having a longitudinal bore therein adapted to receive at least a portion of a second link member therein, the first and second members being sized to effect an interference fit preventing relative movement there-between at a temperature below a predetermined temperature. The link members have different coefficients of thermal expansion so that when the linkage is selectively heated by heating element to a temperature above the predetermined temperature, relative longitudinal and/or rotational movement between the first and second link members is enabled. Two embodiments of a thermally activated linkage are disclosed which find particular application in actuators for a grapple head positioning arm in a nuclear reactor fuel handling mechanism to facilitate back-up safety retraction of the grapple head independently from the primary fuel handling mechanism drive system. (author)
DeWall, Kevin G.; Watkins, John C; Nitzel, Michael E.
2006-08-29
Apparatus for actuating a valve includes a support frame and at least one valve driving linkage arm, one end of which is rotatably connected to a valve stem of the valve and the other end of which is rotatably connected to a screw block. A motor connected to the frame is operatively connected to a motor driven shaft which is in threaded screw driving relationship with the screw block. The motor rotates the motor driven shaft which drives translational movement of the screw block which drives rotatable movement of the valve driving linkage arm which drives translational movement of the valve stem. The valve actuator may further include a sensory control element disposed in operative relationship with the valve stem, the sensory control element being adapted to provide control over the position of the valve stem by at least sensing the travel and/or position of the valve stem.
Fundamentals of magnet-actuated droplet manipulation on an open hydrophobic surface†
Long, Zhicheng; Shetty, Abhishek M.; Solomon, Michael J.; Larson, Ronald G.
2010-01-01
We systematically investigate droplet movement, coalescence, and splitting on an open hydrophobic surface. These processes are actuated by magnetic beads internalized in an oil-coated aqueous droplet using an external magnet. Results are organized into an ‘operating diagram’ that describes regions of droplet stable motion, breakage, and release from the magnet. The results are explained theoretically with a simple model that balances magnetic, friction, and capillary-induced drag forces and includes the effects of particle type, droplet size, surrounding oil layer, surface tension, and viscosity. Finally, we discuss the implications of the results for the design of magnet-actuated droplet systems for applications such as nucleic acid purification, immunoassay and drug delivery. PMID:19458864
International Nuclear Information System (INIS)
Sung, Rak Jin
1988-01-01
This book introduces solenoid as actuator, magnetic attraction of current, a magnetic field generated by coil, calculation of inductance, thinking way of magnetic energy, principle and application of DC motor, basic expression of DC motor, sorts and characteristics of DC motor, electric control of DC motor, exchange operation by electric control, action of free wheeling diodes, principle and characteristic induction motor electric control of induction motor, stepping motor and hysteresis motor and linear motor.
Varma, Venugopal K.
2001-01-01
An actuator for cycling between first and second positions includes a first shaped memory alloy (SMA) leg, a second SMA leg. At least one heating/cooling device is thermally connected to at least one of the legs, each heating/cooling device capable of simultaneously heating one leg while cooling the other leg. The heating/cooling devices can include thermoelectric and/or thermoionic elements.
Vibration analysis of a functionally graded piezoelectric cylindrical actuator
International Nuclear Information System (INIS)
Zhang, T T; Shi, Z F; Spencer, B F Jr
2008-01-01
This paper focuses on the response of a functionally graded piezoelectric cylindrical actuator placed in a harmonic electric field based on elastic membrane theory and shell theory. The actuator is polarized in the radial direction with its piezoelectric coefficient d 31 varying linearly along the axial direction. In the present investigation, non-dimensional expressions are introduced, and analytical solutions for this class of actuator are obtained. The results provided in the present study are compared with other investigations, with good agreement being found. The major differences between a functionally graded actuator and an actuator with homogeneous material properties are identified, and the advantages of the former are demonstrated. In the last section of this paper, limitations of membrane theory and shell theory models are discussed
Optimum Actuator Selection with a Genetic Algorithm for Aircraft Control
Rogers, James L.
2004-01-01
The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. For example, the desired actuators produce a pure roll moment without at the same time causing much pitch or yaw. For a typical wing, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements and mission constraints. A genetic algorithm has been developed for finding the best placement for four actuators to produce an uncoupled pitch moment. The genetic algorithm has been extended to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control. A simplified, untapered, unswept wing is the model for each application.
Cylindrical Piezoelectric Fiber Composite Actuators
Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.
2008-01-01
The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.
Mechanisms and actuators for rotorcraft blade morphing
Vocke, Robert D., III
The idea of improved fight performance through changes in the control surfaces dates back to the advent of aviation with the Wright brothers' pioneering work on "wing warping," but it was not until the recent progress in material and actuator development that such control surfaces seemed practical for modern aircraft. This has opened the door to a new class of aircraft that have the ability to change shape or morph, which are being investigated due to the potential to have a single platform serve multiple mission objectives, as well as improve performance characteristics. While the majority of existing research for morphing aircraft has focused on fixedwing aircraft, rotary-wing aircraft have begun to receive more attention. The purpose of this body of work is to investigate the current state of morphing actuation technology for rotorcraft and improve upon it. Specifically, this work looks at two types of morphing: Pneumatic Artificial Muscle (PAM) actuated trailing edge flaps and conformal variable diameter morphing. First, active camber changes through the use of PAM powered trailing edge flaps were investigated due to the potential for reductions in power requirements and vibration/noise levels. A PAM based antagonistic actuation system was developed utilizing a novel combination of mechanism geometry and PAM bias contraction optimization to overcome the natural extension stiffening characteristics of PAMs. In open-loop bench-top testing against a "worst-case" constant torsional loading, the system demonstrated actuation authority suitable for both primary control and vibration/noise reduction. Additionally, closed-loop test data indicated that the system was capable of tracking complex waveforms consistent with those needed for rotorcraft control. This system demonstrated performance on-par with the state of the art pneumatic trailing edge flap actuators, yet with a much smaller footprint and impact on the rotor-blade. The second morphing system developed in
Microelectromechanical (MEM) thermal actuator
Garcia, Ernest J [Albuquerque, NM; Fulcher, Clay W. G. [Sandia Park, NM
2012-07-31
Microelectromechanical (MEM) buckling beam thermal actuators are disclosed wherein the buckling direction of a beam is constrained to a desired direction of actuation, which can be in-plane or out-of-plane with respect to a support substrate. The actuators comprise as-fabricated, linear beams of uniform cross section supported above the substrate by supports which rigidly attach a beam to the substrate. The beams can be heated by methods including the passage of an electrical current through them. The buckling direction of an initially straight beam upon heating and expansion is controlled by incorporating one or more directional constraints attached to the substrate and proximal to the mid-point of the beam. In the event that the beam initially buckles in an undesired direction, deformation of the beam induced by contact with a directional constraint generates an opposing force to re-direct the buckling beam into the desired direction. The displacement and force generated by the movement of the buckling beam can be harnessed to perform useful work, such as closing contacts in an electrical switch.
Energy Technology Data Exchange (ETDEWEB)
Tasevski, Gotse; Petreski, Zlatko; Shishkovski, Dejan [Faculty of Mechanical Engineering, ' Ss. Cyril and Methodius' University, Skopje (Macedonia, The Former Yugoslav Republic of)
2014-07-01
Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)
International Nuclear Information System (INIS)
Gutiérrez, J M; Barbero, E J; Cairns, D R; Mucino, V H; Mayugo, J A
2012-01-01
Analytical and numerical tools for the analysis and design of actuated polymer films (APFs) are developed and described in this paper. Computational micromechanical models are set up and correlated in order to calculate the deformation and power requirement to actuate an APF taking into account hyperelastic and viscous effects. A method is developed to correlate material parameters in the viscous branch of the Bergström–Boyce model to available experimental data. The effects of various geometric and material parameters are elucidated by a parametric study including coherent versus non-coherent actuators, excitation frequency and magnitude, modulus of elasticity of the actuator and the top film, and actuator volume fraction. (paper)
Nanoscale Assembly of Actuating Cilia-Mimetic
Baird, Lance; Breidenich, Jennifer; Land, Bruce; Hayes, Allen; Benkoski, Jason; Keng, Pei; Pyun, Jeffrey
2009-03-01
The cilium is among the smallest mechanical actuators found in nature. We have taken inspiration from this design to create magnetic nanochains, measuring approximately 1-5 μm long and 25 nm in diameter. Fabricated from the self-assembly of cobalt nanoparticles, these flexible filaments actuate in an oscillating magnetic field. The cobalt nanoparticles were functionalized with a polystyrene/benzaldehyde surface coating, thus allowing the particles to form imine bonds with one another in the presence of a diamine terminated polyethylene glycol. These imine bonds effectively cross-linked the particles and held the nanochains together in the absence of a magnetic field. Using design of experiments (DOE) to efficiently screen the effects of cobalt nanoparticle concentration, crosslinker concentration, and surface chemistry, we determined that the morphology of the final structures could be explained primarily by physical interactions (i.e. magnetic forces) rather than chemistry.
A surface hydrology model for regional vector borne disease models
Tompkins, Adrian; Asare, Ernest; Bomblies, Arne; Amekudzi, Leonard
2016-04-01
Small, sun-lit temporary pools that form during the rainy season are important breeding sites for many key mosquito vectors responsible for the transmission of malaria and other diseases. The representation of this surface hydrology in mathematical disease models is challenging, due to their small-scale, dependence on the terrain and the difficulty of setting soil parameters. Here we introduce a model that represents the temporal evolution of the aggregate statistics of breeding sites in a single pond fractional coverage parameter. The model is based on a simple, geometrical assumption concerning the terrain, and accounts for the processes of surface runoff, pond overflow, infiltration and evaporation. Soil moisture, soil properties and large-scale terrain slope are accounted for using a calibration parameter that sets the equivalent catchment fraction. The model is calibrated and then evaluated using in situ pond measurements in Ghana and ultra-high (10m) resolution explicit simulations for a village in Niger. Despite the model's simplicity, it is shown to reproduce the variability and mean of the pond aggregate water coverage well for both locations and validation techniques. Example malaria simulations for Uganda will be shown using this new scheme with a generic calibration setting, evaluated using district malaria case data. Possible methods for implementing regional calibration will be briefly discussed.
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
Ziqiang Chi; Minping Jia; Qingsong Xu
2014-01-01
Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to deri...
Topological design of compliant smart structures with embedded movable actuators
International Nuclear Information System (INIS)
Wang, Yiqiang; Zhang, Xiaopeng; Kang, Zhan; Luo, Zhen
2014-01-01
In the optimal configuration design of piezoelectric smart structures, it is favorable to use actuation elements with certain predefined geometries from the viewpoint of manufacturability of fragile piezoelectric ceramics in practical applications. However, preserving the exact shape of these embedded actuators and tracking their dynamic motions presents a more challenging research task than merely allowing them to take arbitrary shapes. This paper proposes an integrated topology optimization method for the systematic design of compliant smart structures with embedded movable PZT (lead zirconate titanate) actuators. Compared with most existing studies, which either optimize positions/sizes of the actuators in a given host structure or design the host structure with pre-determined actuator locations, the proposed method simultaneously optimizes the positions of the movable PZT actuators and the topology of the host structure, typically a compliant mechanism for amplifying the small strain stroke. A combined topological description model is employed in the optimization, where the level set model is used to track the movements of the PZT actuators and the independent point-wise density interpolation (iPDI) approach is utilized to search for the optimal topology of the host structure. Furthermore, we define an integral-type constraint function to prevent overlaps between the PZT actuators and between the actuators and the external boundaries of the design domain. Such a constraint provides a unified and explicit mathematical statement of the non-overlap condition for any number of arbitrarily shaped embedded actuators. Several numerical examples are used to demonstrate the effectiveness of the proposed optimization method. (paper)
An Experimental Study on Active Flow Control Using Synthetic Jet Actuators over S809 Airfoil
International Nuclear Information System (INIS)
Gul, M; Uzol, O; Akmandor, I S
2014-01-01
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 2.3x10 5 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 2.3x10 5 Reynolds number at zero angle of attack
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.
Effect of DM Actuator Errors on the WFIRST/AFTA Coronagraph Contrast Performance
Sidick, Erkin; Shi, Fang
2015-01-01
The WFIRST/AFTA 2.4 m space telescope currently under study includes a stellar coronagraph for the imaging and the spectral characterization of extrasolar planets. The coronagraph employs two sequential deformable mirrors (DMs) to compensate for phase and amplitude errors in creating dark holes. DMs are critical elements in high contrast coronagraphs, requiring precision and stability measured in picometers to enable detection of Earth-like exoplanets. Working with a low-order wavefront-sensor the DM that is conjugate to a pupil can also be used to correct low-order wavefront drift during a scientific observation. However, not all actuators in a DM have the same gain. When using such a DM in low-order wavefront sensing and control subsystem, the actuator gain errors introduce high-spatial frequency errors to the DM surface and thus worsen the contrast performance of the coronagraph. We have investigated the effects of actuator gain errors and the actuator command digitization errors on the contrast performance of the coronagraph through modeling and simulations, and will present our results in this paper.
Miniaturized Rotary Actuators Using Shape Memory Alloy for Insect-Type MEMS Microrobot
Directory of Open Access Journals (Sweden)
Ken Saito
2016-03-01
Full Text Available Although several types of locomotive microrobots have been developed, most of them have difficulty locomoting on uneven surfaces. Thus, we have been focused on microrobots that can locomote using step patterns. We are studying insect-type microrobot systems. The locomotion of the microrobot is generated by rotational movements of the shape memory alloy-type rotary actuator. In addition, we have constructed artificial neural networks by using analog integrated circuit (IC technology. The artificial neural networks can output the driving waveform without using software programs. The shape memory alloy-type rotary actuator and the artificial neural networks are constructed with silicon wafers; they can be integrated by using micro-electromechanical system (MEMS technology. As a result, the MEMS microrobot system can locomote using step patterns. The insect-type MEMS microrobot system is 0.079 g in weight and less than 5.0 mm in size, and its locomotion speed is 2 mm/min. The locomotion speed is slow because the heat of the shape memory alloy conducts to the mechanical parts of the MEMS microrobot. In this paper, we discuss a new rotary actuator compared with the previous model and show the continuous rotation of the proposed rotary actuator.
Telescoping cylindrical piezoelectric fiber composite actuator assemblies
Allison, Sidney G. (Inventor); Shams, Qamar A. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox Chattin, legal representative, Melanie L. (Inventor)
2010-01-01
A telescoping actuator assembly includes a plurality of cylindrical actuators in a concentric arrangement. Each cylindrical actuator is at least one piezoelectric fiber composite actuator having a plurality of piezoelectric fibers extending parallel to one another and to the concentric arrangement's longitudinal axis. Each cylindrical actuator is coupled to concentrically-adjacent ones of the cylindrical actuators such that the plurality of cylindrical actuators can experience telescopic movement. An electrical energy source coupled to the cylindrical actuators applies actuation energy thereto to generate the telescopic movement.
Bistable (latching) solenoid actuated propellant isolation valve
Wichmann, H.; Deboi, H. H.
1979-01-01
The design, fabrication, assembly and test of a development configuration bistable (latching) solenoid actuated propellant isolation valve suitable for the control hydrazine and liquid fluorine to an 800 pound thrust rocket engine is described. The valve features a balanced poppet, utilizing metal bellows, a hard poppet/seat interface and a flexure support system for the internal moving components. This support system eliminates sliding surfaces, thereby rendering the valve free of self generated particles.
Self-Latching Piezocomposite Actuator
Wilkie, William K. (Inventor); Bryant, Robert G. (Inventor); Lynch, Christopher S. (Inventor)
2017-01-01
A self-latching piezocomposite actuator includes a plurality of shape memory ceramic fibers. The actuator can be latched by applying an electrical field to the shape memory ceramic fibers. The actuator remains in a latched state/shape after the electrical field is no longer present. A reverse polarity electric field may be applied to reset the actuator to its unlatched state/shape. Applied electric fields may be utilized to provide a plurality of latch states between the latched and unlatched states of the actuator. The self-latching piezocomposite actuator can be used for active/adaptive airfoils having variable camber, trim tabs, active/deformable engine inlets, adaptive or adjustable vortex generators, active optical components such as mirrors that change shapes, and other morphing structures.
Nonlinear Parameter Identification of a Resonant Electrostatic MEMS Actuator
Al-Ghamdi, Majed S.; Alneamy, Ayman M.; Park, Sangtak; Li, Beichen; Khater, Mahmoud E.; Abdel-Rahman, Eihab M.; Heppler, Glenn R.; Yavuz, Mustafa
2017-01-01
We experimentally investigate the primary superharmonic of order two and subharmonic of order one-half resonances of an electrostatic MEMS actuator under direct excitation. We identify the parameters of a one degree of freedom (1-DOF) generalized Duffing oscillator model representing it. The experiments were conducted in soft vacuum to reduce squeeze-film damping, and the actuator response was measured optically using a laser vibrometer. The predictions of the identified model were found to be in close agreement with the experimental results. We also identified the noise spectral density of process (actuation voltage) and measurement noise. PMID:28505097
Piezoelectric actuation of helicopter rotor blades
Lieven, Nicholas A. J.
2001-07-01
The work presented in this paper is concerned with the application of embedded piezo-electric actuators in model helicopter rotor blades. The paper outlines techniques to define the optimal location of actuators to excite particular modes of vibration whilst the blade is rotating. Using composite blades the distribution of strain energy is defined using a Finite Element model with imposed rotor-dynamic and aerodynamics loads. The loads are specified through strip theory to determine the position of maximum bending moment and thus the optimal location of the embedded actuators. The effectiveness of the technique is demonstrated on a 1/4 scale fixed cyclic pitch rotor head. Measurement of the blade displacement is achieved by using strain gauges. In addition a redundant piezo-electric actuator is used to measure the blades' response characteristics. The addition of piezo-electric devices in this application has been shown to exhibit adverse aeroelastic effects, such as counter mass balancing and increased drag. Methods to minimise these effects are suggested. The outcome of the paper is a method for defining the location and orientation of piezo-electric devices in rotor-dynamic applications.
Electrical actuation of electrically conducting and insulating droplets using ac and dc voltages
International Nuclear Information System (INIS)
Kumari, N; Bahadur, V; Garimella, S V
2008-01-01
Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets using dc voltages (classical electrowetting). Electrical actuation of conducting droplets using ac voltages and the actuation of insulating droplets (using dc or ac voltages) has remained relatively unexplored. This paper utilizes an energy-minimization-based analytical framework to study the electrical actuation of a liquid droplet (electrically conducting or insulating) under ac actuation. It is shown that the electromechanical regimes of classical electrowetting, electrowetting under ac actuation and insulating droplet actuation can be extracted from the generic electromechanical actuation framework, depending on the electrical properties of the droplet, the underlying dielectric layer and the frequency of the actuation voltage. This paper also presents experiments which quantify the influence of the ac frequency and the electrical properties of the droplet on its velocity under electrical actuation. The velocities of droplets moving between two parallel plates under ac actuation are experimentally measured; these velocities are then related to the actuation force on the droplet which is predicted by the electromechanical model developed in this work. It is seen that the droplet velocities are strongly dependent on the frequency of the ac actuation voltage; the cut-off ac frequency, above which the droplet fails to actuate, is experimentally determined and related to the electrical conductivity of the liquid. This paper then analyzes and directly compares the various electromechanical regimes for the actuation of droplets in microfluidic applications
Fault-tolerant rotary actuator
Tesar, Delbert
2006-10-17
A fault-tolerant actuator module, in a single containment shell, containing two actuator subsystems that are either asymmetrically or symmetrically laid out is provided. Fault tolerance in the actuators of the present invention is achieved by the employment of dual sets of equal resources. Dual resources are integrated into single modules, with each having the external appearance and functionality of a single set of resources.
A Study on a Microwave-Driven Smart Material Actuator
Choi, Sang H.; Chu, Sang-Hyon; Kwak, M.; Cutler, A. D.
2001-01-01
NASA s Next Generation Space Telescope (NGST) has a large deployable, fragmented optical surface (greater than or = 2 8 m in diameter) that requires autonomous correction of deployment misalignments and thermal effects. Its high and stringent resolution requirement imposes a great deal of challenge for optical correction. The threshold value for optical correction is dictated by lambda/20 (30 nm for NGST optics). Control of an adaptive optics array consisting of a large number of optical elements and smart material actuators is so complex that power distribution for activation and control of actuators must be done by other than hard-wired circuitry. The concept of microwave-driven smart actuators is envisioned as the best option to alleviate the complexity associated with hard-wiring. A microwave-driven actuator was studied to realize such a concept for future applications. Piezoelectric material was used as an actuator that shows dimensional change with high electric field. The actuators were coupled with microwave rectenna and tested to correlate the coupling effect of electromagnetic wave. In experiments, a 3x3 rectenna patch array generated more than 50 volts which is a threshold voltage for 30-nm displacement of a single piezoelectric material. Overall, the test results indicate that the microwave-driven actuator concept can be adopted for NGST applications.
Feng, Guo-Hua; Huang, Wei-Lun
2016-03-25
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.
Farid, Yousef; Majd, Vahid Johari; Ehsani-Seresht, Abbas
2018-05-01
In this paper, a novel fault accommodation strategy is proposed for the legged robots subject to the actuator faults including actuation bias and effective gain degradation as well as the actuator saturation. First, the combined dynamics of two coupled subsystems consisting of the dynamics of the legs subsystem and the body subsystem are developed. Then, the interaction of the robot with the environment is formulated as the contact force optimization problem with equality and inequality constraints. The desired force is obtained by a dynamic model. A robust super twisting fault estimator is proposed to precisely estimate the defective torque amplitude of the faulty actuator in finite time. Defining a novel fractional sliding surface, a fractional nonsingular terminal sliding mode control law is developed. Moreover, by introducing a suitable auxiliary system and using its state vector in the designed controller, the proposed fault-tolerant control (FTC) scheme guarantees the finite-time stability of the closed-loop control system. The robustness and finite-time convergence of the proposed control law is established using the Lyapunov stability theory. Finally, numerical simulations are performed on a quadruped robot to demonstrate the stable walking of the robot with and without actuator faults, and actuator saturation constraints, and the results are compared to results with an integer order fault-tolerant controller.
International Nuclear Information System (INIS)
Zhou, Jianyou; Jiang, Liying; Khayat, Roger E
2014-01-01
As a widely used configuration for dielectric elastomer (DE) actuators, DE tube actuators (or cylindrical actuators) are also found to be susceptible to electromechanical instability (EMI), which may lead to a premature electrical breakdown (EB), and inhibit the potential actuation of DE actuators. This work investigates the electromechanical response of a DE tube actuator with and without boundary constraints to demonstrate an alternative to avoid EMI while achieving large actuation. Our simulation results based on the Gent strain energy model show that the EMI of a DE tube actuator can be eliminated, and larger actuation deformation can be achieved by applying boundary constraints. As a result of these constraints, consideration is also given to the possible mechanical buckling failure that may occur. Mechanisms of possible failure modes of constrained and unconstrained DE tube actuators, such as electromechanical instability, electrical breakdown and mechanical buckling, are elucidated. This paper should provide better theoretical guidance on how to improve the actuation performance of DE actuators, thus leading to the optimal design of DE-based devices. (paper)
Excitation of waves in elastic waveguides by piezoelectric patch actuators
CSIR Research Space (South Africa)
Loveday, PW
2006-01-01
Full Text Available for waveguides excited by piezoelectric patch actuators. The waveguide is modelled using specially developed waveguide finite elements. These elements are formulated using a complex exponential to describe the wave propagation along the structure and finite...
Nonlinear Mechanics of MEMS Rectangular Microplates under Electrostatic Actuation
Saghir, Shahid
2016-01-01
The first objective of the dissertation is to develop a suitable reduced order model capable of investigating the nonlinear mechanical behavior of von-Karman plates under electrostatic actuation. The second objective is to investigate the nonlinear
Analytical solutions of the electrostatically actuated curled beam problem
Younis, Mohammad I.
2014-01-01
This works presents analytical expressions of the electrostatically actuated initially deformed cantilever beam problem. The formulation is based on the continuous Euler-Bernoulli beam model combined with a single-mode Galerkin approximation. We
Comment on 'Modelling of surface energies of elemental crystals'
International Nuclear Information System (INIS)
Li Jinping; Luo Xiaoguang; Hu Ping; Dong Shanliang
2009-01-01
Jiang et al (2004 J. Phys.: Condens. Matter 16 521) present a model based on the traditional broken-bond model for predicting surface energies of elemental crystals. It is found that bias errors can be produced in calculating the coordination numbers of surface atoms, especially in the prediction of high-Miller-index surface energies. (comment)
Performance of an Electro-Hydrostatic Actuator on the F-18 Systems Research Aircraft
Navarro, Robert
1997-01-01
An electro-hydrostatic actuator was evaluated at NASA Dryden Flight Research Center, Edwards, California. The primary goal of testing this actuator system was the flight demonstration of power-by-wire technology on a primary flight control surface. The electro-hydrostatic actuator uses an electric motor to drive a hydraulic pump and relies on local hydraulics for force transmission. This actuator replaced the F-18 standard left aileron actuator on the F-18 Systems Research Aircraft and was evaluated throughout the Systems Research Aircraft flight envelope. As of July 24, 1997 the electro-hydrostatic actuator had accumulated 23.5 hours of flight time. This paper presents the electro-hydrostatic actuator system configuration and component description, ground and flight test plans, ground and flight test results, and lessons learned. This actuator performs as well as the standard actuator and has more load capability than required by aileron actuator specifications of McDonnell- Douglas Aircraft, St. Louis, Missouri. The electro-hydrostatic actuator system passed all of its ground tests with the exception of one power-off test during unloaded dynamic cycling.
Flight Test Experience With an Electromechanical Actuator on the F-18 Systems Research Aircraft
Jensen, Stephen C.; Jenney, Gavin D.; Raymond, Bruce; Dawson, David
2000-01-01
Development of reliable power-by-wire actuation systems for both aeronautical and space applications has been sought recently to eliminate hydraulic systems from aircraft and spacecraft and thus improve safety, efficiency, reliability, and maintainability. The Electrically Powered Actuation Design (EPAD) program was a joint effort between the Air Force, Navy, and NASA to develop and fly a series of actuators validating power-by-wire actuation technology on a primary flight control surface of a tactical aircraft. To achieve this goal, each of the EPAD actuators was installed in place of the standard hydraulic actuator on the left aileron of the NASA F/A-18B Systems Research Aircraft (SRA) and flown throughout the SRA flight envelope. Numerous parameters were recorded, and overall actuator performance was compared with the performance of the standard hydraulic actuator on the opposite wing. This paper discusses the integration and testing of the EPAD electromechanical actuator (EMA) on the SRA. The architecture of the EMA system is discussed, as well as its integration with the F/A-18 Flight Control System. The flight test program is described, and actuator performance is shown to be very close to that of the standard hydraulic actuator it replaced. Lessons learned during this program are presented and discussed, as well as suggestions for future research.
Understanding Surface Adhesion in Nature: A Peeling Model.
Gu, Zhen; Li, Siheng; Zhang, Feilong; Wang, Shutao
2016-07-01
Nature often exhibits various interesting and unique adhesive surfaces. The attempt to understand the natural adhesion phenomena can continuously guide the design of artificial adhesive surfaces by proposing simplified models of surface adhesion. Among those models, a peeling model can often effectively reflect the adhesive property between two surfaces during their attachment and detachment processes. In the context, this review summarizes the recent advances about the peeling model in understanding unique adhesive properties on natural and artificial surfaces. It mainly includes four parts: a brief introduction to natural surface adhesion, the theoretical basis and progress of the peeling model, application of the peeling model, and finally, conclusions. It is believed that this review is helpful to various fields, such as surface engineering, biomedicine, microelectronics, and so on.