WorldWideScience

Sample records for fluid power servos

  1. Application to the field of medical and welfare with fluid power; Fluid power servo no iryo fukushi bun`ya eno oyo

    Hayakawa, Y. [Nara Technical Coll., Nara (Japan)

    1999-05-15

    Reported herein are medical and welfare apparatuses activated by fluid power servos. Reference is also made to equipment now undergoing research and development. Numerous fluid power-driven welfare and caring apparatuses have been developed, some of which are named below. In an externally powered prosthetic leg, a rocking type hydraulic servo actuator is attached on the knee section. In this device, switching is performed between an active operation in which much torque is required for instance going up and down a stairway and a passive operation in which less torque is required for instance walking on a flat place, this for increased energy efficiency. In an externally powered orthosisis, an exoskeleton is installed on the lower extremities of a patient suffering from the paralysis of both legs, and enables physical exercises for rehabilitation. Such devices are controlled by one of the two methods, the master-slave method or the manual method. Devices for the transfer of patients include an in-home bathing assist system, powered assist suit for caring, powered assist chair, movable lift for transfer, pneumatic Rubbertuator-driven rehabilitation equipment, walk training device, and wavy motion pneumatic vibrator. (NEDO)

  2. Utilization of genetic algorithm in on-line tuning of fluid power servos

    Halme, J.

    1997-12-31

    This study describes a robust and plausible method based on genetic algorithms suitable for tuning a regulator. The main advantages of the method presented is its robustness and easy-to-use feature. In this thesis the method is demonstrated by searching for appropriate control parameters of a state-feedback controller in a fluid power environment. To corroborate the robustness of the tuning method, two earlier studies are also presented in the appendix, where the presented tuning method is used in different kinds of regulator tuning situations. (orig.) 33 refs.

  3. Utilization of genetic algorithm in on-line tuning of fluid power servos

    Halme, J

    1998-12-31

    This study describes a robust and plausible method based on genetic algorithms suitable for tuning a regulator. The main advantages of the method presented is its robustness and easy-to-use feature. In this thesis the method is demonstrated by searching for appropriate control parameters of a state-feedback controller in a fluid power environment. To corroborate the robustness of the tuning method, two earlier studies are also presented in the appendix, where the presented tuning method is used in different kinds of regulator tuning situations. (orig.) 33 refs.

  4. Decommissioning of hot cells using a hydraulically powered servo manipulator

    Asquith, J.D.; Loughborough, D.

    1993-01-01

    This paper describes the preparations and initial trials involved in remotely dismantling the containment boxes within two concrete shielded hot cells at Harwell Laboratory using a hydraulically powered servo manipulator, ARTISAN. The manipulator deploys a variety of tools for cutting operations. The modular design has enabled it to be specifically configured for this application by adjusting the link lengths using spacers between the joints. In addition to the remote handling requirements, a new posting and ventilation system for the facility is outlined. Trials with ARTISAN in an in-active mock-up have now been successfully completed, and the manipulator is installed in the active facility. The considerations and approach adopted in this project are typical of many situations where remote techniques are required for decommissioning activities. (author)

  5. HYDRAULIC SERVO CONTROL MECHANISM

    Hussey, R.B.; Gottsche, M.J. Jr.

    1963-09-17

    A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

  6. FOREWORD Fluid Mechanics and Fluid Power (FMFP)

    This section of the Special Issue carries selected articles from the Fluid Mechanics and Fluid. Power Conference held during 12–14 December 2013 at the National Institute of Technology,. Hamirpur (HP). The section includes three review articles and nine original research articles. These were selected on the basis of their ...

  7. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    Lee, Yong Bum; Lee, Jong Jik

    2016-01-01

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  8. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    Lee, Yong Bum; Lee, Jong Jik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2016-06-15

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  9. Automated servo controlled calorimetry

    Wetzel, J.R.

    1984-01-01

    A method of operating a calorimeter is called the servo controlled method. An internal heater is driven by a controlled voltage source to produce a constant internal temperature. The heater power is controlled by a digital computer program that uses as one of its inputs the bridge potential. The heater power can be calculated by multiplying the heater current by the heater voltage. A bridge potential can then be determined that will produce the desired internal power level. When a sample is placed in the calorimeter the servo system reduces the heater power to maintain the set point bridge potential. There will be four calorimeters in the system - two for large sizes and two for small sizes. They will be servo controlled using a DEC Micro-11 computer with a IEEE-488 interface buss

  10. Fluid Mechanics and Fluid Power (FMFP)

    Amitabh Bhattacharya

    of renewable energy (e.g., via wind, hydrokinetic generators), creating low-cost healthcare ... multiphase flow, turbulence, bio-fluid dynamics, atmospheric flows, microfluidic flows, and ... study the challenging problem of entry of solids in water.

  11. Editorial Special Issue on Fluid Mechanics and Fluid Power (FMFP ...

    This special issue of Sadhana contains selected papers from two conferences related to fluid mechanics held in India recently, Fluid Mechanics and Fluid Power conference at NIT, Hamirpur, and an International Union of Theoretical ... A simple, well thought out, flow visualization experiment or a computation can sometimes ...

  12. 4-H NFPA Fluid Power Challenge

    Bonnett, Erika D

    2016-01-01

    The 4-H NFPA Fluid Power Challenge partnered Purdue Polytechnic Institute and Indiana 4-H with the National Fluid Power Association and Center for Compact and Efficient Fluid Power to provide teams of Indiana youth in 6-8th grades with opportunity to learn about hydraulics, engineering design, and other STEM skills. This created an opportunity to give youth a learning experience with STEM through hands-on, experiential learning activities. Youth experienced a one day workshop in which they wo...

  13. Pressure Feedback in Fluid Power Systems--Active Damping Explained and Exemplified

    Pedersen, Henrik Clemmensen; Andersen, Torben O.

    2018-01-01

    Fluid power systems are inherently nonlinear and typically suffer from very poor damping. Despite these characteristics, it is not uncommon that traditional linear type controllers are applied. This typically results in conservative adjustment of the controllers, or when more advanced controllers...... a given system, and how to adjust the parameters of the pressure feedback to obtain the best results. This is done for both a traditional symmetric cylinder servo system and a system with a differential cylinder using both pressure and nonpressure compensated proportional valves. Based on the presented...

  14. Tribodynamic Modeling of Digital Fluid Power Motors

    Johansen, Per

    . In fluid power motoring and pumping units, a significant problem is that loss mechanisms do not scale down with diminishing power throughput. Although machines can reach peak efficiencies above 95%, the actual efficiency during operation, which includes part-load situations, is much lower. The invention...... of digital fluid power displacement units has been able to address this problem. The main idea of the digital fluid power displacement technology is to disable individual chambers, by use of electrical actuated valves. A displacement chamber is disabled by keeping the valve, between the chamber and the low...... design methods and tools are important to the development of digital fluid power machines. The work presented in this dissertation is part of a research program focusing on the development of digital fluid power MW-motors for use in hydraulic drive train in wind turbines. As part of this development...

  15. Magnetic power piston fluid compressor

    Gasser, Max G. (Inventor)

    1994-01-01

    A compressor with no moving parts in the traditional sense having a housing having an inlet end allowing a low pressure fluid to enter and an outlet end allowing a high pressure fluid to exit is described. Within the compressor housing is at least one compression stage to increase the pressure of the fluid within the housing. The compression stage has a quantity of magnetic powder within the housing, is supported by a screen that allows passage of the fluid, and a coil for selectively providing a magnetic field across the magnetic powder such that when the magnetic field is not present the individual particles of the powder are separated allowing the fluid to flow through the powder and when the magnetic field is present the individual particles of the powder pack together causing the powder mass to expand preventing the fluid from flowing through the powder and causing a pressure pulse to compress the fluid.

  16. Fluid Power, Rate Training Manual.

    Bureau of Naval Personnel, Washington, DC.

    Fundamentals of hydraulics and pneumatics are presented in this manual, prepared for regular navy and naval reserve personnel who are seeking advancement to Petty Officer Third Class. The history of applications of compressed fluids is described in connection with physical principles. Selection of types of liquids and gases is discussed with a…

  17. Gas powered fluid gun with recoil mitigation

    Grubelich, Mark C; Yonas, Gerold

    2013-11-12

    A gas powered fluid gun for propelling a stream or slug of a fluid at high velocity toward a target. Recoil mitigation is provided that reduces or eliminates the associated recoil forces, with minimal or no backwash. By launching a quantity of water in the opposite direction, net momentum forces are reduced or eliminated. Examples of recoil mitigation devices include a cone for making a conical fluid sheet, a device forming multiple impinging streams of fluid, a cavitating venturi, one or more spinning vanes, or an annular tangential entry/exit.

  18. 46 CFR 58.30-30 - Fluid power cylinders.

    2010-10-01

    ... all pneumatic power transmission systems. (b) Fluid power cylinders consisting of a container and a... 46 Shipping 2 2010-10-01 2010-10-01 false Fluid power cylinders. 58.30-30 Section 58.30-30... MACHINERY AND RELATED SYSTEMS Fluid Power and Control Systems § 58.30-30 Fluid power cylinders. (a) The...

  19. Study of Servo Press with a Flywheel

    Tso, Pei-Lum; Li, Cheng-Ho

    The servo press with a flywheel is able to provide flexible motions with energy-saving merit, but its true potential has not been thoroughly studied and verified. In this paper, such the “hybrid-driven” servo press is focused on, and the stamping capacity and the energy distribution between the flywheel and the servomotor are investigated. The capacity is derived based on the principle of energy conservation, and a method of using a capacity percentage plane for evaluation is proposed. A case study is included to illustrate and interpret that the stamping capacity is highly dependent on the programmed punch motions, thus the capacity prediction is always necessary while applying this kind of servo press. The energy distribution is validated by blanking experiments, and the results indicate that the servomotor needs only to provide 15% to the flywheel torque, 12% of the total stamping energy. This validates that the servomotor power is significantly saved in comparison with conventional servo presses.

  20. Fluid Instabilities of Magnetar-Powered Supernovae

    Chen, Ke-Jung

    2017-05-01

    Magnetar-powered supernova explosions are competitive models for explaining very luminous optical transits. Until recently, these explosion models were mainly calculated in 1D. Radiation emitted from the magnetar snowplows into the previous supernovae ejecta and causes a nonphysical dense shell (spike) found in previous 1D studies. This suggests that strong fluid instabilities may have developed within the magnetar-powered supernovae. Such fluid instabilities emerge at the region where luminous transits later occur, so they can affect the consequent observational signatures. We examine the magnetar-powered supernovae with 2D hydrodynamics simulations and find that the 1D dense shell transforms into the development of Rayleigh-Taylor and thin shell instabilities in 2D. The resulting mixing is able to fragment the entire shell and break the spherical symmetry of supernovae ejecta.

  1. Magnetic particle clutch controls servo system

    Fow, P. B.

    1973-01-01

    Magnetic clutches provide alternative means of driving low-power rate or positioning servo systems. They may be used over wide variety of input speed ranges and weigh comparatively little. Power drain is good with overall motor/clutch efficiency greater than 50 percent, and gain of clutch is close to linear, following hysteresis curve of core and rotor material.

  2. Spreading dynamics of power-law fluid droplets

    Liang Zhanpeng; Peng Xiaofeng; Wang Xiaodong; Lee, D-J; Su Ay

    2009-01-01

    This paper aims at providing a summary of the theoretical models available for non-Newtonian fluid spreading dynamics. Experimental findings and model predictions for a Newtonian fluid spreading test are briefly reviewed. Then how the complete wetting and partial wetting power-law fluids spread over a solid substrate is examined. The possible extension of Newtonian fluid models to power-law fluids is also discussed.

  3. Dynamic modeling of fluid power transmissions for wind turbines

    Diepeveen, N.F.B.; Jarquin Laguna, A.

    2011-01-01

    Fluid power transmission for wind turbines is quietly gaining more ground/interest. The principle of the various concepts presented so far is to convert aerodynamic torque of the rotor blades into a pressurized fluid flow by means of a positive displacement pump. At the other end of the fluid power

  4. Editorial Special Issue on Fluid Mechanics and Fluid Power (FMFP ...

    a shark is more efficient than a propeller; the notoriously complicated and nonlinear Navier–. Stokes equations governing fluid motion provide fertile ground for research to both applied and pure mathematicians. There is the phenomenon of turbulence in fluid flows. A statement in 1932, attributed to Horace Lamb, author of ...

  5. Challenges with Tertiary-Level Mechatronic Fluid Power

    Dransfield, Peter; Conrad, Finn

    1996-01-01

    As authors we take the view that mechatronics, as it relates to fluid power, has three levels which we designate as primary, secondary and tertiary. A brief review of the current status of fluid power, hydraulic and pneumatic, and of electronic control of it is presented and discussed. The focus...... is then on tertiary-level mechatronic fluid power and the challenges to it being applied successfully....

  6. Synthesis of Servo Pneumatic/Hydraulic Drive

    K D. Efremova

    2017-01-01

    Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

  7. Direct drive digital servo press with high parallel control

    Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

    2013-12-01

    Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

  8. Reducing pressure oscillations in discrete fluid power systems

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2016-01-01

    Discrete fluid power systems featuring transmission lines inherently include pressure oscillations. Experimental verification of a discrete fluid power power take off system for wave energy converters has shown the cylinder pressure to oscillate as force shifts are performed. This article investi...... investigates how cylinder pressure oscillations may be reduced by shaping the valve opening trajectory without the need for closed loop pressure feedback. Furthermore the energy costs of reducing pressure oscillations are investigated....

  9. Proceedings of the sixth international and forty third national conference on fluid mechanics and fluid power: book of abstracts

    Jain, Anuj; Paul, Akshoy Ranjan

    2016-01-01

    Fluid Mechanics and Fluid Power (FMFP) Conference is an important meeting to promote all activities in the field of Fluid Mechanics and Fluid Power in India. FMFP-2016 offers great opportunity to scientists, researchers, engineers and business executives from all parts of the world to share the recent advancements and future trends in all aspects of fluid mechanics and fluid power- be it theoretical, experimental, applied and computational, and build network. It covers theoretical and experimental fluid dynamics, flow instability, transition, turbulence and control, fluid machinery, turbomachinery and fluid power, IC engines and gas turbines, multiphase flows, fluid-structure interaction and flow-induced noise, micro and nano fluid mechanics, bio-inspired fluid mechanics, energy and environment, specialized topics (transport phenomena in materials processing and manufacturing, MHD and EHD flows, granular flows, nuclear reactor, thermal hydraulics, defence and space engineering, sustainable habitat. Papers relevant to INIS are indexed separately

  10. Evaluation and compensation of steady gas flow force on the high-pressure electro-pneumatic servo valve direct-driven by voice coil motor

    Li, Baoren; Gao, Longlong; Yang, Gang

    2013-01-01

    Highlights: ► A novel energy saving high-pressure electro-pneumatic servo valve is presented. ► An evaluated method for steady gas flow forces on pneumatic valves is proposed. ► Gas jet angles at the orifices for the valve are larger than 69° commonly used. ► The steady gas flow force is strongly nonlinear with valve opening. ► The steady gas flow force is compensated and the aim at energy saving is realized. - Abstract: A novel voice coil motor (VCM) direct drive single stage high-pressure pneumatic servo valve is designed, and then the steady gas flow force acting on the spool of the servo valve is investigated by numerical simulation and experimental methods in this paper. At present, many studies about flow force are concentrated mainly on hydraulic valves, but rarely on pneumatic valves. However, the velocity of gas is up to sonic when high-pressure gas flows through the servo valve orifice. And therefore, the steady gas flow force, generated by high pressure and high speed gas flow, cannot be neglected and is an important disturbance for the VCM direct-drive single stage high-pressure pneumatic servo valve. Consequently, the numerical simulation with computational fluid dynamics (CFD) is adopted to analyze the flow filed, jet angles, and steady gas flow forces for the servo valve with different valve openings and inlet pressures. The experimental study is performed to evaluate and confirm the numerical analysis. Then the compensated approach is proposed to reduce the steady gas flow force for the servo valve, changing the angle of non-metering port designed in the valve sleeve to the spool axis. The results demonstrate that the presented numerical analysis method is validated, the gas jet angle for the servo valve orifice is more than 69° and varies with different spool openings, and the steady gas flow force is nonlinear with valve opening and linear with inlet pressure when the outlet boundary is atmospheric pressure. Moreover, the steady gas

  11. Characteristic analysis of servo valve

    Ko, J. H.; Ryu, D. R.; Lee, J. H.; Kim, Y. S.; Na, J. C.; Kim, D. S.

    2008-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  12. Hydraulic fluid used for power transmission

    Heikkilae, M.; Pikulinsky, K.; Leisio, C.

    1996-11-01

    In early October another 50-kilowatt wind turbine was provided with new power transmission technology at the Kopparnaes Energy Park in Inkoo, Finland, west of Helsinki. The new technology is thought to make this wind turbine located on the south coast of Finland more efficient, lighter, and cheaper. Certain aspects of this new technology can be applied to older wind turbines. (orig.)

  13. Avoidance of Pressure Oscillations in Discrete Fluid Power Systems with Transmission Lines - An Analytical Approach

    Hansen, Anders Hedegaard; Pedersen, Henrik C.

    2014-01-01

    Discrete fluid power technology attracts great attention because it enables energy efficiency and robust system architectures. However, the discrete nature of this technology naturally brings shifting phenomenons into the picture. For fluid power system the relative high inductance of fluid...

  14. Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver: Estimation of Circuit Constants in Conventional Servo Driver

    酒井, 史敏; 神谷, 好承; 関, 啓明; 疋津, 正利

    2000-01-01

    DC servo motors that are made as manufactured goods in the factory are widely used as actuators for driving many automatic machines. Then the manufactured driver (amplifier) that is matched to its servo motor is coveniently chosen to drive when aiming at high performance of the motion control. Motion of motor that is driven by the manufactured servo driver has very complicated dynamic characteristics. In this study, it is tried to make clear about inner composition of the servo driver through...

  15. Experience with a servo-hydraulic mechanical testing machine installed in a new shielded active facility at Windscale Nuclear Power Development Laboratories

    Garlick, A.; Hindmarch, P.; Gravenor, J.G.; Rhodes, D.

    1982-03-01

    An Instron model 1273 servo-hydraulic machine has been installed within a lead-shielded cell at Windscale in order to provide a facility capable of performing a wide range of mechanical tests on nuclear reactor structural materials and fuel assembly components. This particular type of machine was chosen because it has design features associated with the load frame, location of the actuator and adjustment and clamping of the cross-head that are especially well suited to remote operation within a shielded cell. The design of the testing facility is described and the programmes of work that have been completed over the past 11/2 years of operation are reviewed. (author)

  16. Tailored Working Fluids for Enhanced Binary Geothermal Power Plants

    Mahmoud, Ahmad [United Technologies Research Center, East Hartford, CT (United States)

    2013-01-29

    United Technologies Research Center (UTRC), in collaboration with the Georgia Institute of Technology and the National Institute of Standards and Technology will evaluate and develop fundamental and component level models, conduct experiments and generate data to support the use of mixed or enhanced working fluids for geothermal power generation applications.

  17. Hydraulic servo control spool valve

    Miller, Donald M.

    1983-01-01

    A servo operated spool valve having a fixed sleeve and axially movable spool. The sleeve is machined in two halves to form a long, narrow tapered orifice slot across which a transverse wall of the spool is positioned. The axial position of the spool wall along the slot regulates the open orifice area with extreme precision.

  18. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular...... fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment...... not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without...

  19. Power cycles with ammonia-water mixtures as working fluid

    Thorin, Eva

    2000-05-01

    It is of great interest to improve the efficiency of power generating processes, i.e. to convert more of the energy in the heat source to power. This is favorable from an environmental point of view and can also be an economic advantage. To use an ammonia-water mixture instead of water as working fluid is a possible way to improve the efficiency of steam turbine processes. This thesis includes studies of power cycles with ammonia-water mixtures as working fluid utilizing different kinds of heat sources for power and heat generation. The thermophysical properties of the mixture are also studied. They play an important role in the calculations of the process performance and for the design of its components, such as heat exchangers. The studies concern thermodynamic simulations of processes in applications suitable for Swedish conditions. Available correlations for the thermophysical properties are compared and their influence on simulations and heat exchanger area predictions is investigated. Measurements of ammonia-water mixture viscosities using a vibrating wire viscometer are also described. The studies performed show that power cycles with ammonia-water mixtures as the working fluid are well suited for utilization of waste heat from industry and from gas engines. The ammonia-water power cycles can give up to 32 % more power in the industrial waste heat application and up to 54 % more power in the gas engine bottoming cycle application compared to a conventional Rankine steam cycle. However, ammonia-water power cycles in small direct-fired biomass-fueled cogeneration plants do not show better performance than a conventional Rankine steam cycle. When different correlations for the thermodynamic properties are used in simulations of a simple ammonia-water power cycle the difference in efficiency is not larger than 4 %, corresponding to about 1.3 percentage points. The differences in saturation properties between the correlations are, however, considerable at high

  20. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J [MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology, 310014 (China)

    2006-10-15

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response.

  1. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J

    2006-01-01

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response

  2. Study of Pneumatic Servo Loading System in Double-Sided Polishing

    Qian, N; Ruan, J; Li, W

    2006-01-01

    The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

  3. Risk-based Comparative Study of Fluid Power Pitch Concepts

    Liniger, Jesper; Pedersen, Henrik Clemmensen; N. Soltani, Mohsen

    2017-01-01

    Proper functioning of the pitch system is essential to both normal operation and safety critical shut down of modern multi megawatt wind turbines. Several studies on field failure rates for such turbines show that pitch systems are a major contributor to failures which entails an increased risk....... Thus, more reliable and safe concepts are needed. A review of patents and patent applications covering fluid power pitch concepts, reveals that many propose closed-type hydraulic systems. This paper proposes a closed-type concept with a bootstrap reservoir. In contrary to a conventional system where...

  4. Visual-servoing optical microscopy

    Callahan, Daniel E.; Parvin, Bahram

    2009-06-09

    The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time: quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

  5. Predicting the Noise of High Power Fluid Targets Using Computational Fluid Dynamics

    Moore, Michael; Covrig Dusa, Silviu

    The 2.5 kW liquid hydrogen (LH2) target used in the Qweak parity violation experiment is the highest power LH2 target in the world and the first to be designed with Computational Fluid Dynamics (CFD) at Jefferson Lab. The Qweak experiment determined the weak charge of the proton by measuring the parity-violating elastic scattering asymmetry of longitudinally polarized electrons from unpolarized liquid hydrogen at small momentum transfer (Q2 = 0 . 025 GeV2). This target satisfied the design goals of bench-marked with the Qweak target data. This work is an essential component in future designs of very high power low noise targets like MOLLER (5 kW, target noise asymmetry contribution < 25 ppm) and MESA (4.5 kW).

  6. Digitalni servo sistem za upravljanje infracrvenim lokatorom

    Aleksandar Viličić; Mirko Jezdimirović

    2009-01-01

    U radu je predstavljen digitalni servo sistem sa pogonskim elektromotorom koji zamenjuje postojeći elektrohidraulički servo pogon na uređaju za upravljanje IC lokatorom, koji obezbeđuje zahtevanu tačnost pozicioniranja i praćenja sa minimalnim brzinama.

  7. A new converter for improving efficiency of multi-actuators fluid power system

    Xue, Yong; Shang, JianZhong; Yang, JunHong; Wang Zhuo [National University of Defense Technology, Changsha (China)

    2016-05-15

    This paper is concerned with the application of energy efficient fluid power in mobile robots system and proposes a new fluid power converter system which is analogous to a boost converter in power electronics. The fluid power converter system is based on the principle of pulse-width modulation. The fluid power converter has an effect akin to an electrical switched inductance transformer, wherein the output pressure or flow rate can be stepped up or down. Using an inductive reactance device (an inertia mass-block), the output flow and pressure can be varied to meet the load by a means that does not rely on dissipation of power (the resistance control). The simulation model based on the mathematics models of the components is built to analyse the performance of the fluid power converter. It is clearly shown that the fluid power converter has higher energy efficiency than conventional resistance control manners.

  8. Mathematical modeling for laminar flow of power law fluid in porous media

    Silva, Renato A.; Mesquita, Maximilian S. [Universidade Federal do Espirito Santo (UFES), Sao Mateus, ES (Brazil). Centro Universitario Norte do Espirito Santo. Dept. de Engenharias e Computacao

    2010-07-01

    In this paper, the macroscopic equations for laminar power-law fluid flow is obtained for a porous medium starting from traditional equations (Navier-Stokes). Then, the volume averaging is applied in traditional transport equations with the power-law fluid model. This procedure leads to macroscopic transport equations set for non-Newtonian fluid. (author)

  9. Pulsed power research at the institute of fluid physics

    Deng Jianjun; Shi Jinshui; Cao Kefeng; Xie Weiping; Zhang Linwen; Wang Meng

    2009-01-01

    The Institute of Fluid Physics was the earliest institution in China to engage in pulsed power research, covering areas such as the development of high power switches, linear induction accelerators, facilities for Z-pinch studies, pulsed X-ray machines, explosive magnetic compression technology, rep-rate pulsed power generation, time resolved diagnostic technology, and so on. The newly built Dragon-I facility (20 MeV, 2.5kA, 80 ns), currently the most advanced linear induction accelerator in the world, is described. The status of the Primary Test Stand (PTS, 8-10 MA, 130ns) for Z-pinch studies that is still under construction is also reported. The PTS consists of 24 modules based on the Marx generator-water PFL (pulse forming line) technology. The single module prototype has been tested successfully. Other progress on the rep-rate pulsed power generator, linear transfer driver, and time resolved diagnostic technology is also presented. (authors)

  10. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  11. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  12. Inherent limitations of fixed time servo-controlled radiometric calorimetry

    Wetzel, J.R.; Duff, M.F.; Lemming, J.F.

    1987-01-01

    There has been some interest in low precision, short run time calorimetry measurements. This type of calorimetry measurement has been proposed for use when high precision measurements are not required, for example, to screen scrap containers to determine if there is enough material to be measured more accurately of for confirmatory measurements that only require low precision results. The equipment needed to make these measurements is a servo-controlled calorimeter with a sample preequilibration bath. The preequilibration bath temperature is set to the internal temperature of the calorimeter running at a fixed servo-controlled wattage level. The sample power value is determined at a fixed time form the sample loading into the calorimeter. There are some limitations and areas of uncertainties in the use of data obtained by this method. Data collected under controlled conditions demonstrate the limitations. Sample packaging, preequilibration time, and item wattage were chosen as the variables most likely to be encountered in a plant environment

  13. Experimental research of flow servo-valve

    Takosoglu Jakub

    2017-01-01

    Full Text Available Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  14. Experimental research of flow servo-valve

    Takosoglu, Jakub

    Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  15. Recent results in visual servoing

    Chaumette, François

    2008-06-01

    Visual servoing techniques consist in using the data provided by a vision sensor in order to control the motions of a dynamic system. Such systems are usually robot arms, mobile robots, aerial robots,… but can also be virtual robots for applications in computer animation, or even a virtual camera for applications in computer vision and augmented reality. A large variety of positioning tasks, or mobile target tracking, can be implemented by controlling from one to all the degrees of freedom of the system. Whatever the sensor configuration, which can vary from one on-board camera on the robot end-effector to several free-standing cameras, a set of visual features has to be selected at best from the image measurements available, allowing to control the degrees of freedom desired. A control law has also to be designed so that these visual features reach a desired value, defining a correct realization of the task. With a vision sensor providing 2D measurements, potential visual features are numerous, since as well 2D data (coordinates of feature points in the image, moments, …) as 3D data provided by a localization algorithm exploiting the extracted 2D measurements can be considered. It is also possible to combine 2D and 3D visual features to take the advantages of each approach while avoiding their respective drawbacks. From the selected visual features, the behavior of the system will have particular properties as for stability, robustness with respect to noise or to calibration errors, robot 3D trajectory, etc. The talk will present the main basic aspects of visual servoing, as well as technical advances obtained recently in the field inside the Lagadic group at INRIA/INRISA Rennes. Several application results will be also described.

  16. Estimating the Impact (Energy, Emissions and Economics) of the US Fluid Power Industry

    Love, Lonnie J [ORNL

    2012-12-01

    The objective of this report is to estimate the impact (energy, emissions and economics) of United Fluid power (hydraulic and pneumatic actuation) is the generation, control, and application of pumped or compressed fluids when this power is used to provide force and motion to mechanisms. This form of mechanical power is an integral part of United States (U.S.) manufacturing and transportation. In 2008, according to the U.S. Census Bureau, sales of fluid power components exceeded $17.7B, sales of systems using fluid power exceeded $226B. As large as the industry is, it has had little fundamental research that could lead to improved efficiency since the late 1960s (prior to the 1970 energy crisis). While there have been some attempts to replace fluid powered components with electric systems, its performance and rugged operating condition limit the impact of simple part replacement. Oak Ridge National Laboratory and the National Fluid Power Association (NFPA) collaborated with 31 industrial partners to collect and consolidate energy specific measurements (consumption, emissions, efficiency) of deployed fluid power systems. The objective of this study was to establish a rudimentary order of magnitude estimate of the energy consumed by fluid powered systems. The analysis conducted in this study shows that fluid powered systems consumed between 2.0 and 2.9 Quadrillion (1015) Btus (Quads) of energy per year; producing between 310 and 380 million metric tons (MMT) of Carbon Dioxide (CO2). In terms of efficiency, the study indicates that, across all industries, fluid power system efficiencies range from less than 9% to as high as 60% (depending upon the application), with an average efficiency of 22%. A review of case studies shows that there are many opportunities to impact energy savings in both the manufacturing and transportation sectors by the development and deployment of energy efficient fluid power components and systems.

  17. Aerial Object Following Using Visual Fuzzy Servoing

    Olivares Méndez, Miguel Ángel; Mondragon Bernal, Ivan Fernando; Campoy Cervera, Pascual; Mejias Alvarez, Luis; Martínez Luna, Carol Viviana

    2011-01-01

    This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintai...

  18. IUSThrust Vector Control (TVC) servo system

    Conner, G. E.

    1979-01-01

    The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

  19. Vision servo of industrial robot: A review

    Zhang, Yujin

    2018-04-01

    Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

  20. Dynamic Analysis of Fluid Power Drive-trains for Variable Speed Wind Turbines : A Parameter Study

    Jarquin Laguna, A.; Diepeveen, N.F.B.

    2013-01-01

    In the pursuit of making wind energy technology more economically attractive, the application of fluid power technology for the transmission of wind energy is being developed by several parties all over the world. This paper presents a dynamic model of a fluid power transmission for variable speed

  1. Estimating Energy Consumption of Mobile Fluid Power in the United States

    Lynch, Lauren [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zigler, Bradley T. [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-11-02

    This report estimates the market size and energy consumption of mobile off-road applications utilizing hydraulic fluid power, and summarizes technology gaps and implementation barriers. Mobile fluid power is the use of hydraulic fluids under pressure to transmit power in mobile equipment applications. The mobile off-road fluid power sector includes various uses of hydraulic fluid power equipment with fundamentally diverse end-use application and operational requirements, such as a skid steer loader, a wheel loader or an agriculture tractor. The agriculture and construction segments dominate the mobile off-road fluid power market in component unit sales volume. An estimated range of energy consumed by the mobile off-road fluid power sector is 0.36 - 1.8 quads per year, which was 1.3 percent - 6.5 percent of the total energy consumed in 2016 by the transportation sector. Opportunities for efficiency improvements within the fluid power system result from needs to level and reduce the peak system load requirements and develop new technologies to reduce fluid power system level losses, both of which may be facilitated by characterizing duty cycles to define standardized performance test methods. There are currently no commonly accepted standardized test methods for evaluating equipment level efficiency over a duty cycle. The off-road transportation sector currently meets criteria emissions requirements, and there are no efficiency regulations requiring original equipment manufacturers (OEM) to invest in new architecture development to improve the fuel economy of mobile off-road fluid power systems. In addition, the end-user efficiency interests are outweighed by low equipment purchase or lease price concerns, required payback periods, and reliability and durability requirements of new architecture. Current economics, low market volumes with high product diversity, and regulation compliance challenge OEM investment in commercialization of new architecture development.

  2. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

    Yao, Jianyong

    2018-06-01

    Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

  3. Present State and Future Developments in Mechatronics and it's Influence on Fluid Power Systems

    Christensen, Georg Kronborg; Zhou, Jianjun; Conrad, Finn

    1998-01-01

    with electronics, software and mechanics. This synergetic integration is often called Mechatronics.The topic which is rather widespread will be treated in three sections: I) General overview of mechatronics and fluid power. In this section the general trends of mechatronics in fluid power is considered by relating...... trends in the neighbouring fields of software and electronic hardware to fluid power developments. II) Mechatronic case stories from IKS In this section the results of a conceptual design study : "Design of a frequency converter based hydraulic power supply" is presented together with a more detailed...

  4. Fluid selection for the Organic Rankine Cycle (ORC) in biomass power and heat plants

    Drescher, Ulli; Brueggemann, Dieter

    2007-01-01

    In small solid biomass power and heat plants, the ORC is used for cogeneration. This application shows constraints different from other ORC. These constraints are described and an adapted power plant design is presented. The new design influences the selection criteria of working fluids. A software has been developed to find thermodynamic suitable fluids for ORC in biomass power and heat plants. Highest efficiencies are found within the family of alkylbenzenes

  5. Model Predictive Control of a Wave Energy Converter with Discrete Fluid Power Power Take-Off System

    Anders Hedegaard Hansen

    2018-03-01

    Full Text Available Wave power extraction algorithms for wave energy converters are normally designed without taking system losses into account leading to suboptimal power extraction. In the current work, a model predictive power extraction algorithm is designed for a discretized power take of system. It is shown how the quantized nature of a discrete fluid power system may be included in a new model predictive control algorithm leading to a significant increase in the harvested power. A detailed investigation of the influence of the prediction horizon and the time step is reported. Furthermore, it is shown how the inclusion of a loss model may increase the energy output. Based on the presented results it is concluded that power extraction algorithms based on model predictive control principles are both feasible and favorable for use in a discrete fluid power power take-off system for point absorber wave energy converters.

  6. Reduction of light oil usage as power fluid for jet pumping in deep heavy oil reservoirs

    Chen, S.; Li, H.; Yang, D. [Society of Petroleum Engineers, Canadian Section, Calgary, AB (Canada)]|[Regina Univ., SK (Canada); Zhang, Q. [China Univ. of Petroleum, Dongying, Shandong (China); He, J. [China National Petroleum Corp., Haidan District, Beijing (China). PetroChina Tarim Oilfield Co.

    2008-10-15

    In deep heavy oil reservoirs, reservoir fluid can flow more easily in the formation as well as around the bottomhole. However, during its path along the production string, viscosity of the reservoir fluid increases dramatically due to heat loss and release of the dissolved gas, resulting in significant pressure drop along the wellbore. Artificial lifting methods need to be adopted to pump the reservoir fluids to the surface. This paper discussed the development of a new technique for reducing the amount of light oil used for jet pumping in deep heavy oil wells. Two approaches were discussed. Approach A uses the light oil as a power fluid first to obtain produced fluid with lower viscosity, and then the produced fluid is reinjected into the well as a power fluid. The process continues until the viscosity of the produced fluid is too high to be utilized. Approach B combines a portion of the produced fluid with the light oil at a reasonable ratio and then the produced fluid-light oil mixture is used as the power fluid for deep heavy oil well production. The viscosity of the blended power fluid continue to increase and eventually reach equilibrium. The paper presented the detailed processes of both approaches in order to indicate how to apply them in field applications. Theoretic models were also developed and presented to determine the key parameters in the field operations. A field case was also presented and a comparison and analysis between the two approaches were discussed. It was concluded from the field applications that, with a certain amount of light oil, the amount of reservoir fluid produced by using the new technique could be 3 times higher than that of the conventional jet pumping method. 17 refs., 3 tabs., 6 figs.

  7. A Modelling Approach to Multibody Dynamics of Fluid Power Machinery with Hydrodynamic Lubrication

    Johansen, Per; Rømer, Daniel; Andersen, Torben Ole

    2013-01-01

    The efficiency potential of the digital displacement technology and the increasing interest in hydraulic transmissions in wind and wave energy applications has created an incentive for development of high efficiency fluid power machinery. Modelling and analysis of fluid power machinery loss...... mechanisms is necessary in order to accommodate this demand. At present fully coupled thermo-elastic models for various tribological interfaces has been presented. However, in order to analyse the interaction between tribological interfaces in fluid power pumps and motors, these interface models needs...

  8. State of the Art Review on Theoretical Tribology of Fluid Power Displacement Machines

    Cerimagic, Remzija; Johansen, Per; Andersen, Torben O.

    2016-01-01

    machines, and also the work done to validate the theoretical models. This review is not a complete historical account, but aim to describe current trends in fluid power displacement machine tribology. The review considers the rheological models used in the theoretical approaches, the modeling...... and wear mechanisms in the lubricating gaps in fluid power machines is confined to simulation models, as experimental treatments of these mechanisms are very difficult. The aim of this paper is a state of the art review on the theoretical work for the design and optimization of fluid power displacement...... of elastohydrodynamic effects, the modeling of thermal effects, and finally the experimental validation of the theoretical models....

  9. Seepage Characteristics Study on Power-Law Fluid in Fractal Porous Media

    Meijuan Yun

    2014-01-01

    Full Text Available We present fractal models for the flow rate, velocity, effective viscosity, apparent viscosity, and effective permeability for power-law fluid based on the fractal properties of porous media. The proposed expressions realize the quantitative description to the relation between the properties of the power-law fluid and the parameters of the microstructure of the porous media. The model predictions are compared with related data and good agreement between them is found. The analytical expressions will contribute to the revealing of physical principles for the power-law fluid flow in porous media.

  10. Controller Development for a Separate Meter-In Separate Meter-Out Fluid Power Valve for Mobile Applications

    Nielsen, Brian

    2005-01-01

    In most mobile vehicles which are used within construction, agriculture, material handling, forestry, garbage handling etc. a fluid power system is used for power transport and power distribution. The transported/distributed power is usually generated by a diesel engine or from an electrical battery. The largest advantages of the fluid power system are its high energy density and its robustness. Currently there is no cost effective and robust alternative to using a fluid power system for the ...

  11. A low order adaptive control scheme for hydraulic servo systems

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Bech, Michael Møller

    2015-01-01

    This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical...

  12. Prospects of the use of nanofluids as working fluids for organic Rankine cycle power systems

    Mondejar, Maria E.; Andreasen, Jesper G.; Regidor, Maria

    2017-01-01

    The search of novel working fluids for organic Rankine cycle power systems is driven by the recent regulations imposing additional phase-out schedules for substances with adverse environmental characteristics. Recently, nanofluids (i.e. colloidal suspensions of nanoparticles in fluids) have been...... suggested as potential working fluids for organic Rankine cycle power systems due to their enhanced thermal properties, potentially giving advantages with respect to the design of the components and the cycle performance. Nevertheless, a number of challenges concerning the use of nanofluids must...... the prospects of using nanofluids as working fluids for organic Rankine cycle power systems. As a preliminary study, nanofluids consisting of a homogenous and stable mixture of different nanoparticles types and a selected organic fluid are simulated on a case study organic Rankine cycle unit for waste heat...

  13. Sensitivity analysis of molecular design problem for the development of novel working fluids for power cycles

    Frutiger, Jerome; Abildskov, Jens; Sin, Gürkan

    . Multi-criteria database search and Computer Aided Molecular Design (CAMD) can be applied to generate, test and evaluate promising pure component/mixture candidate as process fluids to help optimize cycle design and performance [1]. The problem formulation for the development of novel working fluids...... a certain working fluid property parameter on the performance of the power cycle, i.e. the net power output, can facilitate the identification key properties for working fluids. In that sense a sensitivity analysis of the different parameters is suggested in this work as a systematic method to efficiently...... technology to convert such waste heat sources into usable energy. So far the low-temperature heat is not utilized efficiently for electricity generation. To optimize the heat transfer process and the power generation, the influence of the working fluid, the cycle designs and the operating conditions is vital...

  14. Nonlinear friction model for servo press simulation

    Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

    2013-12-01

    The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

  15. Axial annular flow of power-law fluids - applicability of the limiting cases

    Filip, Petr; David, Jiří

    2007-01-01

    Roč. 52, č. 4 (2007), s. 365-371 ISSN 0001-7043 R&D Projects: GA ČR GA103/06/1033 Institutional research plan: CEZ:AV0Z20600510 Keywords : Concentric annuli * Poiseuile flow * annular flow * power- law fluids * flow rate * pressure drop Subject RIV: BK - Fluid Dynamics

  16. Analytical Solution of Unsteady Gravity Flows of A Power-Law Fluid ...

    We present an analytical study of unsteady non-linear rheological effects of a power-law fluid under gravity. The fluid flows through a porous medium. The governing equations are derived and similarity solutions are determined. The results show the existence of traveling waves. It is assumed that the viscosity is temperature ...

  17. Asymptotic expansion of unsteady gravity flow of a power-law fluid ...

    We present a paper on the asymptotic expansion of unsteady non-linear rheological effects of a power-law fluid under gravity. The fluid flows through a porous medium. The asymptotic expansion is employed to obtain solution of the nonlinear problem. The results show the existence of traveling waves. It is assumed that the ...

  18. Flow of power-law fluids in fixed beds of cylinders or spheres

    Singh, John P.; Padhy, Sourav; Shaqfeh, Eric S. G.; Koch, Donald L.

    2012-01-01

    is influenced by the Newtonian fluid stress and a body force representing the linear drag on the surrounding particles. We consider a similar analysis for a power-law fluid where the stress τ is related to the rate of strain e by τ = 2m en-1e, where m and n

  19. Fluid intensifier having a double acting power chamber with interconnected signal rods

    Whitehead, John C.

    2001-01-01

    A fluid driven reciprocating apparatus having a double acting power chamber with signal rods serving as high pressure pistons, or to transmit mechanical power. The signal rods are connected to a double acting piston in the power chamber thereby eliminating the need for pilot valves, with the piston being controlled by a pair of intake-exhaust valves. The signal rod includes two spaced seals along its length with a vented space therebetween so that the driving fluid and driven fluid can't mix, and performs a switching function to eliminate separate pilot valves. The intake-exhaust valves can be integrated into a single housing with the power chamber, or these valves can be built into the cylinder head only of the power chamber, or they can be separate from the power chamber.

  20. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats.

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment of a suitably high urine flow rate by constant infusion of hypotonic glucose solution. The second series of experiments showed that replacement of blood samples with donor blood can also lead to increases in fractional lithium excretion and accompanying increases in water and sodium excretion, a problem not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without interference from unwanted changes in extracellular volume. 2007 S. Karger AG, Basel

  1. Reducing Fatigue Loading Due to Pressure Shift in Discrete Fluid Power Force Systems

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2016-01-01

    power force system. The current paper investigates the correlation between pressure oscillations in the cylinder chambers and valve flow in the manifold. Furthermore, the correlation between the pressure shifting time and the pressure overshoot is investigated. The study therefore focus on how to shape......Discrete Fluid Power Force Systems is one of the topologies gaining focus in the pursuit of lowering energy losses in fluid power transmission systems. The cylinder based Fluid Power Force System considered in this article is constructed with a multi-chamber cylinder, a number of constant pressure...... oscillations in the cylinder chamber, especially for systems with long connections between the cylinder and the valve manifold. Hose pressure oscillations will induce oscillations in the produced piston force. Hence, pressure oscillations may increase the fatigue loading on systems employing a discrete fluid...

  2. Model Predictive Control of a Wave Energy Converter with Discrete Fluid Power Power Take-Off System

    Hansen, Anders Hedegaard; Asmussen, Magnus Færing; Bech, Michael Møller

    2018-01-01

    Wave power extraction algorithms for wave energy converters are normally designed without taking system losses into account leading to suboptimal power extraction. In the current work, a model predictive power extraction algorithm is designed for a discretized power take of system. It is shown how...... the quantized nature of a discrete fluid power system may be included in a new model predictive control algorithm leading to a significant increase in the harvested power. A detailed investigation of the influence of the prediction horizon and the time step is reported. Furthermore, it is shown how...

  3. The thermodynamic cycle models for geothermal power plants by considering the working fluid characteristic

    Mulyana, Cukup; Adiprana, Reza; Saad, Aswad H.; M. Ridwan, H.; Muhammad, Fajar

    2016-02-01

    The scarcity of fossil energy accelerates the development of geothermal power plant in Indonesia. The main issue is how to minimize the energy loss from the geothermal working fluid so that the power generated can be increased. In some of geothermal power plant, the hot water which is resulted from flashing is flown to injection well, and steam out from turbine is condensed in condenser, while the temperature and pressure of the working fluid is still high. The aim of this research is how the waste energy can be re-used as energy source to generate electric power. The step of the research is started by studying the characteristics of geothermal fluid out from the well head. The temperature of fluid varies from 140°C - 250°C, the pressure is more than 7 bar and the fluid phase are liquid, gas, or mixing phase. Dry steam power plant is selected for vapor dominated source, single or multiple flash power plant is used for dominated water with temperature > 225°C, while the binary power plant is used for low temperature of fluid enthalpy, the calculated power of these double and triple flash power plant are 50% of W1+W2. At the last step, the steam out from the turbine of unit 3 with the temperature 150°C is used as a heat source for binary cycle power plant named unit 4, while the hot water from the flasher is used as a heat source for the other binary cycle named unit 5 resulted power W5+W6 or 15% of W1+W2. Using this integrated model the power increased 75% from the original one.

  4. Analysis of Valve Requirements for High-Efficiency Digital Displacement Fluid Power Motors

    Rømer, Daniel; Johansen, Per; Pedersen, Henrik C.

    2013-01-01

    Digital displacement fluid power motors have been shown to enable high-efficiency operation in a wide operation range, including the part load range where conventional fluid power motors suffers from poor efficiencies. The use of these digital displacement motors set new requirements for the valve...... transition time and flow-pressure coefficient are normalized, leading to a presentation of the general efficiency map of the digital displacement motor. Finally the performance of existing commercial valves with respect to digital motors is commented....

  5. Preheating of fluid in a supercritical Brayton cycle power generation system at cold startup

    Wright, Steven A.; Fuller, Robert L.

    2016-07-12

    Various technologies pertaining to causing fluid in a supercritical Brayton cycle power generation system to flow in a desired direction at cold startup of the system are described herein. A sensor is positioned at an inlet of a turbine, wherein the sensor is configured to output sensed temperatures of fluid at the inlet of the turbine. If the sensed temperature surpasses a predefined threshold, at least one operating parameter of the power generation system is altered.

  6. Small Scale Electrical Power Generation from Heat Co-Produced in Geothermal Fluids: Mining Operation

    Clark, Thomas M. [ElectraTherm Inc., Reno, NV (United States); Erlach, Celeste [ElectraTherm Inc., Reno, NV (United States)

    2014-12-30

    Demonstrate the technical and economic feasibility of small scale power generation from low temperature co-produced fluids. Phase I is to Develop, Design and Test an economically feasible low temperature ORC solution to generate power from lower temperature co-produced geothermal fluids. Phase II &III are to fabricate, test and site a fully operational demonstrator unit on a gold mine working site and operate, remotely monitor and collect data per the DOE recommended data package for one year.

  7. Compact, Lightweight Servo-Controllable Brakes

    Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

    2010-01-01

    Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

  8. Optimization of geometry of annular seat valves suitable for Digital Displacement fluid power pumps/motors

    Rømer, Daniel; Johansen, Per; Pedersen, Henrik C.

    2013-01-01

    Digital Displacement Fluid Power is an upcoming technology setting new standards for the achievable efficiency of fluid power pumps and motors. The core element of the Digital Displacement technology is high performance electronically controlled seat valves, which must exhibit very low flow...... work an annular seat valve suitable for use in Digital Displacement units is considered, and the ring geometry is optimized using finite element analysis including non-linear material behaviour, contact elements and fluid pressure penetrating load, closely reflecting the actual load of the seat valve...

  9. Inertia effects in the laminar radial flow of a power law fluid with an electromagnetic field

    Chen, C.-K.; Chen, K.-H.; Wu, C.-Y.

    1984-01-01

    An approximate study of the pressure distribution for the radial flow of a non-newtonian (power law) fluid between two parallel disks in the presence of an axial electrical field is obtained by using the momentum and energy integral methods. For a non-newtonian fluid it is shown that the inertia effect must be considered to be significant for the pressure distribution, especially for the power law fluids with n >= 1. Furthermore, it is seen that the inertia effect will also lower the load capacity of the disks. (Auth.)

  10. Viscous-elastic dynamics of power-law fluids within an elastic cylinder

    Boyko, Evgeniy; Bercovici, Moran; Gat, Amir D.

    2017-07-01

    In a wide range of applications, microfluidic channels are implemented in soft substrates. In such configurations, where fluidic inertia and compressibility are negligible, the propagation of fluids in channels is governed by a balance between fluid viscosity and elasticity of the surrounding solid. The viscous-elastic interactions between elastic substrates and non-Newtonian fluids are particularly of interest due to the dependence of viscosity on the state of the system. In this work, we study the fluid-structure interaction dynamics between an incompressible non-Newtonian fluid and a slender linearly elastic cylinder under the creeping flow regime. Considering power-law fluids and applying the thin shell approximation for the elastic cylinder, we obtain a nonhomogeneous p-Laplacian equation governing the viscous-elastic dynamics. We present exact solutions for the pressure and deformation fields for various initial and boundary conditions for both shear-thinning and shear-thickening fluids. We show that in contrast to Stokes' problem where a compactly supported front is obtained for shear-thickening fluids, here the role of viscosity is inversed and such fronts are obtained for shear-thinning fluids. Furthermore, we demonstrate that for the case of a step in inlet pressure, the propagation rate of the front has a tn/n +1 dependence on time (t ), suggesting the ability to indirectly measure the power-law index (n ) of shear-thinning liquids through measurements of elastic deformation.

  11. Self-Powered Magnetothermal Fluid Pump, Phase II

    National Aeronautics and Space Administration — Advances in the capabilities of electronics have enabled high power density devices. However, even in light of advances in electronics efficiency figures, the...

  12. Multi-Objective Optimization of Organic Rankine Cycle Power Plants Using Pure and Mixed Working Fluids

    Jesper G. Andreasen

    2016-04-01

    Full Text Available For zeotropic mixtures, the temperature varies during phase change, which is opposed to the isothermal phase change of pure fluids. The use of such mixtures as working fluids in organic Rankine cycle power plants enables a minimization of the mean temperature difference of the heat exchangers, which is beneficial for cycle performance. On the other hand, larger heat transfer surface areas are typically required for evaporation and condensation when zeotropic mixtures are used as working fluids. In order to assess the feasibility of using zeotropic mixtures, it is, therefore, important to consider the additional costs of the heat exchangers. In this study, we aim at evaluating the economic feasibility of zeotropic mixtures compared to pure fluids. We carry out a multi-objective optimization of the net power output and the component costs for organic Rankine cycle power plants using low-temperature heat at 90 ∘ C to produce electrical power at around 500 kW. The primary outcomes of the study are Pareto fronts, illustrating the power/cost relations for R32, R134a and R32/R134a (0.65/0.35 mole . The results indicate that R32/R134a is the best of these fluids, with 3.4 % higher net power than R32 at the same total cost of 1200 k$.

  13. Modeling and optimization of geothermal power plants using the binary fluid cycle

    Walter, R.A.

    1976-09-01

    A computer simulation of a binary fluid cycle power plant for use with geothermal energy sources, and the subsequent optimization of this power plant type over a range of geothermal source conditions are described. The optimization technique employed for this analysis was based upon the principle of maximum use of geothermal energy.

  14. Designing high power targets with computational fluid dynamics (CFD)

    Covrig, S. D.

    2013-01-01

    High power liquid hydrogen (LH2) targets, up to 850 W, have been widely used at Jefferson Lab for the 6 GeV physics program. The typical luminosity loss of a 20 cm long LH2 target was 20% for a beam current of 100 μA rastered on a square of side 2 mm on the target. The 35 cm long, 2500 W LH2 target for the Qweak experiment had a luminosity loss of 0.8% at 180 μA beam rastered on a square of side 4 mm at the target. The Qweak target was the highest power liquid hydrogen target in the world and with the lowest noise figure. The Qweak target was the first one designed with CFD at Jefferson Lab. A CFD facility is being established at Jefferson Lab to design, build and test a new generation of low noise high power targets

  15. Designing high power targets with computational fluid dynamics (CFD)

    Covrig, S. D. [Thomas Jefferson National Laboratory, Newport News, VA 23606 (United States)

    2013-11-07

    High power liquid hydrogen (LH2) targets, up to 850 W, have been widely used at Jefferson Lab for the 6 GeV physics program. The typical luminosity loss of a 20 cm long LH2 target was 20% for a beam current of 100 μA rastered on a square of side 2 mm on the target. The 35 cm long, 2500 W LH2 target for the Qweak experiment had a luminosity loss of 0.8% at 180 μA beam rastered on a square of side 4 mm at the target. The Qweak target was the highest power liquid hydrogen target in the world and with the lowest noise figure. The Qweak target was the first one designed with CFD at Jefferson Lab. A CFD facility is being established at Jefferson Lab to design, build and test a new generation of low noise high power targets.

  16. Analysis of thermal cycles and working fluids for power generation in space

    Tarlecki, Jason; Lior, Noam; Zhang Na

    2007-01-01

    Production of power in space for terrestrial use is of great interest in view of the rapidly rising power demand and its environmental impacts. Space also offers a very low temperature, making it a perfect heat sink for power plants, thus offering much higher efficiencies. This paper focuses on the evaluation and analysis of thermal Brayton, Ericsson and Rankine power cycles operating at space conditions on several appropriate working fluids. Under the examined conditions, the thermal efficiency of Brayton cycles reaches 63%, Ericsson 74%, and Rankine 85%. These efficiencies are significantly higher than those for the computed or real terrestrial cycles: by up to 45% for the Brayton, and 17% for the Ericsson; remarkably 44% for the Rankine cycle even when compared with the best terrestrial combined cycles. From the considered working fluids, the diatomic gases (N 2 and H 2 ) produce somewhat better efficiencies than the monatomic ones in the Brayton and Rankine cycles. The Rankine cycles require radiator areas that are larger by up to two orders of magnitude than those required for the Brayton and Ericsson cycles. The results of the analysis of the sensitivity of the cycle performance parameters to major parameters such as turbine inlet temperature and pressure ratio are presented, equations or examining the effects of fluid properties on the radiator area and pressure drop were developed, and the effects of the working fluid properties on cycle efficiency and on the power production per unit radiator area were explored to allow decisions on the optimal choice of working fluids

  17. Flows of Newtonian and Power-Law Fluids in Symmetrically Corrugated Cappilary Fissures and Tubes

    Walicka, A.

    2018-02-01

    In this paper, an analytical method for deriving the relationships between the pressure drop and the volumetric flow rate in laminar flow regimes of Newtonian and power-law fluids through symmetrically corrugated capillary fissures and tubes is presented. This method, which is general with regard to fluid and capillary shape, can also be used as a foundation for different fluids, fissures and tubes. It can also be a good base for numerical integration when analytical expressions are hard to obtain due to mathematical complexities. Five converging-diverging or diverging-converging geometrics, viz. wedge and cone, parabolic, hyperbolic, hyperbolic cosine and cosine curve, are used as examples to illustrate the application of this method. For the wedge and cone geometry the present results for the power-law fluid were compared with the results obtained by another method; this comparison indicates a good compatibility between both the results.

  18. Flows of Newtonian and Power-Law Fluids in Symmetrically Corrugated Cappilary Fissures and Tubes

    Walicka A.

    2018-02-01

    Full Text Available In this paper, an analytical method for deriving the relationships between the pressure drop and the volumetric flow rate in laminar flow regimes of Newtonian and power-law fluids through symmetrically corrugated capillary fissures and tubes is presented. This method, which is general with regard to fluid and capillary shape, can also be used as a foundation for different fluids, fissures and tubes. It can also be a good base for numerical integration when analytical expressions are hard to obtain due to mathematical complexities. Five converging-diverging or diverging-converging geometrics, viz. wedge and cone, parabolic, hyperbolic, hyperbolic cosine and cosine curve, are used as examples to illustrate the application of this method. For the wedge and cone geometry the present results for the power-law fluid were compared with the results obtained by another method; this comparison indicates a good compatibility between both the results.

  19. Cloud-based Networked Visual Servo Control

    Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja

    2013-01-01

    The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitti...

  20. Multi-Objective Optimization of Organic Rankine Cycle Power Plants Using Pure and Mixed Working Fluids

    Andreasen, Jesper Graa; Kærn, Martin Ryhl; Pierobon, Leonardo

    2016-01-01

    , which is beneficial for cycle performance. On the other hand, larger heat transfer surface areas are typically required for evaporation and condensation when zeotropic mixtures are used as working fluids. In order to assess the feasibility of using zeotropic mixtures, it is, therefore, important......For zeotropic mixtures, the temperature varies during phase change, which is opposed to the isothermal phase change of pure fluids. The use of such mixtures as working fluids in organic Rankine cycle power plants enables a minimization of the mean temperature difference of the heat exchangers...

  1. Preparative supercritical fluid chromatography: A powerful tool for chiral separations.

    Speybrouck, David; Lipka, Emmanuelle

    2016-10-07

    In 2012, the 4 biggest pharmaceutical blockbusters were pure enantiomers and separating racemic mixtures is now frequently a key step in the development of a new drug. For a long time, preparative liquid chromatography was the technique of choice for the separation of chiral compounds either during the drug discovery process to get up to a hundred grams of a pure enantiomer or during the clinical trial phases needing kilograms of material. However the advent of supercritical Fluid Chromatography (SFC) in the 1990s has changed things. Indeed, the use of carbon dioxide as the mobile phase in SFC offers many advantages including high flow rate, short equilibration time as well as low solvent consumption. Despite some initial teething troubles, SFC is becoming the primary method for preparative chiral chromatography. This article will cover recent developments in preparative SFC for the separation of enantiomers, reviewing several aspects such as instrumentation, chiral stationary phases, mobile phases or purely preparative considerations including overloading, productivity or large scale chromatography. Copyright © 2016 Elsevier B.V. All rights reserved.

  2. Energy Cost of Avoiding Pressure Oscillations in a Discrete Fluid Power Force System

    Hansen, Anders Hedegaard; Pedersen, Henrik Clemmensen

    2015-01-01

    In secondary valve controlled discrete fluid power force systems the valve opening trajectory greatly influences the pressure dynamics in the actuator chambers. For discrete fluid power systems featuring hoses of significant length pressure oscillations due to fast valve switching is well......-known. This paper builds upon theoretical findings on how shaping of the valve opening may reduce the cylinder pressure oscillations. The current paper extents the work by implementing the valve opening characteristics reducing the pressure oscillations on a full scale power take-off test-bench for wave energy...... will present measurements comparing pressure dynamics for two valve opening algorithms. In addition the paper will give a theoretical investigation of the energy loss during valve shifting and finally measurements of average power output from the power take-off system in various sea states are compared...

  3. Design and Testing of a Breadboard Electrical Power Control Unit for the Fluid Combustion Facility Experiment

    Kimnach, Greg L.; Lebron, Ramon C.

    1999-01-01

    The Fluid Combustion Facility (FCF) Project and the Power Technology Division at the NASA Glenn Research Center (GRC) at Lewis Field in Cleveland, OH along with the Sundstrand Corporation in Rockford, IL are jointly developing an Electrical Power Converter Unit (EPCU) for the Fluid Combustion Facility to be flown on the International Space Station (ISS). The FCF facility experiment contains three racks: A core rack, a combustion rack, and a fluids rack. The EPCU will be used as the power interface to the ISS 120V(sub dc) power distribution system by each FCF experiment rack which requires 28V(sub dc). The EPCU is a modular design which contains three 120V(sub dc)-to-28V(sub dc) full-bridge, power converters rated at 1 kW(sub e) each bus transferring input relays and solid-state, current-limiting input switches, 48 current-limiting, solid-state, output switches; and control and telemetry hardware. The EPCU has all controls required to autonomously share load demand between the power feeds and--if absolutely necessary--shed loads. The EPCU, which maximizes the usage of allocated ISS power and minimizes loss of power to loads, can be paralleled with other EPCUs. This paper overviews the electrical design and operating characteristics of the EPCU and presents test data from the breadboard design.

  4. Dual arm master controller for a bilateral servo-manipulator

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

  5. Performance analysis of an integrated gas-, steam- and organic fluid-cycle thermal power plant

    Oko, C.O.C.; Njoku, I.H.

    2017-01-01

    This paper presents the performance analysis of an existing combined cycle power plant augmented with a waste heat fired organic Rankine cycle power plant for extra power generation. This was achieved by performing energy and exergy analysis of the integrated gas-, steam- and organic fluid-cycle thermal power plant (IPP). Heat source for the subcritical organic Rankine cycle (ORC) was the exhaust flue gases from the heat recovery steam generators of a 650 MW natural gas fired combined cycle power plant. The results showed that extra 12.4 MW of electricity was generated from the attached ORC unit using HFE7100 as working fluid. To select ORC working fluid, ten isentropic fluids were screened and HFE7100 produced the highest net power output and cycle efficiency. Exergy and energy efficiencies of the IPP improved by 1.95% and 1.93%, respectively. The rate of exergy destruction in the existing combined cycle plant was highest in the combustion chamber, 59%, whereas in the ORC, the highest rate of exergy destruction occurred in the evaporator, 62%. Simulations showed exergy efficiency of the IPP decreased with increasing ambient temperature. Exit stack flue gas temperature reduced from 126 °C in the combined cycle power plant to 100 °C in the integrated power plant. - Highlights: • Combined cycle plant retrofitted with ORC produced extra 12.4 MW electric power. • ORC is powered with low temperature flue gas from an existing combined cycle plant. • Exergy destruction rate in integrated plant(IPP) is less than in combined plant. • Exit stack temperature of the IPP has less environmental thermal pollution. • Exergy and energy efficiencies of the IPP improved by 1.95% and 1.93%, respectively.

  6. Education of MSc and PhD Students in Fluid Power and Mechatronics at DTU

    Conrad, Finn

    1996-01-01

    The paper deals with education of MSc and PhD students in engineering areas fluid power and mechatronics at the Technical Univ of Denmark, DTU, Lyngby. The new education structure and programs for MSc and PhD students adapted to the change and development of technologies. Focus is on two of twenty...... engineering profilies:(1) Engineeing Design and Product Development and (2)Control Engineering which give possibilitie for specialisation in fluid power and mechatronics design and productdevelopment. Synthesis, design and self-learning competency have a high priority taking the importance of training...

  7. Power-law Decay and the Ergodic-Nonergodic Transition in Simple Fluids

    Spyridis, Paul; Mazenko, Gene F.

    2013-01-01

    It is well known that mode coupling theory (MCT) leads to a two step power-law time decay in dense simple fluids. We show that much of the mathematical machinery used in the MCT analysis can be taken over to the analysis of the systematic theory developed in the Fundamental Theory of Statistical Particle Dynamics (arXiv:0905.4904). We show how the power-law exponents can be computed in the second-order approximation where we treat hard-sphere fluids with statics described by the Percus-Yevick...

  8. Power distribution transformers using natural ester fluids as dielectric and coolant

    Jorge Iván Silva-Ortega

    2016-12-01

    Full Text Available Researches related to the use of Natural Ester Fluids as a refrigerant of power transformers have been developed in other countries with successful results. In Colombia there is no a procedure to control the use of these esters in electrical apparatus, so the current implementations are regulated by NTC 1465 standards for mineral esters. This new proposal involves the composition and the most relevant properties (the ignition resistance, impact on the lifetime of the insulating papers and the impact on the environment, which makes the application of natural esters fluids advantageous not only to preserve the environment but also to get a better performance of power transformers.

  9. Numerical simulation of heat transfer in power law fluid flow through a stenosed artery

    Talib, Amira Husni; Abdullah, Ilyani

    2017-11-01

    A numerical study of heat transfer in a power law fluid is investigated in this paper. The blood flow is treated as power law fluid with a presence of cosine shaped stenosis. This study reveals the effect of stenosis on the heat transfer and velocity of blood flowing in the constricted artery. The governing and energy equations are formulated in a cylindrical coordinate system. Hence, the set of equations and boundary conditions are solved numerically by Marker and Cell (MAC) method. The graphical result shows the profile of blood temperature is increased while the blood velocity is decreased at the critical height of stenosis.

  10. Control system for the Fermilab Master-Slave servo manipulator

    Ducar, R.J.

    1977-01-01

    A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

  11. On modelling, simulation and measurement of fluid power pumps and pipelines

    Weddfelt, K.

    1992-01-01

    Pressure ripple in fluid power systems is often considered to be a nuisance. It is a major reason for vibrations and noise emission but can also cause functional problems, in extreme causes even fatigue and breakdown of pipes and connections. In order to examine this problem both the sources of pressure ripple and its transmission properties must be considered. A major source of pressure ripple in fluid power systems is positive displacement pumps, a component which is actually a source of flow ripple. A positive displacement pump can be characterized and modelled as a flow source with an internal source impedance. Special measurement techniques must be developed in order to determine these source properties experimentally. Pressure and flow ripple propagate through the pipeline of a fluid power system as waves. When the impedance of the system changes, part of the energy in the wave is being transmitted while the remaining part is reflected. Therefore, the mechanism for standing waves to occur is present, causing resonances and possibly very large pressure pulsations at certain frequencies. Destructive interference between these waves can be used to design so-called reactive attenuators, similar to an automobile muffler, which can be used to acoustically separate the source of flow ripple from the rest of the fluid power system. A mathematical model of wave transmission in pipelines is of fundamental importance to the design of acoustical sound systems. It is of equal importance when modelling and measuring the source characteristics of fluid power pumps. Such a mathematical model must include the transmission and reflection of waves as well as the frequency-dependent losses from viscous friction in the fluid. (au)

  12. Choice of optimal working fluid for binary power plants at extremely low temperature brine

    Tomarov, G. V.; Shipkov, A. A.; Sorokina, E. V.

    2016-12-01

    The geothermal energy development problems based on using binary power plants utilizing lowpotential geothermal resources are considered. It is shown that one of the possible ways of increasing the efficiency of heat utilization of geothermal brine in a wide temperature range is the use of multistage power systems with series-connected binary power plants based on incremental primary energy conversion. Some practically significant results of design-analytical investigations of physicochemical properties of various organic substances and their influence on the main parameters of the flowsheet and the technical and operational characteristics of heat-mechanical and heat-exchange equipment for binary power plant operating on extremely-low temperature geothermal brine (70°C) are presented. The calculation results of geothermal brine specific flow rate, capacity (net), and other operation characteristics of binary power plants with the capacity of 2.5 MW at using various organic substances are a practical interest. It is shown that the working fluid selection significantly influences on the parameters of the flowsheet and the operational characteristics of the binary power plant, and the problem of selection of working fluid is in the search for compromise based on the priorities in the field of efficiency, safety, and ecology criteria of a binary power plant. It is proposed in the investigations on the working fluid selection of the binary plant to use the plotting method of multiaxis complex diagrams of relative parameters and characteristic of binary power plants. Some examples of plotting and analyzing these diagrams intended to choose the working fluid provided that the efficiency of geothermal brine is taken as main priority.

  13. ANALYSIS OF MARANGONI CONVECTION OF NON-NEWTONIAN POWER LAW FLUIDS WITH LINEAR TEMPERATURE DISTRIBUTION

    Yan Zhang

    2011-01-01

    Full Text Available The problem of steady, laminar, thermal Marangoni convection flow of non-Newtonian power law fluid along a horizontal surface with variable surface temperature is studied. The partial differential equations are transformed into ordinary differential equations by using a suitable similarity transformation and analytical approximate solutions are obtained by an efficient transformation, asymptotic expansion and Padé approximants technique. The effects of power law index and Marangoni number on velocity and temperature profiles are examined and discussed.

  14. Numerical simulation of nanofluids based on power-law fluids with flow and heat transfer

    Li, Lin; Jiang, Yongyue; Chen, Aixin

    2017-04-01

    In this paper, we investigate the heat transfer of nanofluids based on power-law fluids and movement of nanoparticles with the effect of thermophoresis in a rotating circular groove. The velocity of circular groove rotating is a constant and the temperature on the wall is kept to be zero all the time which is different from the temperature of nanofluids in the initial time. The effects of thermophoresis and Brownian diffusion are considered in temperature and concentration equations, and it is assumed that the thermal conductivity of nanofluids is a function of concentration of nanoparticles. Based on numerical results, it can be found that nanofluids improve the process of heat transfer than base fluids in a rotating circular groove. The enhancement of heat transfer increases as the power law index of base fluids decreases.

  15. Test of a Novel Moving Magnet Actuated Seat Valve for Digital Displacement Fluid Power Machines

    Nørgård, Christian; Madsen, Esben Lundø; Christensen, Jeppe Haals

    2018-01-01

    The emerging digital displacement fluid power technology requires a new class of high-performance valves that can operate in harsh high-pressure conditions. To overcome the switching performance limitations of solenoids and to avoid the mechanical complexity of moving coil actuators, a novel elec......, and a simple mechanical design....

  16. Inherent limitations of fixed-time, servo-controlled radiometric calorimetry

    Wetzel, J.R.; Lemming, J.F.; Duff, M.F.

    1987-01-01

    Interest has been shown in using fixed-time, servo-controlled calorimetry to shorten the measurement times for certain samples that require low precision values (3 to 5%). This type of calorimeter measurement could be particularly useful for screening scrap samples to determine whether there is a need for a more accurate measurement or for certain confirmatory measurements for which low precision numbers are sufficient. The equipment required for this type of measurement is a servo-controlled calorimeter and a preconditioning unit. Samples to be measured are placed in the preconditioning unit, which is maintained at the internal temperature of the calorimeter. The power value for the sample is determined at a fixed time after loading into the calorimeter, for example, 30 min. When a calorimeter is operated using a fixed cutoff time, there are additional sources of uncertainty that need to be considered. The major factors affecting the uncertainty of the calorimetry power values are discussed. 2 refs., 4 figs

  17. Servo Reduces Friction In Flexure Bearing

    Clingman, W. Dean

    1991-01-01

    Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

  18. Stepping Motor - Hydraulic Motor Servo Drives for an NC Milling ...

    In this paper the retrofit design of the control system of an NC milling machine with a stepping motor and stepping motor - actuated hydraulic motor servo mechanism on the machines X-axis is described. The servo designed in the course of this study was tested practically and shown to be linear - the velocity following errors ...

  19. Experimental evaluation of control strategies for hydraulic servo robot

    Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

  20. Analysis of High Speed Jets Produced by a Servo Tube Driven Liquid Jet Injector

    Portaro, Rocco; Ng, Hoi Dick

    2017-11-01

    In today's healthcare environment many types of medication must be administered through the use of hypodermic needles. Although this practice has been in use for many years, drawbacks such as accidental needle stick injuries, transmission of deadly viruses and bio-hazardous waste are still present. This study focuses on improving a needle free technology known as liquid jet injection, through the implementation of a linear servo tube actuator for the construction of a fully closed loop liquid jet injection system. This device has the ability to deliver both micro- and macro- molecules, high viscosity fluids whilst providing real time control of the jet pressure profile for accurate depth and dispersion control. The experiments are conducted using a prototype that consists of a 3 kW servo tube actuator, coupled to a specially designed injection head allowing nozzle size and injection volume to be varied. The device is controlled via a high speed servo amplifier and FPGA. The high speed jets emanating from the injector are assessed via high speed photography and through the use of a force transducer. Preliminary results indicate that the system allows for accurate shaping of the jet pressure profile, making it possible to target different tissue depths/types accurately.

  1. Forming of AHSS using Servo-Presses

    Groseclose, Adam Richard

    Stamping of Advanced High Strength Steel (AHSS) alloys poses several challenges due to the material's higher strength and low formability compared to conventional steels and other problems such as (a) inconsistency of incoming material properties, (b) ductile fracture during forming, (c) higher contact pressure and temperature rise during forming, (d) higher die wear leading to reduced tool life, (e) higher forming load/press capacity, and (f) large springback leading to dimensional inaccuracy in the formed part. [Palaniswamy et. al., 2007]. The use of AHSS has been increasing steadily in automotive stamping. New AHSS alloys (TRIP, TWIP) may replace some of the Hot Stamping applications. Stamping of AHSS alloys, especially higher strength materials, 780 MPa and higher, present new challenges in obtaining good part definition (corner and fillet radii), formability (fracture and resulting scrap) and in reducing springback. Servo-drive presses, having the capability to have infinitely variable and adjustable ram speed and dwell at BDC, offer a potential improvement in quality, part definition, and springback reduction especially when the infinitely adjustable slide motion is used in combination with a CNC hydraulic cushion. Thus, it is desirable to establish a scientific/engineering basis for improving the stamping conditions in forming AHSS using a servo-drive press.

  2. Fuzzy control of small servo motors

    Maor, Ron; Jani, Yashvant

    1993-01-01

    To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

  3. High-potential Working Fluids for Next Generation Binary Cycle Geothermal Power Plants

    Zia, Jalal [GE Global Research; Sevincer, Edip; Chen, Huijuan; Hardy, Ajilli; Wickersham, Paul; Kalra, Chiranjeev; Laursen, Anna Lis; Vandeputte, Thomas

    2013-06-29

    A thermo-economic model has been built and validated for prediction of project economics of Enhanced Geothermal Projects. The thermo-economic model calculates and iteratively optimizes the LCOE (levelized cost of electricity) for a prospective EGS (Enhanced Geothermal) site. It takes into account the local subsurface temperature gradient, the cost of drilling and reservoir creation, stimulation and power plant configuration. It calculates and optimizes the power plant configuration vs. well depth. Thus outputs from the model include optimal well depth and power plant configuration for the lowest LCOE. The main focus of this final report was to experimentally validate the thermodynamic properties that formed the basis of the thermo-economic model built in Phase 2, and thus build confidence that the predictions of the model could be used reliably for process downselection and preliminary design at a given set of geothermal (and/or waste heat) boundary conditions. The fluid and cycle downselected was based on a new proprietary fluid from a vendor in a supercritical ORC cycle at a resource condition of 200°C inlet temperature. The team devised and executed a series of experiments to prove the suitability of the new fluid in realistic ORC cycle conditions. Furthermore, the team performed a preliminary design study for a MW-scale turbo expander that would be used for a supercritical ORC cycle with this new fluid. The following summarizes the main findings in the investigative campaign that was undertaken: 1. Chemical compatibility of the new fluid with common seal/gasket/Oring materials was found to be problematic. Neoprene, Viton, and silicone materials were found to be incompatible, suffering chemical decomposition, swelling and/or compression set issues. Of the materials tested, only TEFLON was found to be compatible under actual ORC temperature and pressure conditions. 2. Thermal stability of the new fluid at 200°C and 40 bar was found to be acceptable after 399

  4. Study on specifics of thermophysical properties of supercritical fluids in power engineering applications

    Mann, David; Pioro, Igor

    2015-01-01

    SuperCritical Pressures (SCPs) and SuperCritical Fluids (SFCs) are widely used in many industries worldwide. The largest application of SCPs is in the power industry in advanced coal-fired power plants. It is well-known that moving from subcritical-pressure power plants to SCP power plants increases gross thermal efficiency from 38-42% to about 50-55%. Despite all advances in thermal power-plants design and operation worldwide, they are still considered as not “environmentally friendly” due to significant carbon-dioxide emissions and air pollution as a result of the combustion process. In addition, coal-fired power-plants also produce virtual mountains of slag and ash, and other gas emissions that may contribute to acid rains. Therefore, the demand for clean, non-fossil-based electricity is growing. Due to this, nuclear power is considered as a basis for future electricity generation in the world. One of the major problems with current fleet of Nuclear Power Plants (NPPs) is their relatively low thermal efficiencies, especially, of water-cooled-reactor NPPs (the vast majority of NPPs) (30-36%), compared to those of advanced thermal power plants (55-62%). Based on that, next generation or Generation-IV reactors corresponding to those NPPs should definitely be more efficient. Higher level of thermal efficiencies can be reached only due to higher temperatures and, in some cases, higher pressures inside reactors and, especially, in power cycles of Generation-IV NPPs. Analysis of the six concepts of Generation-IV reactors and NPPs shows that three reactor concepts will use SCFs as reactor coolants (helium and water) and all concepts can be linked to SCFs as working fluids in power cycles (SC helium and /or carbon dioxide in the Brayton gas-turbine cycle, and SC water in the Rankine steam-turbine cycle). Therefore, the exact knowledge of specifics of thermophysical properties of SC helium, water and carbon dioxide is very important for any advances in these new

  5. Phenylnaphthalene Derivatives as Heat Transfer Fluids for Concentrating Solar Power: Loop Experiments and Final Report

    McFarlane, Joanna [ORNL; Bell, Jason R [ORNL; Felde, David K [ORNL; Joseph III, Robert Anthony [ORNL; Qualls, A L [ORNL; Weaver, Samuel P [ORNL

    2013-02-01

    ORNL and subcontractor Cool Energy completed an investigation of higher-temperature, organic thermal fluids for solar thermal applications. Although static thermal tests showed promising results for 1-phenylnaphthalene, loop testing at temperatures to 450 C showed that the material isomerized at a slow rate. In a loop with a temperature high enough to drive the isomerization, the higher melting point byproducts tended to condense onto cooler surfaces. So, as experienced in loop operation, eventually the internal channels of cooler components such as the waste heat rejection exchanger may become coated or clogged and loop performance will decrease. Thus, pure 1-phenylnaphthalene does not appear to be a fluid that would have a sufficiently long lifetime (years to decades) to be used in a loop at the increased temperatures of interest. Hence a decision was made not to test the ORNL fluid in the loop at Cool Energy Inc. Instead, Cool Energy tested and modeled power conversion from a moderate-temperature solar loop using coupled Stirling engines. Cool Energy analyzed data collected on third and fourth generation SolarHeart Stirling engines operating on a rooftop solar field with a lower temperature (Marlotherm) heat transfer fluid. The operating efficiencies of the Stirling engines were determined at multiple, typical solar conditions, based on data from actual cycle operation. Results highlighted the advantages of inherent thermal energy storage in the power conversion system.

  6. Evaluation of a solar-powered organic Rankine cycle using dry organic working fluids

    Emily Spayde

    2015-12-01

    Full Text Available This paper presents a model to evaluate the performance of a solar-powered organic Rankine cycle (ORC. The system was evaluated in Jackson, MS, using five dry organic working fluids, R218, R227ea, R236ea, R236fa, and RC318. The purpose of this study is to investigate how hourly temperature change affects the electricity production and exergy destruction rates of the solar ORC, and to determine the effect of the working fluid on the proposed system. The system was also evaluated in Tucson, AZ, to investigate the effect of average hourly outdoor temperatures on its performance. The potential of the system to reduce primary energy consumption and carbon dioxide emissions is also investigated. A parametric analysis to determine how temperature and pressure of the organic working fluid, the solar collector area, and the turbine efficiency affect the electricity production is performed. Results show that the ORC produces the most electricity during the middle of the day, when the temperatures are the highest and when the solar collectors have the highest efficiency. Also, R-236ea is the working fluid that shows the best performance of the evaluated fluids. An economic analysis was performed to determine the capital cost available for the proposed system.

  7. CDIO-Concept for Enginering Education in Fluid Power, Motion Control and Mechatronic Design

    Conrad, Finn; Andersen, Torben O.; Hansen, Michael Rygaard

    2006-01-01

    of mechatronics solutions with fluid power actuators for motion control of machines and robots. The idea of CDIO-Concept is to take care of that the students are learning by doing and learning while doing when the students are active to generate new products and solutions by going through the phases from......The paper presents significant Danish experiment results of a developed CDIO-Concept and approach for active and integrated learning in today’s engineering education of MSc Degree students, and research results from using IT-Tools for CAE/CAD and dynamic modelling, simulation, analysis, and design...... to Conceive, Design, Implement and Operate related to en product design by them self in competition with others. The idea is based on the Danish implementation of a CDIO-Concept. A curriculum at Aalborg University, and Technical University of Denmark, offers courses for Motion Control, Fluid Power within...

  8. Experimental investigation on the spray characteristics of power-law fluid in a swirl injector

    Bai, Fuqiang; Chen, Shixing; Guo, Jinpeng; Jiao, Kui; Du, Qing [State Key Laboratory of Engines, Tianjin University, Tianjin, 300072 (China); Chang, Qing, E-mail: duqing@tju.edu.cn [Wuxi Fuel Injection Equipment Research Institute, China FAW CO., Wuxi, 214063 (China)

    2017-06-15

    High-speed photography and 3D phase Doppler methods are used to obtain the swirl jet images, 3D velocities and size distribution of different droplets (including deionized water and two kinds of power-law fluid). For the power-law fluids, a short circular jet is formed after the nozzle exit at low pressure. Along the X direction, the distributions of axial velocity w and Sauter mean diameter (SMD) are symmetrical and increase from the center to both sides. The effect of injection pressure on the radial velocity u is not obvious. Along the Z axis, the absolute value of 3D velocities decreases to some extent with droplets moving downstream. The SMD decreases apparently with the increment of the distance along the Z axis at 1.0 MPa. (paper)

  9. Determining Rheological Parameters of Generalized Yield-Power-Law Fluid Model

    Stryczek Stanislaw

    2004-09-01

    Full Text Available The principles of determining rheological parameters of drilling muds described by a generalized yield-power-law are presented in the paper. Functions between tangent stresses and shear rate are given. The conditions of laboratory measurements of rheological parameters of generalized yield-power-law fluids are described and necessary mathematical relations for rheological model parameters given. With the block diagrams, the methodics of numerical solution of these relations has been presented. Rheological parameters of an exemplary drilling mud have been calculated with the use of this numerical program.

  10. Dual arm master controller for a bilateral servo-manipulator

    Kuban, D.P.; Perkins, G.S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

  11. Designing compensator of dual servo system for high precision positioning

    Choi, Hyeun Seok; Song, Chi Woo; Han, Chang Soo; Choi, Tae Hoon; Lee, Nak Kyu; Na, Kyung Hwan

    2003-01-01

    The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism

  12. Motion control of servo cylinder using neural network

    Hwang, Un Kyoo; Cho, Seung Ho

    2004-01-01

    In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

  13. Ionic fluids with r-6 pair interactions have power-law electrostatic screening

    Kjellander, Roland; Forsberg, Bjoern

    2005-01-01

    The decay behaviour of radial distribution functions for large distances r is investigated for classical Coulomb fluids where the ions interact with an r -6 potential (e.g. a dispersion interaction) in addition to the Coulombic and the short-range repulsive potentials (e.g. a hard core). The pair distributions and the density-density (NN), charge-density (QN) and charge-charge (QQ) correlation functions are investigated analytically and by Monte Carlo simulations. It is found that the NN correlation function ultimately decays like r -6 for large r, just as it does for fluids of electroneutral particles interacting with an r -6 potential. The prefactor is proportional to the squared compressibility in both cases. The QN correlations decay in general like r -8 and the QQ correlations like r -10 in the ionic fluid. The average charge density around an ion decays generally like r -8 and the average electrostatic potential like r -6 . This behaviour is in stark contrast to the decay behaviour for classical Coulomb fluids in the absence of the r -6 potential, where all these functions decay exponentially for large r. The power-law decays are, however, the same as for quantum Coulomb fluids. This indicates that the inclusion of the dispersion interaction as an effective r -6 interaction potential in classical systems yields the same decay behaviour for the pair correlations as in quantum ionic systems. An exceptional case is the completely symmetric binary electrolyte for which only the NN correlation has a power-law decay but not the QQ correlations. These features are shown by an analysis of the bridge function

  14. Cochlear Outer-Hair-Cell Power Generation and Viscous Fluid Loss

    Wang, Yanli; Steele, Charles R.; Puria, Sunil

    2016-01-01

    Since the discovery of otoacoustic emissions and outer hair cell (OHC) motility, the fundamental question of whether the cochlea produces mechanical power remains controversial. In the present work, direct calculations are performed on power loss due to fluid viscosity and power generated by the OHCs. A three-dimensional box model of the mouse cochlea is used with a feed-forward/feed-backward approximation representing the organ of Corti cytoarchitecture. The model is fit to in vivo basilar membrane motion with one free parameter for the OHCs. The calculations predict that the total power output from the three rows of OHCs can be over three orders of magnitude greater than the acoustic input power at 10 dB sound pressure level (SPL). While previous work shows that the power gain, or the negative damping, diminishes with intensity, we show explicitly based on our model that OHC power output increases and saturates with SPL. The total OHC power output is about 2 pW at 80 dB SPL, with a maximum of about 10 fW per OHC.

  15. Multibody Dynamics of a Fluid Power Radial Piston Motor Including Transient Hydrodynamic Pressure Models of Lubricating Gaps

    Johansen, Per; Rømer, Daniel; Andersen, Torben Ole

    2014-01-01

    The increasing interest in hydraulic transmissions in wind and wave energy applications has created an incentive for the development of high efficiency fluid power machinery. Modeling and analysis of fluid power machinery loss mechanisms are necessary in order to accommodate this demand. At present...... fully coupled thermo-elastic models has been used to simulate and study loss mechanisms in various tribological interfaces. Consequently, a reasonable focus of further development is to couple the interface models and the rigid body mechanics of fluid power machinery. The focus of the current paper...

  16. Unconfined Unsteady Laminar Flow of a Power-Law Fluid across a Square Cylinder

    Asterios Pantokratoras

    2016-11-01

    Full Text Available The flow of a non-Newtonian, power-law fluid, directed normally to a horizontal cylinder with square cross-section (two-dimensional flow is considered in the present paper. The problem is investigated numerically with a very large calculation domain in order that the flow could be considered unconfined. The investigation covers the power-law index from 0.1 up to 2 and the Reynolds number ranges from 60 to 160. Over this range of Reynolds numbers the flow is unsteady. It is found that the drag coefficient and the Strouhal number are higher in a confined flow compared to those of an unconfined flow. In addition some flow characteristics are lost in a confined flow. Complete results for the drag coefficient and Strouhal number in the entire shear-thinning and shear-thickening region have been produced. In shear-thinning fluids chaotic structures exist which diminish at higher values of power-law index. This study represents the first investigation of unsteady, non-Newtonian power-law flow past a square cylinder in an unconfined field.

  17. Methods and models for accelerating dynamic simulation of fluid power circuits

    Aaman, R.

    2011-07-01

    The objective of this dissertation is to improve the dynamic simulation of fluid power circuits. A fluid power circuit is a typical way to implement power transmission in mobile working machines, e.g. cranes, excavators etc. Dynamic simulation is an essential tool in developing controllability and energy-efficient solutions for mobile machines. Efficient dynamic simulation is the basic requirement for the real-time simulation. In the real-time simulation of fluid power circuits there exist numerical problems due to the software and methods used for modelling and integration. A simulation model of a fluid power circuit is typically created using differential and algebraic equations. Efficient numerical methods are required since differential equations must be solved in real time. Unfortunately, simulation software packages offer only a limited selection of numerical solvers. Numerical problems cause noise to the results, which in many cases leads the simulation run to fail. Mathematically the fluid power circuit models are stiff systems of ordinary differential equations. Numerical solution of the stiff systems can be improved by two alternative approaches. The first is to develop numerical solvers suitable for solving stiff systems. The second is to decrease the model stiffness itself by introducing models and algorithms that either decrease the highest eigenvalues or neglect them by introducing steady-state solutions of the stiff parts of the models. The thesis proposes novel methods using the latter approach. The study aims to develop practical methods usable in dynamic simulation of fluid power circuits using explicit fixed-step integration algorithms. In this thesis, two mechanisms which make the system stiff are studied. These are the pressure drop approaching zero in the turbulent orifice model and the volume approaching zero in the equation of pressure build-up. These are the critical areas to which alternative methods for modelling and numerical simulation

  18. Contracting bubbles in Hele-Shaw cells with a power-law fluid

    McCue, Scott W; King, John R

    2011-01-01

    The problem of bubble contraction in a Hele-Shaw cell is studied for the case in which the surrounding fluid is of power-law type. A small perturbation of the radially symmetric problem is first considered, focussing on the behaviour just before the bubble vanishes, it being found that for shear-thinning fluids the radially symmetric solution is stable, while for shear-thickening fluids the aspect ratio of the bubble boundary increases. The borderline (Newtonian) case considered previously is neutrally stable, the bubble boundary becoming elliptic in shape with the eccentricity of the ellipse depending on the initial data. Further light is shed on the bubble contraction problem by considering a long thin Hele-Shaw cell: for early times the leading-order behaviour is one-dimensional in this limit; however, as the bubble contracts its evolution is ultimately determined by the solution of a Wiener–Hopf problem, the transition between the long thin limit and the extinction limit in which the bubble vanishes being described by what is in effect a similarity solution of the second kind. This same solution describes the generic (slit-like) extinction behaviour for shear-thickening fluids, the interface profiles that generalize the ellipses that characterize the Newtonian case being constructed by the Wiener–Hopf calculation

  19. The design of a servo system for a Moessbauer spectrometer

    Cranshaw, T.E.

    1981-06-01

    This report describes the design of a transducer system and servo drive amplifier suitable for Moessbauer spectrometers. Particular attention is paid to low and zero frequency drift. Measurements of the loop gain of a practical system are presented. (author)

  20. Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

    Tan, Lilong; Wang, Pengcheng; Zhong, Qiyuan; Zhang, Cui; Liu, Yunfei

    2018-03-01

    In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

  1. Heat transfer and fluid flow research relevant to India's nuclear power program

    Mehta, S.K.; Venkatraj, V.

    1988-01-01

    The Indian Nuclear Power Programme envisages three important stages viz., installation of thermal reactors, fast reactors and utilization of Thorium. By the year 2000 AD, it is proposed to have an installed total capacity of nuclear power of about 10,000 MWe. Starting from the present installed capacity of 1330 MWe, the additional contribution will be mainly made by thermal power reactors of the Pressurized Heavy Water type (PHWR). Apart from the reactors presently under construction about 12 numbers of 235 MWe units are planned to be constructed, which will be based on the standardized design of the reactors at Narora Atomic Power Project (NAPP). In addition, 10 units of 500 MWe capacity each, the design for which is currently under progress, will also be installed. The design, construction and operating agency is the Nuclear Power Board (NPB), while the Bhabha Atomic Research Centre (BARC) is responsible for the research and development work required. In addition to the programme on thermal power reactors, a thermal research reactor (DHRUVA) of 100 MWth capacity has been designed, constructed and has been commissioned. Some of the important heat transfer and fluid flow research problems relevant to the Indian nuclear power and research reactors are discussed in this paper

  2. Space nuclear-power reactor design based on combined neutronic and thermal-fluid analyses

    Koenig, D.R.; Gido, R.G.; Brandon, D.I.

    1985-01-01

    The design and performance analysis of a space nuclear-power system requires sophisticated analytical capabilities such as those developed during the nuclear rocket propulsion (Rover) program. In particular, optimizing the size of a space nuclear reactor for a given power level requires satisfying the conflicting requirements of nuclear criticality and heat removal. The optimization involves the determination of the coolant void (volume) fraction for which the reactor diameter is a minimum and temperature and structural limits are satisfied. A minimum exists because the critical diameter increases with increasing void fraction, whereas the reactor diameter needed to remove a specified power decreases with void fraction. The purpose of this presentation is to describe and demonstrate our analytical capability for the determination of minimum reactor size. The analysis is based on combining neutronic criticality calculations with OPTION-code thermal-fluid calculations

  3. Testing of the Engineering Model Electrical Power Control Unit for the Fluids and Combustion Facility

    Kimnach, Greg L.; Lebron, Ramon C.; Fox, David A.

    1999-01-01

    The John H. Glenn Research Center at Lewis Field (GRC) in Cleveland, OH and the Sundstrand Corporation in Rockford, IL have designed and developed an Engineering Model (EM) Electrical Power Control Unit (EPCU) for the Fluids Combustion Facility, (FCF) experiments to be flown on the International Space Station (ISS). The EPCU will be used as the power interface to the ISS power distribution system for the FCF's space experiments'test and telemetry hardware. Furthermore. it is proposed to be the common power interface for all experiments. The EPCU is a three kilowatt 12OVdc-to-28Vdc converter utilizing three independent Power Converter Units (PCUs), each rated at 1kWe (36Adc @ 28Vdc) which are paralleled and synchronized. Each converter may be fed from one of two ISS power channels. The 28Vdc loads are connected to the EPCU output via 48 solid-state and current-limiting switches, rated at 4Adc each. These switches may be paralleled to supply any given load up to the 108Adc normal operational limit of the paralleled converters. The EPCU was designed in this manner to maximize allocated-power utilization. to shed loads autonomously, to provide fault tolerance. and to provide a flexible power converter and control module to meet various ISS load demands. Tests of the EPCU in the Power Systems Facility testbed at GRC reveal that the overall converted-power efficiency, is approximately 89% with a nominal-input voltage of 12OVdc and a total load in the range of 4O% to 110% rated 28Vdc load. (The PCUs alone have an efficiency of approximately 94.5%). Furthermore, the EM unit passed all flight-qualification level (and beyond) vibration tests, passed ISS EMI (conducted, radiated. and susceptibility) requirements. successfully operated for extended periods in a thermal/vacuum chamber, was integrated with a proto-flight experiment and passed all stability and functional requirements.

  4. Successful experience with limestone and other sorbents for combustion of biomass in fluid bed power boilers

    Coe, D.R. [LG& E Power Systems, Inc., Irvine, CA (United States)

    1993-12-31

    This paper presents the theoretical and practical advantages of utilizing limestone and other sorbents during the combustion of various biomass fuels for the reduction of corrosion and erosion of boiler fireside tubing and refractory. Successful experiences using a small amount of limestone, dolomite, kaolin, or custom blends of aluminum and magnesium compounds in fluid bed boilers fired with biomass fuels will be discussed. Electric power boiler firing experience includes bubbling bed boilers as well as circulating fluid bed boilers in commercial service on biomass fuels. Forest sources of biomass fuels fired include wood chips, brush chips, sawmill waste wood, bark, and hog fuel. Agricultural sources of biomass fuels fired include grape vine prunings, bean straw, almond tree chips, walnut tree chips, and a variety of other agricultural waste fuels. Additionally, some urban sources of wood fuels have been commercially burned with the addition of limestone. Data presented includes qualitative and quantitative analyses of fuel, sorbent, and ash.

  5. Characteristic analysis and experiment of pneumatic servo valve

    Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

    2004-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  6. Flow of power-law fluids in fixed beds of cylinders or spheres

    Singh, John P.

    2012-10-29

    An ensemble average of the equations of motion for a Newtonian fluid over particle configurations in a dilute fixed bed of spheres or cylinders yields Brinkman\\'s equations of motion, where the disturbance velocity produced by a test particle is influenced by the Newtonian fluid stress and a body force representing the linear drag on the surrounding particles. We consider a similar analysis for a power-law fluid where the stress τ is related to the rate of strain e by τ = 2m en-1e, where m and n are constants. In this case, the ensemble-averaged momentum equation includes a body force resulting from the nonlinear drag exerted on the surrounding particles, a power-law stress associated with the disturbance velocity of the test particle, and a stress term that is linear with respect to the test particle\\'s disturbance velocity. The latter term results from the interaction of the test particle\\'s velocity disturbance with the random straining motions produced by the neighbouring particles and is important only in shear-thickening fluids where the velocity disturbances of the particles are long-ranged. The solutions to these equations using scaling analyses for dilute beds and numerical simulations using the finite element method are presented. We show that the drag force acting on a particle in a fixed bed can be written as a function of a particle-concentration-dependent length scale at which the fluid velocity disturbance produced by a particle is modified by hydrodynamic interactions with its neighbours. This is also true of the drag on a particle in a periodic array where the length scale is the lattice spacing. The effects of particle interactions on the drag in dilute arrays (periodic or random) of cylinders and spheres in shear-thickening fluids is dramatic, where it arrests the algebraic growth of the disturbance velocity with radial position when n≥ 1 for cylinders and n≥ 2 for spheres. For concentrated random arrays of particles, we adopt an

  7. Feasibility study for application of mixture working fluid cycle to nuclear reactor power plant

    Takeuchi, Yutaka; Ohshima, Iwao; Shiomi, Hirozo; Miyamae, Nobuhiko; Hiramatsu, Miki; Montani, Mitsuto

    1999-01-01

    There exists a large amount of unused energy in nuclear power plants. However, it consists of relatively low temperature energy, so it is difficult to generate electricity by the conventional water-steam cycle. In order to utilize such low temperature energy, we applied a mixture working fluid cycle called as the Kalina cycle to a light water nuclear reactor power plant. The Kalina cycle uses a working fluid composed of ammonia and water to create a variable temperature boiling process. We applied a saturation type Kalina cycle with single stage ammonia-water separation process as a bottoming cycle to a conventional water-steam cycle of a 1100MWe class BWR as an example case. The input heat source is the exhaust or the partial extraction of a low pressure turbine (LPT). A steady state chemical process modeling code ASPENPLUS was used for the sensitivity analyses. The maximum efficiency was calculated to be realized when using the lowest heat sink temperature, 8degC. The additional electrical output is about 95 MWe when using the exhaust of LPT and is about 127 MWe when using the partial extraction of LPT. Namely, about 4.3% of the exhaust heat for the former case and about 5.8% for the latter case can be utilized as electrical power, respectively. (author)

  8. Application of Modelling and Simulation in Mechatronics and Fluid Power System Design - Education and Research

    Andersen, T. O.; Hansen, M. R.; Conrad, Finn

    2003-01-01

    The development within the engineering industry is ever more in the direction of an integration of electronics both on the component level and system level. This implies improved and more intelligentcomponents with increased funtionality at the same time as the variant creation is made in the ele...... and control can be useful in analysis, synthesis, design and application of mechatronic systems with fluid power actuation. The focus is on system aspects and describes several projects from education and research that utilises the mentioned methods and techniques....

  9. Active Lubrication for Reducing Wear and Vibration: A combination of Fluid Power Control and Tribology

    Nicoletti, Rodrigo; Santos, Ilmar

    2002-01-01

    The use of fluid power to reduce and control rotor vibration in rotating machines is investigated. An active hybrid bearing is studied, whose main objective is to reduce wear and vibration between rotating and stationary machinery parts. By injecting pressurised oil into the oil film, through...... orifices machined in the bearing pads, one can alter the machine dynamic characteristics, thus enhancing its operational range. A mathematical model of the rotor-bearing system, as well as of the hydraulic system, is presented. Numerical results of the system frequency response show good agreement...

  10. The Transient Elliptic Flow of Power-Law Fluid in Fractal Porous Media

    宋付权; 刘慈群

    2002-01-01

    The steady oil production and pressure distribution formulae of vertically fractured well for power-law non-Newtonian fluid were derived on the basis of the elliptic flow model in fractal reservoirs. The corresponding transient flow in fractal reservoirs was studied by numerical differentiation method: the influence of fractal index to transient pressure of vertically fractured well was analyzed. Finally the approximate analytical solution of transient flow was given by average mass conservation law. The study shows that using elliptic flow method to analyze the flow of vertically fractured well is a simple method.

  11. Reliability Based Design of Fluid Power Pitch Systems for Wind Turbines

    Liniger, Jesper; N. Soltani, Mohsen; Pedersen, Henrik Clemmensen

    2017-01-01

    Priority Number. The Failure Mode and Effect Criticality Analysis is based on past research concerning failure analysis of wind turbine drive trains. Guidelines are given to select the severity, occurrence and detection score that make up the risk priority number. The usability of the method is shown...... in a case study of a fluid power pitch system applied to wind turbines. The results show a good agreement to recent field failure data for offshore turbines where the dominating failure modes are related to valves, accumulators and leakage. The results are further used for making design improvements...

  12. Sinusoidal visuomotor tracking: intermittent servo-control or coupled oscillations?

    Russell, D M; Sternad, D

    2001-12-01

    In visuomotor tasks that involve accuracy demands, small directional changes in the trajectories have been taken as evidence of feedback-based error corrections. In the present study variability, or intermittency, in visuomanual tracking of sinusoidal targets was investigated. Two lines of analyses were pursued: First, the hypothesis that humans fundamentally act as intermittent servo-controllers was re-examined, probing the question of whether discontinuities in the movement trajectory directly imply intermittent control. Second, an alternative hypothesis was evaluated: that rhythmic tracking movements are generated by entrainment between the oscillations of the target and the actor, such that intermittency expresses the degree of stability. In 2 experiments, participants (N = 6 in each experiment) swung 1 of 2 different hand-held pendulums, tracking a rhythmic target that oscillated at different frequencies with a constant amplitude. In 1 line of analyses, the authors tested the intermittency hypothesis by using the typical kinematic error measures and spectral analysis. In a 2nd line, they examined relative phase and its variability, following analyses of rhythmic interlimb coordination. The results showed that visually guided corrective processes play a role, especially for slow movements. Intermittency, assessed as frequency and power components of the movement trajectory, was found to change as a function of both target frequency and the manipulandum's inertia. Support for entrainment was found in conditions in which task frequency was identical to or higher than the effector's eigenfrequency. The results suggest that it is the symmetry between task and effector that determines which behavioral regime is dominant.

  13. Development of friction welding method by electric servo motors; Dendo servo shiki masatsu assetsuho no kaihatsu

    Suzuki, H; Onuma, M; Hasegawa, T; Sakamoto, T [Toyota Motor Corp., Aichi (Japan)

    1997-10-01

    The standard friction welding has two methods; the brake method and the inertia method. We have developed a new friction welding method with the electric servo motor system. The forming of plastic fluidity layers of interface is evaluated quantitatively with the feedback control characteristics. The new method has enabled to reduce the heat effect and the burr of friction welding. In the method, we could reduce the getting heat energy, from one-third to half less than the previous methods. 6 refs., 16 figs.

  14. Numerical analysis of the transient conjugated heat transfer in a circular duct with a power-law fluid

    Luna, N. [Secretaria de Energia, Direccion de Operacion Petrolera, Mexico DF (Mexico); Mendez, F. [UNAM, Facultad de Ingenieria, Mexico DF (Mexico); Bautista, O. [ITESM, Division de Ingenieria y Arquitectura, Mexico DF (Mexico)

    2005-05-01

    We treat numerically in this paper, the transient analysis of a conjugated heat transfer process in the thermal entrance region of a circular tube with a fully developed laminar power-law fluid flow. We apply the quasi-steady approximation for the power-law fluid, identifying the suitable time scales of the process. Thus, the energy equation in the fluids is solved analytically using the well-known integral boundary layer technique. This solution is coupled to the transient energy equation for the solid where the transverse and longitudinal heat conduction effects are taken into account. The numerical results for the temporal evolution of the average temperature of the tube wall, {theta}{sub av,} is plotted for different nondimensional parameters such as conduction parameter, {alpha}, the aspect ratios of the tube, {epsilon} and {epsilon}{sub 0} and the index of power-law fluid, n. (orig.)

  15. Numerical calculation of three-dimensional flow field of servo-piston hydraulic control rod driving mechanism

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    Servo-piston hydraulic control rod driving mechanism is a new type built-in driving mechanism which is suitable for integrated reactor and it can be moved continuously. The numerical calculation and analysis of the internal three-dimensional flow field inside the driving mechanism were carried out by the computational fluid dynamics software FLUENT. The result shows that the unique pressure mutation area of flow field inside the driving mechanism is at the place of the servo variable throttle orifice. The differential pressure of the piston can be effectively controlled by changing the gap of variable throttle orifice. When the gap changes within 0.5 mm, the differential pressure can be greatly changed, and then the driving mechanism motion state would be changed too. When the working pressure is 0.1 MPa, the hoisting capacity of the driving mechanism can meet the design requirements, and the flow rate is small. (authors)

  16. Fluid dynamics of acoustic and hydrodynamic cavitation in hydraulic power systems

    Ferrari, A.

    2017-03-01

    Cavitation is the transition from a liquid to a vapour phase, due to a drop in pressure to the level of the vapour tension of the fluid. Two kinds of cavitation have been reviewed here: acoustic cavitation and hydrodynamic cavitation. As acoustic cavitation in engineering systems is related to the propagation of waves through a region subjected to liquid vaporization, the available expressions of the sound speed are discussed. One of the main effects of hydrodynamic cavitation in the nozzles and orifices of hydraulic power systems is a reduction in flow permeability. Different discharge coefficient formulae are analysed in this paper: the Reynolds number and the cavitation number result to be the key fluid dynamical parameters for liquid and cavitating flows, respectively. The latest advances in the characterization of different cavitation regimes in a nozzle, as the cavitation number reduces, are presented. The physical cause of choked flows is explained, and an analogy between cavitation and supersonic aerodynamic flows is proposed. The main approaches to cavitation modelling in hydraulic power systems are also reviewed: these are divided into homogeneous-mixture and two-phase models. The homogeneous-mixture models are further subdivided into barotropic and baroclinic models. The advantages and disadvantages of an implementation of the complete Rayleigh-Plesset equation are examined.

  17. Knowledge Is Power for Medical Assistants: Crystallized and Fluid Intelligence As Predictors of Vocational Knowledge.

    Moehring, Anne; Schroeders, Ulrich; Wilhelm, Oliver

    2018-01-01

    Medical education research has focused almost entirely on the education of future physicians. In comparison, findings on other health-related occupations, such as medical assistants, are scarce. With the current study, we wanted to examine the knowledge-is-power hypothesis in a real life educational setting and add to the sparse literature on medical assistants. Acquisition of vocational knowledge in vocational education and training (VET) was examined for medical assistant students ( n = 448). Differences in domain-specific vocational knowledge were predicted by crystallized and fluid intelligence in the course of VET. A multiple matrix design with 3 year-specific booklets was used for the vocational knowledge tests of the medical assistants. The unique and joint contributions of the predictors were investigated with structural equation modeling. Crystallized intelligence emerged as the strongest predictor of vocational knowledge at every stage of VET, while fluid intelligence only showed weak effects. The present results support the knowledge-is-power hypothesis, even in a broad and more naturalistic setting. This emphasizes the relevance of general knowledge for occupations, such as medical assistants, which are more focused on learning hands-on skills than the acquisition of academic knowledge.

  18. Knowledge Is Power for Medical Assistants: Crystallized and Fluid Intelligence As Predictors of Vocational Knowledge

    Anne Moehring

    2018-02-01

    Full Text Available Medical education research has focused almost entirely on the education of future physicians. In comparison, findings on other health-related occupations, such as medical assistants, are scarce. With the current study, we wanted to examine the knowledge-is-power hypothesis in a real life educational setting and add to the sparse literature on medical assistants. Acquisition of vocational knowledge in vocational education and training (VET was examined for medical assistant students (n = 448. Differences in domain-specific vocational knowledge were predicted by crystallized and fluid intelligence in the course of VET. A multiple matrix design with 3 year-specific booklets was used for the vocational knowledge tests of the medical assistants. The unique and joint contributions of the predictors were investigated with structural equation modeling. Crystallized intelligence emerged as the strongest predictor of vocational knowledge at every stage of VET, while fluid intelligence only showed weak effects. The present results support the knowledge-is-power hypothesis, even in a broad and more naturalistic setting. This emphasizes the relevance of general knowledge for occupations, such as medical assistants, which are more focused on learning hands-on skills than the acquisition of academic knowledge.

  19. SAMSIN: the next-generation servo-manipulator

    Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

    1985-01-01

    The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

  20. Electromagnetic servoing-a new tracking paradigm.

    Reichl, Tobias; Gardiazabal, José; Navab, Nassir

    2013-08-01

    Electromagnetic (EM) tracking is highly relevant for many computer assisted interventions. This is in particular due to the fact that the scientific community has not yet developed a general solution for tracking of flexible instruments within the human body. Electromagnetic tracking solutions are highly attractive for minimally invasive procedures, since they do not require line of sight. However, a major problem with EM tracking solutions is that they do not provide uniform accuracy throughout the tracking volume and the desired, highest accuracy is often only achieved close to the center of tracking volume. In this paper, we present a solution to the tracking problem, by mounting an EM field generator onto a robot arm. Proposing a new tracking paradigm, we take advantage of the electromagnetic tracking to detect the sensor within a specific sub-volume, with known and optimal accuracy. We then use the more accurate and robust robot positioning for obtaining uniform accuracy throughout the tracking volume. Such an EM servoing methodology guarantees optimal and uniform accuracy, by allowing us to always keep the tracked sensor close to the center of the tracking volume. In this paper, both dynamic accuracy and accuracy distribution within the tracking volume are evaluated using optical tracking as ground truth. In repeated evaluations, the proposed method was able to reduce the overall error from 6.64±7.86 mm to a significantly improved accuracy of 3.83±6.43 mm. In addition, the combined system provides a larger tracking volume, which is only limited by the reach of the robot and not the much smaller tracking volume defined by the magnetic field generator.

  1. Working fluid selection for the Organic Rankine Cycle (ORC) exhaust heat recovery of an internal combustion engine power plant

    Douvartzides, S.; Karmalis, I.

    2016-11-01

    Organic Rankine cycle technology is capable to efficiently convert low-grade heat into useful mechanical power. In the present investigation such a cycle is used for the recovery of heat from the exhaust gases of a four stroke V18 MAN 51/60DF internal combustion engine power plant operating with natural gas. Design is focused on the selection of the appropriate working fluid of the Rankine cycle in terms of thermodynamic, environmental and safety criteria. 37 candidate fluids have been considered and all Rankine cycles examined were subcritical. The thermodynamic analysis of all fluids has been comparatively undertaken and the effect of key operation conditions such as the evaporation pressure and the superheating temperature was taken into account. By appropriately selecting the working fluid and the Rankine cycle operation conditions the overall plant efficiency was improved by 5.52% and fuel consumption was reduced by 12.69%.

  2. Fast flux fluid fuel reactor: A concept for the next generation of nuclear power production

    Palmiotti, G.; Feldman, E.E.

    1999-01-01

    Nuclear energy has not become the preferred method of electrical energy production largely because of economic, safety, and proliferation concerns and challenges posed by nuclear waste disposal. Economies is the most important factor. To reduce the capital costs, the authors propose a compact configuration with a very high power density and correspondingly reduced reactor component sizes. Enhanced efficiency made possible by higher operating temperatures will also improve the economics of the design, and design simplicity will keep capital, operational, and maintenance costs down. The most direct solution to the nuclear waste problem is to eliminate waste production or, at least, minimize its amount and long-term radiotoxicity. This can be achieved by very high burnups, ideally 100%, and by the eventual transmutation of the long-lived fission products in situ. Very high burnups also improve the economics by optimal exploitation of the fuel. Safety concerns can be addressed by an inherently safe reactor design. Because of the intrinsic nature of nuclear materials, there probably is no definitive answer to proliferation concerns for systems that generate neutrons; however, it is important to minimize proliferation risks. The thorium cycle is a promising option because (a) plutonium is produced only in very small quantities, (b) the presence of 232 U makes handling the fuel very difficult and therefore proliferation resistant, and (c) 233 U is a fissile isotope that is less suitable than 239 Pu for making weapons and can be diluted with other uranium isotopes. An additional benefit of the thorium cycle is that it increases nuclear fuel resources by one order of magnitude. A fast flux fluid fuel reactor is a concept that can satisfy all the foregoing requirements. The fluid fuel systems have a very simple structure. Because integrity of the fuel is not an issue, these systems can operate at very high temperatures, can have high power densities, and can achieve very

  3. Imaged-Based Visual Servo Control for a VTOL Aircraft

    Liying Zou

    2017-01-01

    Full Text Available This paper presents a novel control strategy to force a vertical take-off and landing (VTOL aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.

  4. Static Analysis of High-Performance Fixed Fluid Power Drive with a Single Positive-Displacement Hydraulic Motor

    O. F. Nikitin

    2015-01-01

    Full Text Available The article deals with the static calculations in designing a high-performance fixed fluid power drive with a single positive-displacement hydraulic motor. Designing is aimed at using a drive that is under development and yet unavailable to find and record the minimum of calculations and maximum of existing hydraulic units that enable clear and unambiguous performance, taking into consideration an available assortment of hydraulic units of hydraulic drives, to have the best efficiency.The specified power (power, moment and kinematics (linear velocity or angular velocity of rotation parameters of the output element of hydraulic motor determine the main output parameters of the hydraulic drive and the useful power of the hydraulic drive under development. The value of the overall efficiency of the hydraulic drive enables us to judge the efficiency of high-performance fixed fluid power drive.The energy analysis of a diagram of the high-performance fixed fluid power drive shows that its high efficiency is achieved when the flow rate of fluid flowing into each cylinder and the magnitude of the feed pump unit (pump are as nearly as possible.The paper considers the ways of determining the geometric parameters of working hydromotors (effective working area or working volume, which allow a selection of the pumping unit parameters. It discusses the ways to improve hydraulic drive efficiency. Using the principle of holding constant conductivity allows us to specify the values of the pressure losses in the hydraulic units used in noncatalog modes. In case of no exact matching between the parameters of existing hydraulic power modes and a proposed characteristics of the pump unit, the nearest to the expected characteristics is taken as a working version.All of the steps allow us to create the high-performance fixed fluid power drive capable of operating at the required power and kinematic parameters with high efficiency.

  5. Numerical Comparison of NASA's Dual Brayton Power Generation System Performance Using CO2 or N2 as the Working Fluid

    Ownens, Albert K.; Lavelle, Thomas M.; Hervol, David S.

    2010-01-01

    A Dual Brayton Power Conversion System (DBPCS) has been tested at the NASA Glenn Research Center using Nitrogen (N2) as the working fluid. This system uses two closed Brayton cycle systems that share a common heat source and working fluid but are otherwise independent. This system has been modeled using the Numerical Propulsion System Simulation (NPSS) environment. This paper presents the results of a numerical study that investigated system performance changes resulting when the working fluid is changed from gaseous (N2) to gaseous carbon dioxide (CO2).

  6. Phenylnaphthalene as a Heat Transfer Fluid for Concentrating Solar Power: High-Temperature Static Experiments

    Bell, Jason R [ORNL; Joseph III, Robert Anthony [ORNL; McFarlane, Joanna [ORNL; Qualls, A L [ORNL

    2012-05-01

    Concentrating solar power (CSP) may be an alternative to generating electricity from fossil fuels; however, greater thermodynamic efficiency is needed to improve the economics of CSP operation. One way of achieving improved efficiency is to operate the CSP loop at higher temperatures than the current maximum of about 400 C. ORNL has been investigating a synthetic polyaromatic oil for use in a trough type CSP collector, to temperatures up to 500 C. The oil was chosen because of its thermal stability and calculated low vapor and critical pressures. The oil has been synthesized using a Suzuki coupling mechanism and has been tested in static heating experiments. Analysis has been conducted on the oil after heating and suggests that there may be some isomerization taking place at 450 C, but the fluid appears to remain stable above that temperature. Tests were conducted over one week and further tests are planned to investigate stabilities after heating for months and in flow configurations. Thermochemical data and thermophysical predictions indicate that substituted polyaromatic hydrocarbons may be useful for applications that run at higher temperatures than possible with commercial fluids such as Therminol-VP1.

  7. Computer Software for Design, Analysis and Control of Fluid Power Systems

    Conrad, Finn; Sørensen, Torben; Grahl-Madsen, Mads

    1999-01-01

    This Deliverable presents contributions from SWING's Task 2.3 Analysis of available software solutions. The Deliverable has focus on the results from this analysis having in mind the task objectives·to carry out a thorough analysis of the state-of the-art solutions for fluid power systems modelling...... and simulation,·results should be suitable to draw conclusions in Task 2.4 Synthesis of analysis results and recommendations, · consideration of integrating results from EU-funded research projects (here: contributions to ISO 10303 Standard STEP),·the impact on recommendation of smart use of simulation...... and modelling IT tools in the implementation planning (WP3) and pilot implementation (WP4), in particular training programme for key people in the individual SME and/or cluster....

  8. Oil Stiction in Fast Switching Annular Seat Valves for Digital Displacement Fluid Power Machines

    Roemer, Daniel Beck; Johansen, Per; Pedersen, Henrik C.

    2014-01-01

    Digital Displacement (DD) fluid power machines utilizes electronically controlled seat valves connected to pressure chambers to obtain variable displacement with high operational efficiency and high bandwidth. To achieve high efficiency, fast valve switching is essential and all aspects related...... to the dynamic behaviour of the seat valves must be considered to optimize the machine efficiency. A significant effect influencing the valves switching performance is the presence of oil stiction when separating the contact surfaces in valve opening movement. This oil stiction force is limited by cavitation...... for low pressure levels, e.g. valves connected to the low pressure manifold, however for valves operated at higher pressure levels, the oil stiction force is dominating when the separating surfaces are close to contact. This paper presents an analytic solution to the oil stiction force for annular seat...

  9. Optimum back-pressure forging using servo die cushion

    Kawamoto, Kiichiro; Yoneyama, Takeshi; Okada, Masato; Kitayama, Satoshi; Chikahisa, Junpei

    2014-01-01

    This study focused on utilizing a servo die cushion (in conjunction with a servo press) as a "back-pressure load generator," to determine its effect on shape accuracy of the formed part and total forming load in forward extrusion during cold forging. The effect of back-pressure load application was confirmed in experiments, and the optimum setting pattern of back-pressure load was considered to minimize both shape accuracy of the formed part and back-pressure energy, which was representative ...

  10. On the Influence of Piston and Cylinder Density in Tribodynamics of a Radial Piston Digital Fluid Power Displacement Motor

    Johansen, Per; Roemer, Daniel Beck; Andersen, Torben O.

    2015-01-01

    -stroke displacement simulations are used as basis for the parametric analysis. From the parametric analysis a change, in the minimum film thickness as function of piston and cylinder density, is shown for certain operating modes of the digital fluid power displacement motor. This indicate a need for careful....... In this paper the influence of the inertia term on the lubrication gaps of a radial piston motor are studied by a parametric analysis of the piston and cylinder density in a multibody tribodynamic simulation model. The motor is modeled as a digital fluid power displacement machine and a series of full...... assessment of the applicability, of the force balance condition, if it is used in multibody tribodynamic simulations of radial piston digital fluid power displacement motors....

  11. Project calculation of the steering mechanism hydraulic servo control in motor vehicles

    Zoran Đukan Majkić

    2013-10-01

    Full Text Available Hydraulic servo controls are designed to facilitate rotation in place without providing increased ppower to steering wheels. In the initial design phase, the dimensions required for control systems are usually obtained through the calculation of their load when wheels rotate in place, where the torque is calculated empirically. The starting point in the project calculation is thus to determine the hydraulic power steering torque torsional resistance which is then used to determine the maximum value of force i.e. the torque on the stering wheel. The calculation of the control system servo control consists of determining the basic parameters, the required pump capacity, the main dimensions of the hub and the  pipeline and the conditions for the stability of the system control mechanism. Introduction The aim of the calculation of the steering control system is to determine the basic parameters of its components which ensure the fulfilment of requirements of the control system. Calculations are performed in several stages with a simultaneous  detailed constructive analysis of the control system leading to the best variant. At each stage, design and control calculations of the hydraulic servo of the steering mechanism are performed. The design allows the computation to complete the selection of basic dimensions of the amplifer elements, starting from the approved scheme and the basic building loads of approximate values. Calculations control is carried out to clarify the structural solution and to obtain the output characteristics of the control amplifier which are applied in the  estimation of  potential properties of the structure. Project calculation Baseline data must be sufficiently reliable, ie. must correspond to the construction characteristics of the vehicle design and the control system as well as to service conditions..A proper deterimination of the torque calculation of torsional resistance in wheels is of utmost importance. Moment of

  12. Thermodynamics investigation of a solar power system integrated oil and molten salt as heat transfer fluids

    Liu, Qibin; Bai, Zhang; Sun, Jie; Yan, Yuejun; Gao, Zhichao; Jin, Hongguang

    2016-01-01

    Highlights: • A new concentrating solar power system with a dual-solar field is proposed. • The superheated steam with more than 773 K is produced. • The performances of the proposed system are demonstrated. • The economic feasibility of the proposed system is validated. - Abstract: In this paper, a new parabolic trough solar power system that incorporates a dual-solar field with oil and molten salt as heat transfer fluids (HTFs) is proposed to effectively utilize the solar energy. The oil is chosen as a HTF in the low temperature solar field to heat the feeding water, and the high temperature solar field uses molten salt to superheat the steam that the temperature is higher than 773 K. The produced superheated steam enters a steam turbine to generate power. Energy analysis and exergy analysis of the system are implemented to evaluate the feasibility of the proposed system. Under considerations of variations of solar irradiation, the on-design and off-design thermodynamic performances of the system and the characteristics are investigated. The annual average solar-to-electric efficiency and the nominal efficiency under the given condition for the proposed solar thermal power generation system reach to 15.86% and 22.80%, which are higher than the reference system with a single HTF. The exergy losses within the solar heat transfer process of the proposed system are reduced by 7.8% and 45.23% compared with the solar power thermal systems using oil and molten salt as HTFs, respectively. The integrated approach with oil and molten salt as HTFs can make full use of the different physical properties of the HTFs, and optimize the heat transfer process between the HTFs and the water/steam. The exergy loss in the water evaporation and superheated process are reduced, the system efficiency and the economic performance are improved. The research findings provide a new approach for the improvement of the performances of solar thermal power plants.

  13. Hydraulic Darrieus turbines efficiency for free fluid flow conditions versus power farms conditions

    Antheaume, Sylvain [Electricite de France, Recherche et Developpement, Laboratoire National d' Hydraulique et Environnement, 6 Quai Watier, 78400 Chatou (France); Maitre, Thierry; Achard, Jean-Luc [Laboratoire des Ecoulements Geophysiques et Industriels, BP 53, 38041 Grenoble (France)

    2008-10-15

    The present study deals with the efficiency of cross flow water current turbine for free stream conditions versus power farm conditions. In the first part, a single turbine for free fluid flow conditions is considered. The simulations are carried out with a new in house code which couples a Navier-Stokes computation of the outer flow field with a description of the inner flow field around the turbine. The latter is based on experimental results of a Darrieus wind turbine in an unbounded domain. This code is applied for the description of a hydraulic turbine. In the second part, the interest of piling up several turbines on the same axis of rotation to make a tower is investigated. Not only is it profitable because only one alternator is needed but the simulations demonstrate the advantage of the tower configuration for the efficiency. The tower is then inserted into a cluster of several lined up towers which makes a barge. Simulations show that the average barge efficiency rises as the distance between towers is decreased and as the number of towers is increased within the row. Thereby, the efficiency of a single isolated turbine is greatly increased when set both into a tower and into a cluster of several towers corresponding to possible power farm arrangements. (author)

  14. Thermal, mechanical and fluid flow aspects of the high power beam dump for FRIB

    Avilov, Mikhail [Facility for Rare Isotope Beams, Michigan State University, East Lansing, MI 48824 (United States); Aaron, Adam [Oak Ridge National Laboratory, PO Box 2008, Oak Ridge, TN 37831 (United States); Amroussia, Aida [Department of Chemical Engineering and Materials Science, Michigan State University, East Lansing, MI 48824 (United States); Bergez, Wladimir [Institut de Mecanique des Fluides de Toulouse, Toulouse University, CNRS, Allée Camille Soula, 31400 Toulouse (France); Boehlert, Carl [Department of Chemical Engineering and Materials Science, Michigan State University, East Lansing, MI 48824 (United States); Burgess, Thomas; Carroll, Adam [Oak Ridge National Laboratory, PO Box 2008, Oak Ridge, TN 37831 (United States); Colin, Catherine [Institut de Mecanique des Fluides de Toulouse, Toulouse University, CNRS, Allée Camille Soula, 31400 Toulouse (France); Durantel, Florent [Centre des recherches sur les Ions, les Materiaux et la Photonique (CIMAP) CEA-CNRS-ENSICAEN-UCN, BP 5133, 14070 CAEN CEDEX 5 (France); Ferrante, Paride; Fourmeau, Tiffany [Facility for Rare Isotope Beams, Michigan State University, East Lansing, MI 48824 (United States); Graves, Van [Oak Ridge National Laboratory, PO Box 2008, Oak Ridge, TN 37831 (United States); Grygiel, Clara [Centre des recherches sur les Ions, les Materiaux et la Photonique (CIMAP) CEA-CNRS-ENSICAEN-UCN, BP 5133, 14070 CAEN CEDEX 5 (France); Kramer, Jacob [Facility for Rare Isotope Beams, Michigan State University, East Lansing, MI 48824 (United States); Mittig, Wolfgang [National Superconducting Cyclotron Laboratory, Michigan State University, East Lansing, MI 48824 (United States); Monnet, Isabelle [Centre des recherches sur les Ions, les Materiaux et la Photonique (CIMAP) CEA-CNRS-ENSICAEN-UCN, BP 5133, 14070 CAEN CEDEX 5 (France); Patel, Harsh [Facility for Rare Isotope Beams, Michigan State University, East Lansing, MI 48824 (United States); and others

    2016-06-01

    The Facility for Rare Isotope Beams (FRIB) under construction at Michigan State University is based on a 400 kW heavy ion accelerator and uses in-flight production and separation to generate rare isotope beams. The first section of the fragment separator houses the rare isotope production target, and the primary beam dump to stop the unreacted primary beam. The experimental program will use 400 kW ion beams from {sup 16}O to {sup 238}U. After interaction with the production target, over 300 kW in remaining beam power must be absorbed by the beam dump. A rotating water-cooled thin-shell metal drum was chosen as the basic concept for the beam dump. Extensive thermal, mechanical and fluid flow analyses were performed to evaluate the effects of the high power density in the beam dump shell and in the water. Many properties were optimized simultaneously, such as shell temperature, mechanical strength, fatigue strength, and radiation resistance. Results of the analyses of the beam dump performance with different design options will be discussed. For example, it was found that a design modification to the initial water flow pattern resulted in a substantial increase in the wall heat transfer coefficient. A detailed evaluation of materials for the shell is in progress. The widely used titanium alloy, Ti–6Al–4V (wt%), is presently considered as the best candidate, and is the subject of specific tests, such as studies of performance under heavy ion irradiation.

  15. An in-pipe mobile micromachine using fluid power. A mechanism adaptable to pipe diameters

    Yoshida, Kazuhiro; Yokota, Shinichi; Takahashi, Ken

    2000-01-01

    To realize micro maintenance robots for small diameter pipes of nuclear reactors and so on, high power in-pipe mobile micromachines have been required. The authors have proposed the bellows microactuator using fluid power and have tried to apply the actuators to in-pipe mobile micromachines. In the previous papers, some inchworm mobile machine prototypes with 25 mm in diameter are fabricated and the traveling performances are experimentally investigated. In this paper, to miniaturize the in-pipe mobile machine and to make it adaptable to pipe diameters, firstly, a simple rubber-tube actuator constrained with a coil-spring is proposed and the static characteristics are investigated. Secondly, a supporting mechanism which utilizes a toggle mechanism and is adaptable to pipe diameters is proposed and the supporting forces are investigated. Finally, an in-pipe mobile micromachine for pipe with 4 - 5 mm in diameter is fabricated and the maximum traveling velocity of 7 mm/s in both ahead and astern movements is experimentally verified. (author)

  16. Fluid distribution network and steam generators and method for nuclear power plant training simulator

    Alliston, W.H.; Johnson, S.J.; Mutafelija, B.A.

    1975-01-01

    A description is given of a training simulator for the real-time dynamic operation of a nuclear power plant which utilizes apparatus that includes control consoles having manual and automatic devices corresponding to simulated plant components and indicating devices for monitoring physical values in the simulated plant. A digital computer configuration is connected to the control consoles to calculate the dynamic real-time simulated operation of the plant in accordance with the simulated plant components to provide output data including data for operating the control console indicating devices. In the method and system for simulating a fluid distribution network of the power plant, such as that which includes, for example, a main steam system which distributes steam from steam generators to high pressure turbine steam reheaters, steam dump valves, and feedwater heaters, the simultaneous solution of linearized non-linear algebraic equations is used to calculate all the flows throughout the simulated system. A plurality of parallel connected steam generators that supply steam to the system are simulated individually, and include the simulation of shrink-swell characteristics

  17. Control of xenon spatial oscillations during load follow of nuclear reactor via robust servo systems

    Ukai, Hiroyuki; Yada, Yukihiro; Iwazumi, Tetsuo; Morita, Yoshifumi.

    1990-01-01

    This paper investigates the control problem of xenon spatial oscillations in the axial direction during load following operations of a nuclear reactor. The system model is described by a one-group diffusion equation with xenon and power feedbacks and iodine-xenon dynamic equations and controlled by full-length and part-length control rods. In order to achieve the control purpose we formulate the control model as the design problem of robust servo systems for distributed parameter reactor systems. Hence the total thermal power and the axial offset are chosen as outputs to be controlled. The control law is designed based upon finite-dimensional systems which are constructed by linearizing around steady states, approximating by the Galerkin approximate method and reducing dimensions via the singular perturbation method. From a computational point of view a simple computational algorithm to obtain an approximate solution of the steady state neutron balance is developed via the perturbation method. Some results of numerical simulations are represented to show effectiveness of the theory developed in this paper. Particularly it is shown that the designed servo systems are robust against model errors with the linearization and the model truncation. (author)

  18. Development of BLDC Electric Motor Control System In Hydraulic Servo Drive Based on Variable Hydrostatic Transmission

    O. I. Tarasov

    2014-01-01

    Full Text Available Modern robotic systems require the use of servo drives. Owing to encoder and negative feedback these drives ensure highly accurate motion parameters. In case of autonomous systems drives must also have high power characteristics. Moreover, in most cases, it was impossible to select the motor so that the speed and torque on its shaft were in compliance with those of required by the actuator. To match these parameters different types of reducers are used. The article justifies and considers a selection criterion of the gear ratios for such transmission. For clarity, there is an example of selecting a motor and a gear for above transmission, taking into account the proposed criterion. In addition, the article discusses the advantages of using hydrostatic transmission in the drive, which monitors the angular position of the output level, in comparison with a mechanical gearbox. Due to the fact that, at the moment, BLDC motors have the best power characteristics, such a servo drive requires a special control system that will take into account the features of variable hydrostatic transmission and electric BLDC motor. Therefore, the paper proposes a structure of such a system and set out the principles of its construction. Various embodiments of sensor types that may be used in this system and their installation scheme explained.

  19. Digital simulation of FM-ZCS-quasi resonant converter fed DD servo drive using Matlab Simulink

    Kattamuri Narasimha Rao

    2009-01-01

    Full Text Available This paper deals with digital simulation of FM-ZCS-quasi resonant converter fed DC servo drive using Matlab Simulink. Quasi Resonant Converter (QRC is fast replacing conventional PWM converters in high frequency operation. The salient feature of QRC is that the switching devices can be either switched on at zero voltage or switched off at zero current, so that switching losses are zero ideally. Switching stresses are low, volumes are low and power density is high. This property imparts high efficiency and high power density to the converters. The output of QRC is regulated by varying the switching frequency of the converter. Hence it is called Frequency modulated Zero current/zero voltage switching quasi resonant converter. The present work deals with simulation of DC Servo motor fed from ZCS-QRC using Matlab. Simulation results show that the ZCS-QRC's have low total harmonic distortion. The ZCS-QRC operating in half wave and full wave modes are simulated successfully. .

  20. Cine-servo lens technology for 4K broadcast and cinematography

    Nurishi, Ryuji; Wakazono, Tsuyoshi; Usui, Fumiaki

    2015-09-01

    Central to the rapid evolution of 4K image capture technology in the past few years, deployment of large-format cameras with Super35mm Single Sensors is increasing in TV production for diverse shows such as dramas, documentaries, wildlife, and sports. While large format image capture has been the standard in the cinema world for quite some time, the recent experiences within the broadcast industry have revealed a variety of requirement differences for large format lenses compared to those of the cinema industry. A typical requirement for a broadcast lens is a considerably higher zoom ratio in order to avoid changing lenses in the middle of a live event, which is mostly not the case for traditional cinema productions. Another example is the need for compact size, light weight, and servo operability for a single camera operator shooting in a shoulder-mount ENG style. On the other hand, there are new requirements that are common to both worlds, such as smooth and seamless change in angle of view throughout the long zoom range, which potentially offers new image expression that never existed in the past. This paper will discuss the requirements from the two industries of cinema and broadcast, while at the same time introducing the new technologies and new optical design concepts applied to our latest "CINE-SERVO" lens series which presently consists of two models, CN7x17KAS-S and CN20x50IAS-H. It will further explain how Canon has realized 4K optical performance and fast servo control while simultaneously achieving compact size, light weight and high zoom ratio, by referring to patent-pending technologies such as the optical power layout, lens construction, and glass material combinations.

  1. Measuring the photodetector frequency response for ultrasonic applications by a heterodyne system with difference- frequency servo control.

    Koch, Christian

    2010-05-01

    A technique for the calibration of photodiodes in ultrasonic measurement systems using standard and cost-effective optical and electronic components is presented. A heterodyne system was realized using two commercially available distributed feedback lasers, and the required frequency stability and resolution were ensured by a difference-frequency servo control scheme. The frequency-sensitive element generating the error signal for the servo loop comprised a delay-line discriminator constructed from electronic elements. Measurements were carried out at up to 450 MHz, and the uncertainties of about 5% (k = 2) can be further reduced by improved radio frequency power measurement without losing the feature of using only simple elements. The technique initially dedicated to the determination of the frequency response of photodetectors applied in ultrasonic applications can be transferred to other application fields of optical measurements.

  2. Stability and servo-control of the crystal pulling process

    Johansen, T.H.

    1990-11-01

    The paper analyzes why the crystal pulling process needs servo-control, and how it can be implemented. Special emphasis is put on the fundamental question of inherent stability, and how to interpret the signal from a balance when the weighing method is used for cystal diameter detection. 15 refs., 13 figs

  3. Visual servo control for a human-following robot

    Burke, Michael G

    2011-03-01

    Full Text Available This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control...

  4. Electrical servo actuator bracket. [fuel control valves on jet engines

    Sawyer, R. V. (Inventor)

    1981-01-01

    An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

  5. MA-23-6000: underwater bilateral servo master slave manipulator

    Vertut, Jean

    The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

  6. Photoelectric radar servo control system based on ARM+FPGA

    Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

    2016-01-01

    In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

  7. A parameter estimation for DC servo motor by using optimization process

    Arjoni Amir

    2010-01-01

    Modeling and simulation parameters of DC servo motor using Matlab Simulink software have been done. The objective to define the DC servo motor parameter estimation is to get DC servo motor parameter values (B, La, Ra, Km, J) which are significant value that can be used for actuation process of control systems. In the analysis of control systems DC the servo motor expressed by transfer function equation to make faster to be analyzed as a component of the actuator. To obtain the data model parameters and initial conditions of the DC servo motors is then carried out the processor modeling and simulation in which the DC servo motor combined with other components. To obtain preliminary data of the DC servo motor parameters as estimated venue, it is obtained from the data factory of the DC servo motor. The initial data parameters of the DC servo motor are applied for the optimization process by using nonlinear least square algorithm and minimize the cost function value so that the DC servo motors parameter values are obtained significantly. The result of the optimization process of the DC servo motor parameter values are B = 0.039881, J= 1.2608e-007, Km = 0.069648, La = 2.3242e-006 and Ra = 1.8837. (author)

  8. Study on the Fluid Leak Diagnosis for Steam Valve in Power Plant

    Lee, Sang-Guk; Park, Jong-Hyuck; Yoo, Keun-Bae; Lee, Sun-Ki; Hong, Sung-Yull

    2006-01-01

    This study aims to estimate the applicability of acoustic emission(AE) method for the internal fluid leak from the valves. In this study, 4 inch gate steam valve leak tests were performed in order to analyze AE properties when leaks arise in valve seat. As a result of leak test for valve seat in a secondary system of power plant, we conformed that leak sound level increased in proportion to the increase of leak rate, and leak rates were compared to simulated tests. The resulting plots of leak rate versus peak frequency and AE signal level were the primary basis for determining the feasibility of quantifying leak acoustically. Previously, the large amount of data attained also allowed a favorable investigation of the effects of different leak paths, leak rates, pressure differentials through simulated test. All results of application tests are compared with results of simulated test. From the application tests, it was suggested that the AE method for diagnosis of steam leak was applicable. This paper presents quantitative measurements of fluid valve leak conditions by the analysis of AE parameter, FFT(fast fourier transform) and RMS(root mean square) level. Test apparatus were fabricated to accept a variety of leaking steam valves in order to determine what characteristics of AE signal change with leak conditions. The data for each valve were generated by varying the leak rate and recording the averaged RMS level versus time and frequency versus amplitude(FFT). Leak rates were varied by the valve differential pressure and valve size and leaking valves were observed in service. Most of the data analysis involved plotting the leak rate versus RMS level at a specific frequency to determine how well the two variables correlate in terms of accuracy, resolution, and repeatability

  9. Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

    Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

    2009-01-01

    To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

  10. State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

    Yu, Jue; Zhuang, Jian; Yu, Dehong

    2015-01-01

    This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Morphological topology generation of a digital fluid power displacement unit using Chebychev-Grübler-Kutzbach constraint

    Johansen, Per; Roemer, Daniel Beck; Andersen, Torben O.

    2015-01-01

    The task of designing a digital fluid power displacement unit entails a choice of topology. Consequently, this choice entails a need for knowledge of the various applicable topologies to choose from. In this paper a morphological topology generation approach is used to derive a series of radial...

  12. MINET, Transient Fluid Flow and Heat Transfer Power Plant Network Analysis

    Van Tuyle, G.J.

    2002-01-01

    1 - Description of program or function: MINET (Momentum Integral Network) was developed for the transient analysis of intricate fluid flow and heat transfer networks, such as those found in the balance of plant in power generating facilities. It can be utilized as a stand-alone program or interfaced to another computer program for concurrent analysis. Through such coupling, a computer code limited by either the lack of required component models or large computational needs can be extended to more fully represent the thermal hydraulic system thereby reducing the need for estimating essential transient boundary conditions. The MINET representation of a system is one or more networks of volumes, segments, and boundaries linked together via heat exchangers only, i.e., heat can transfer between networks, but fluids cannot. Volumes are used to represent tanks or other volume components, as well as locations in the system where significant flow divisions or combinations occur. Segments are composed of one or more pipes, pumps, heat exchangers, turbines, and/or valves each represented by one or more nodes. Boundaries are simply points where the network interfaces with the user or another computer code. Several fluids can be simulated, including water, sodium, NaK, and air. 2 - Method of solution: MINET is based on a momentum integral network method. Calculations are performed at two levels, the network level (volumes) and the segment level. Equations conserving mass and energy are used to calculate pressure and enthalpy within volumes. An integral momentum equation is used to calculate the segment average flow rate. In-segment distributions of mass flow rate and enthalpy are calculated using local equations of mass and energy. The segment pressure is taken to be the linear average of the pressure at both ends. This method uses a two-plus equation representation of the thermal hydraulic behavior of a system of heat exchangers, pumps, pipes, valves, tanks, etc. With the

  13. Simulation of an offshore wind farm using fluid power for centralized electricity generation

    Jarquin-Laguna, A

    2016-01-01

    A centralized approach for electricity generation within a wind farm is explored through the use of fluid power technology. This concept considers a new way of generation, collection and transmission of wind energy inside a wind farm, in which electrical conversion does not occur during any intermediate conversion step before the energy has reached the offshore central platform. A numerical model was developed to capture the relevant physics from the dynamic interaction between different turbines coupled to a common hydraulic network and controller. This paper presents two examples of the time-domain simulation results for an hypothetical hydraulic wind farm subject to turbulent wind conditions. The performance and operational parameters of individual turbines are compared with those of a reference wind farm with conventional technology turbines, using the same wind farm layout and environmental conditions. For the presented case study, results indicate that the individual wind turbines are able to operate within operational limits with the current pressure control concept. Despite the stochastic turbulent wind input and wake effects, the hydraulic wind farm is able to produce electricity with reasonable performance in both below and above rated conditions. (paper)

  14. Simulation of an offshore wind farm using fluid power for centralized electricity generation

    A. Jarquin Laguna

    2017-07-01

    Full Text Available A centralized approach for electricity generation within a wind farm is explored through the use of fluid power technology. This concept considers a new way of generation, collection and transmission of wind energy inside a wind farm, in which electrical conversion does not occur during any intermediate conversion step before the energy has reached the offshore central platform. A numerical model was developed to capture the relevant physics from the dynamic interaction between different turbines coupled to a common hydraulic network and controller. This paper presents a few examples of the time domain simulation results for a hypothetical hydraulic wind farm subject to turbulent wind conditions. The performance and operational parameters of individual turbines are compared with those of a reference wind farm based on conventional wind turbine generator technology using the same wind farm layout and environmental conditions. For the presented case studies, results indicate that the individual wind turbines are able to operate within operational limits. Despite the stochastic turbulent wind conditions and wake effects, the hydraulic wind farm is able to produce electricity with reasonable performance in both below and above rated conditions. With the current pressure control concept, a continuous operation of the hydraulic wind farm is shown including the full stop of one or more turbines.

  15. Study of specific loss power of magnetic fluids with various viscosities

    Phong, P.T., E-mail: phamthanhphong@tdt.edu.vn [Department for Management of Science and Technology Development, Ton Duc Thang University, Ho Chi Minh City (Viet Nam); Faculty of Applied Sciences, Ton Duc Thang University, Ho Chi Minh City (Viet Nam); Nguyen, L.H., E-mail: luuhuunguyen@ukh.edu.vn [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Khanh Hoa University, 1- Nguyen Chanh Street, Nha Trang City, Khanh Hoa Province (Viet Nam); Phong, L.T.H., E-mail: lthp52a@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Nam, P.H., E-mail: namph.ims@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Manh, D.H., E-mail: manhdh.ims@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam); Lee, I.J., E-mail: lij@dongguk.ac.kr [Department of Advanced Materials Chemistry, Dongguk University-Gyeongju, Dongdae-roDongdae-ro 123, Gyeongju-Si, Gyeongbuk 38066 (Korea, Republic of); Phuc, N.X., E-mail: phucnx1949@gmail.com [Institute of Materials Science, Vietnam Academy of Science and Technology,18- Hoang Quoc Viet Street, Cau Giay District, Ha Noi City (Viet Nam)

    2017-04-15

    Abstracts: Using hydrothermal method, CoFe{sub 2}O{sub 4} (hard ferrite) and MnFe{sub 2}O{sub 4} (soft ferrite) nanoparticles of size up to 20 nm were synthesized and the viscosities were controlled using various concentrations of agar. The hydrodynamic diameter of these particles was measured and fitted to a lognormal distribution and the results showed their polydispersity is very narrow. From the calorimetric measurements of the particles stabilized in agar solutions, we have demonstrated that at a given frequency, the dependence of the specific loss power of magnetic fluids on the viscosity is in good agreement with the theoretical predictions made in the earlier studies. - Highlights: • CoFe{sub 2}O{sub 4} (hard ferrite) and MnFe{sub 2}O{sub 4} (soft ferrite) nanoparticles size up to 20 nm were synthesized. • The relaxation loss depends on both the particle's intrinsic properties and the viscosity of the environment. • The SLP of hard nanoparticles strongly decreases with increasing the viscosity whereas that of soft nanoparticles remains almost unchanged.

  16. Organic Rankine-cycle power systems working fluids study. Topical report No. 1: Fluorinol 85

    Jain, M. L.; Demirgian, J. C.; Cole, R. L.

    1986-09-01

    The thermal stability limits and degradation rates of Fluorinol 85 as a function of maximum cycle temperatures are determined. Following the design and construction of a dynamic test loop capable of simulating the thermodynamic conditions of possible prototypical organic Rankine-cycle (ORC) power systems, several test runs were completed. The Fluorinol 85 test loop was operated for about 3800 h at a temperature range of 525 to 600 F. Both liquid and noncondensable vapor (gas) samples were drawn periodically and analyzed using capillary column gas chromatography, gas chromatography/mass spectrometry and mass spectrometry. Results indicate that Fluorinol 85 would not decompose significantly over an extended period, up to a maximum cycle temperature of 550 F. However, 506-h data at 575 F show initiation of significant degradation. The 770-h data at 600 F, using a fresh charge of Fluorinol 85, indicate an annual degradation rate of more than 17.2%. The most significant degradation product observed is hydrofluoric acid, which could cause severe corrosion in an ORC system. Removal of the hydrofluoric acid and prevention of temperature extremes are necessary for an ORC system using Fluorinol 85 as a working fluid.

  17. Development of a Control System for PRIDE Remote Servo-manipulator

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-01

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

  18. Development of a Control System for PRIDE Remote Servo-manipulator

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-15

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

  19. MHD axisymmetric flow of power-law fluid over an unsteady stretching sheet with convective boundary conditions

    Jawad Ahmed

    Full Text Available This paper examines the boundary layer flow and heat transfer characteristic in power law fluid model over unsteady radially stretching sheet under the influence of convective boundary conditions. A uniform magnetic field is applied transversely to the direction of the flow. The governing time dependent nonlinear boundary layer equations are reduced into nonlinear ordinary differential equations with the help of similarity transformations. The transformed coupled ordinary differential equations are then solved analytically by homotopy analysis method (HAM and numerically by shooting procedure. Effects of various governing parameters like, power law index n, magnetic parameter M, unsteadiness A, suction/injection S, Biot number γ and generalized Prandtl number Pr on velocity, temperature, local skin friction and the local Nusselt number are studied and discussed. It is found from the analysis that the magnetic parameter diminishes the velocity profile and the corresponding thermal boundary layer thickness. Keywords: Axisymmetric flow, Power law fluid, Unsteady stretching, Convective boundary conditions

  20. A new approach to control of xenon spatial oscillation during load follow operation via robust servo systems

    Ukai, Hiroyuki; Iwazumi, Tetsuo

    1994-01-01

    The control problem of xenon-induced spatial oscillations of PWR in the axial direction during a load following operation is investigated. The system models are described by a one-group diffusion equation with xenon and temperature feed-backs, iodine and xenon dynamic equations, and heat conductions processes. Control is implemented by the full-length and the part-length control rods and the boron concentration. In order to achieve the control purpose, control models are formulated as the design problem of robust servo systems for distributed parameter reactor systems. The total thermal power and the axial offset are chosen as outputs to be controlled. The control systems consist of servo compensators and stabilizing compensators. They are designed based on the finite-dimensional systems which are constructed by linearizing around steady states, approximately by the Galerkin method, and reducing dimensions via the singular perturbation method. A new and simple computational algorithm to obtain an approximate solution of a steady-state neutron balance is developed via the perturbation method. Some results of numerical simulations are shown in order to discuss the effectiveness of the theory developed in this paper. In particular, it is shown that the designed servo systems are robust against model errors with linearization and modal truncation

  1. High power densities from high-temperature material interactions. [in thermionic energy conversion and metallic fluid heat pipes

    Morris, J. F.

    1981-01-01

    Thermionic energy conversion (TEC) and metallic-fluid heat pipes (MFHPs), offering unique advantages in terrestrial and space energy processing by virtue of operating on working-fluid vaporization/condensation cycles that accept great thermal power densities at high temperatures, share complex materials problems. Simplified equations are presented that verify and solve such problems, suggesting the possibility of cost-effective applications in the near term for TEC and MFHP devices. Among the problems discussed are: the limitation of alkali-metal corrosion, protection against hot external gases, external and internal vaporization, interfacial reactions and diffusion, expansion coefficient matching, and creep deformation.

  2. Visual Servoing of Mobile Microrobot with Centralized Camera

    Kiswanto Gandjar

    2018-01-01

    Full Text Available In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.

  3. Active Vibration Isolation Devices with Inertial Servo Actuators

    Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

    2018-03-01

    The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

  4. The research on algorithms for optoelectronic tracking servo control systems

    Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

    2016-10-01

    The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

  5. Research on intelligent algorithm of electro - hydraulic servo control system

    Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

    2017-09-01

    In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

  6. Application of IFT and SPSA to servo system control.

    Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

    2011-12-01

    This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

  7. Pressure control of hydraulic servo system using proportional control valve

    Yang, Kyong Uk; Oh, In Ho; Lee, Ill Yeong

    1999-01-01

    The purpose of this study is to develop a control scheme for the hydraulic servo system which can rapidly control the pressure in a hydraulic cylinder with very short stroke. Compared with the negligible stroke of the cylinder in the system, the flow gain of the proportional pressure control valve constituting the hydraulic servo system is relatively large and the time delay on the response of the valve is quite long. Therefore, the pressure control system, in this study tends to get unstable during operations. Considering the above mentioned characteristics of the system, a two-degree-of-freedom control scheme, composed of the I-PDD 2 ... feedback compensator and the feedforward controller, is proposed. The reference model scheme is used in deciding the parameters of the controllers. The validity of the proposed control scheme is confirmed through the experiments

  8. Robust Control for High-Speed Visual Servoing Applications

    Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads

    2007-01-01

    This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....

  9. Experimental consideration for realizing image based visual servo control system

    Ishikawa, N.; Suzuki, K.; Fujii, Y.; Usui, H.

    1995-01-01

    In this study, we consider the experimental aspect of image based visual servo control system. The items considered are the following; 1) Inertial parameter estimation, 2) Focal point estimation, 3) Controller performance for the system with delay. From the experimental result of visual control, it is found that the system is very sensitive to the controller gain because of the computational delay of vision. In order to establish a satisfactory delay compensation, more investigations on controller design are required. (author)

  10. Frequency doubled dye laser with a servo-tuned crystal

    Kuhl, J; Spitschan, H

    1975-01-01

    Spectral tuning of the uv output of a frequency doubled dye laser was successfully controlled by a servo motor system which tilts the nonlinear crystal appropriate for phase-matched second harmonic generation while the dye laser emission wavelength is tuned. The spatial direction of the generated uv beam was used as the regulating signal. The feasibility of this technique for spectroscopic applications was successfully tested.

  11. Servo control booster system for minimizing following error

    Wise, W.L.

    1979-07-26

    A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

  12. Provision of servo-controlled cooling during neonatal transport.

    Johnston, Ewen D; Becher, Julie-Clare; Mitchell, Anne P; Stenson, Benjamin J

    2012-09-01

    Therapeutic hypothermia is a time critical intervention for infants who have experienced a hypoxic-ischaemic event. Previously reported methods of cooling during transport do not demonstrate the same stability achieved in the neonatal unit. The authors developed a system which allowed provision of servo-controlled cooling throughout transport, and present their first year's experience. Retrospective review of routinely collected patient data. 14 out-born infants were referred for cooling during a 12-month period. Nine infants were managed with the servo-controlled system during transport. Cooling was commenced in all infants before 6 h of life. Median time from team arrival to the infant having a temperature in the target range (33-34°C) was 45 min. Median temperature during transfer was 33.5°C (range 33-34°C). Temperature on arrival at the cooling centre ranged from 33.4°C to 33.8°C. Servo-controlled cooling during transport is feasible and provides an optimal level of thermal control.

  13. Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

    Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

    An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

  14. Feasibility Study of a Simulation Driven Approach for Estimating Reliability of Wind Turbine Fluid Power Pitch Systems

    Liniger, Jesper; Pedersen, Henrik Clemmensen; N. Soltani, Mohsen

    2018-01-01

    Recent field data indicates that pitch systems account for a substantial part of a wind turbines down time. Reducing downtime means increasing the total amount of energy produced during its lifetime. Both electrical and fluid power pitch systems are employed with a roughly 50/50 distribution. Fluid...... power pitch systems generally show higher reliability and have been favored on larger offshore wind turbines. Still general issues such as leakage, contamination and electrical faults make current systems work sub-optimal. Current field data for wind turbines present overall pitch system reliability...... and the reliability of component groups (valves, accumulators, pumps etc.). However, the failure modes of the components and more importantly the root causes are not evident. The root causes and failure mode probabilities are central for changing current pitch system designs and operational concepts to increase...

  15. On/off multi-poppet valve for switching manifold in discrete fluid power force system PTO in wave energy converters

    Hansen, Anders Hedegaard; Pedersen, Henrik C.; Andersen, Torben Ole

    2014-01-01

    Fluid power systems are the leading technology for power take off systems in ocean wave energy converters. However, fluid power systems often suffer from poor efficiency, especially in part loads. This degrades the PTO system efficiency and therefore lowers the energy production. To overcome......, the choice of pilot valve, structural mechanical issues and modelling and simulation of various valve configurations. Hence, a mechatronic design process is utilised to choose the best valve configuration....

  16. Selection of working fluids for a novel low-temperature geothermally-powered ORC based cogeneration system

    Guo, T.; Wang, H.X.; Zhang, S.J.

    2011-01-01

    Highlights: → Performances of a novel cogeneration system using low-temperature geothermal sources under disturbance conditions were investigated. → It aimed at identifying appropriate fluids yielding high PPR and QQR values. → Fluids group presenting higher normal boiling point values showed averagely 7.7% higher PPR with a larger variation than QQR values under disturbance conditions. → Smaller T P value, higher η t value, higher geothermal source parameters and lower heating supply parameters led to higher PPR values but lower QQR values. -- Abstract: A novel cogeneration system driven by low-temperature geothermal sources was investigated in this study. This system consists of a low-temperature geothermally-powered organic Rankine cycle (ORC) subsystem, an intermediate heat exchanger and a commercial R134a-based heat pump subsystem. The main purpose is to identify appropriate fluids which may yield high PPR (the ratio of power produced by the power generation subsystem to power consumed by the heat pump subsystem) value and QQR (the ratio of heat supplied to the user to heat produced by the geothermal source) value. Performances of the novel cogeneration system under disturbance conditions have also been studied. Results indicate that fluids group presenting higher normal boiling point values shows averagely 7.7% higher PPR values and R236ea and R245ca outstand among the group. ΔT P (pinch temperature difference in heat exchangers) and η t (turbine efficiency) values play more important roles on the variation of PPR values. QQR values change slightly with various ΔT P , η t and η rp (refrigerant pump efficiency) values while the variation range is larger under various geothermal source and heating supply parameters. Smaller ΔT P value, higher η t value, higher geothermal source parameters and lower heating supply parameters lead to higher PPR values but lower QQR values.

  17. Application of AC servo motor on the in-core neutron flux instrumentation system

    Du Xiaoguang; Wang Mingtao

    2010-01-01

    The application of ac servo motor in the In-Core Neutron Flux Instrumentation System is described. The hardware component of ac servo motor control system is different from the dc motor control system. The effect of two control system on the instrumentation system is compared. The ac servo motor control system can improve the accuracy of the motion control, optimize the speed control and increase the reliability. (authors)

  18. A Design Method of Robust Servo Internal Model Control with Control Input Saturation

    山田, 功; 舩見, 洋祐

    2001-01-01

    In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

  19. Modeling and stability of electro-hydraulic servo of hydraulic excavator

    Jia, Wenhua; Yin, Chenbo; Li, Guo; Sun, Menghui

    2017-11-01

    The condition of the hydraulic excavator is complicated and the working environment is bad. The safety and stability of the control system is influenced by the external factors. This paper selects hydraulic excavator electro-hydraulic servo system as the research object. A mathematical model and simulation model using AMESIM of servo system is established. Then the pressure and flow characteristics are analyzed. The design and optimization of electro-hydraulic servo system and its application in engineering machinery is provided.

  20. A study of organic working fluids of an organic Rankine cycle for solar concentrating power plant

    Saifaoui, D.; Elmaanaoui, Y.; Faik, A.

    2014-01-01

    This work is a comparative study between four different configurations of an organic Rankine cycle (ORC) in order to find the configuration that gives the best performances. This study also made a comparison between seven organic fluids used as working fluids in the four ORC configurations. These fluids are all hydrocarbons. Then we made a parametric analysis of the results obtained in this first part. In a second part, we developed the binary mixtures of the seven pure hydrocarbons with the NIST software REFPROP 9 and we used them in our four ORC configurations. The obtained results are given and discussed. (author)

  1. Safety actuator of the Cabri reactor as a function of its power and cooling fluid flow rate

    Bertrand, Jean; Da Costa Vieira, David; Tattegrain, Alain

    1969-04-01

    This report present a device which is to provide a stop command to the Cabri reactor when the rate of its power to the cooling fluid rate reaches a value determined with respect to water temperature in the circuit. The stop command is delivered by an actuator which opens a relay contact when the power reaches a specific value. The authors present the device, its characteristics, and principle. They also present the different amplifier circuits, the input and output circuits (flow rate input, temperature input, and output circuit), the energy supply, and the various adjustments

  2. Free convection heat and mass transfer in a power law fluid past an inclined surface with thermophoresis

    Medhat M. Helal

    2013-10-01

    Full Text Available The problem of heat and mass transfer in a power law, two-dimensional, laminar, boundary layer flow of a viscous incompressible fluid over an inclined plate with heat generation and thermophoresis is investigated by the characteristic function method. The governing non-linear partial differential equations describing the flow and heat transfer problem are transformed into a set of coupled non-linear ordinary differential equation which was solved using Runge–Kutta shooting method. Exact solutions for the dimensionless temperature and concentration profiles, are presented graphically for different physical parameters and for the different power law exponents 0  0.5.

  3. Controller Development for a Separate Meter-In Separate Meter-Out Fluid Power Valve for Mobile Applications

    Nielsen, Brian

    machinery. For a rotary motion electrical motors controlled by using power electronics is a competing technology because of their high energy efficiency. Additionally, the energy density of electrical devices is still increasing. In fluid power systems where more consumers (cylinders or motors) are supplied...... relative stability due to design restrictions. Robust controllers for the valve using the remaining pilot control method are developed. The robustness is evaluated by simulations and afterwards the controllers are tested experimentally. A model of a hydraulic actuator system with a flexible load structure...

  4. Dreams of pneumatic servo and rail way cars in 2010; 2010 nen noyume kukiatsu servo to tetsudo sharyo

    Sasaki, K. [Tokyo Precision Instruments Co. Ltd., Kanagawa (Japan)

    2000-01-15

    This paper describes pneumatic servo and railway cars. The comfort of railway cars is improved by reducing excess transverse centrifugal force, and longitudinal, transverse and vertical vibration. Pneumatic system plays a large role in the comfort. Pneumatic system is used for doors because of certain open/shut operation and protecting a hand caught in a door from excess tightening pressure. Pneumatic system is also used for mechanical brakes. Pneumatic spring for car suspensions improves the comfort considerably. The orifice and auxiliary tank of a pneumatic spring reduce a spring constant, and give damping to the vibration system of car bodies and springs. To reduce an outward excess centrifugal force by tilting a car body inward at curve, a body tilting equipment is used which is adopted for a pendulum car with pneumatic servo control, and a tilting car with height control of both side pneumatic springs. For transverse damping, semi-active equipment using oil damper is in wide use, while that using pneumatic servo is also in rial use. (NEDO)

  5. Position Control of Servo Systems Using Feed-Forward Friction Compensation

    Park, Min Gyu; Kim, Han Me; Shin, Jong Min; Kim, Jong Shik

    2009-01-01

    Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation

  6. Thermodynamic analysis and optimization of an integrated Rankine power cycle and nano-fluid based parabolic trough solar collector

    Toghyani, Somayeh; Baniasadi, Ehsan; Afshari, Ebrahim

    2016-01-01

    Highlights: • The performance of an integrated nano-fluid based solar Rankine cycle is studied. • The effect of solar intensity, ambient temperature, and volume fraction is evaluated. • The concept of Finite Time Thermodynamics is applied. • It is shown that CuO/oil nano-fluid has the best performance from exergy perspective. - Abstract: In this paper, the performance of an integrated Rankine power cycle with parabolic trough solar system and a thermal storage system is simulated based on four different nano-fluids in the solar collector system, namely CuO, SiO_2, TiO_2 and Al_2O_3. The effects of solar intensity, dead state temperature, and volume fraction of different nano-particles on the performance of the integrated cycle are studied using second law of thermodynamics. Also, the genetic algorithm is applied to optimize the net output power of the solar Rankine cycle. The solar thermal energy is stored in a two-tank system to improve the overall performance of the system when sunlight is not available. The concept of Finite Time Thermodynamics is applied for analyzing the performance of the solar collector and thermal energy storage system. This study reveals that by increasing the volume fraction of nano-particles, the exergy efficiency of the system increases. At higher dead state temperatures, the overall exergy efficiency is increased, and higher solar irradiation leads to considerable increase of the output power of the system. It is shown that among the selected nano-fluids, CuO/oil has the best performance from exergy perspective.

  7. The Effect of Surface Tension on the Gravity-driven Thin Film Flow of Newtonian and Power-law Fluids

    Hu, Bin; Kieweg, Sarah L.

    2012-01-01

    Gravity-driven thin film flow is of importance in many fields, as well as for the design of polymeric drug delivery vehicles, such as anti-HIV topical microbicides. There have been many prior works on gravity-driven thin films. However, the incorporation of surface tension effect has not been well studied for non-Newtonian fluids. After surface tension effect was incorporated into our 2D (i.e. 1D spreading) power-law model, we found that surface tension effect not only impacted the spreading speed of the microbicide gel, but also had an influence on the shape of the 2D spreading profile. We observed a capillary ridge at the front of the fluid bolus. Previous literature shows that the emergence of a capillary ridge is strongly related to the contact line fingering instability. Fingering instabilities during epithelial coating may change the microbicide gel distribution and therefore impact how well it can protect the epithelium. In this study, we focused on the capillary ridge in 2D flow and performed a series of simulations and showed how the capillary ridge height varies with other parameters, such as surface tension coefficient, inclination angle, initial thickness, and power-law parameters. As shown in our results, we found that capillary ridge height increased with higher surface tension, steeper inclination angle, bigger initial thickness, and more Newtonian fluids. This study provides the initial insights of how to optimize the flow and prevent the appearance of a capillary ridge and fingering instability. PMID:23687391

  8. Bi-orthogonality conditions for power flow analysis in fluid-loaded elastic cylindrical shells

    Ledet, Lasse; Sorokin, Sergey V.; Larsen, Jan Balle

    2015-01-01

    The paper addresses the classical problem of time-harmonic forced vibrations of a fluid-loaded cylindrical shell considered as a multi-modal waveguide carrying infinitely many waves. Firstly, a modal method for formulation of Green’s matrix is derived by means of modal decomposition. The method...... builds on the recent advances on bi-orthogonality conditions for multi-modal waveguides, which are derived here for an elastic fluid-filled cylindrical shell. Subsequently, modal decomposition is applied to the bi-orthogonality conditions to formulate explicit algebraic equations to express the modal...... vibro-acoustic waveguide is subjected to separate pressure and velocity acoustical excitations. Further, it has been found and justified that the bi-orthogonality conditions can be used as a ’root finder’ to solve the dispersion equation. Finally, it is discussed how to predict the response of a fluid...

  9. Models and simulation of non-ideal fluid flows in unconventional turbomachinery : Toward highly efficient next-generation green power systems

    Rinaldi, E.

    2015-01-01

    The new generation of power plants based on innovative thermodynamic cycles operating with unconventional working fluids, such as CO2 close to its thermodynamic critical point or organic fluids close to their vapour saturation line, is an attractive option for high efficiency conversion of

  10. Multi-objective optimization of organic Rankine cycle power plants using pure and mixed working fluids

    Andreasen, Jesper Graa; Kærn, Martin Ryhl; Pierobon, Leonardo

    2015-01-01

    For zeotropic mixtures, the temperature varies during phase change, which is opposed to the isothermalphase change of pure fluids. The use of such mixtures as working fluids in organic Rankine cyclepower plants enables a minimization of the mean temperature difference of the heat exchangers whenthe...... minimum pinch point temperature difference is kept fixed. A low mean temperature differencemeans low heat transfer irreversibilities, which is beneficial for cycle performance, but it also results inlarger heat transfer surface areas. Moreover, the two-phase heat transfer coefficients for zeotropic...

  11. A numerical simulation package for analysis of neutronics and thermal fluids of space nuclear power and propulsion systems

    Anghaie, S.; Feller, G.J.; Peery, S.D.; Parsley, R.C.

    1993-01-01

    A system of computer codes for engineering simulation and in-depth analysis of nuclear and thermal fluid design of nuclear thermal rockets is developed. The computational system includes a neutronic solver package, a thermal fluid solver package and a propellant and materials property package. The Rocket Engine Transient Simulation (ROCETS) system code is incorporated with computational modules specific to nuclear powered engines. ROCETS features a component based performance architecture that interfaces component modules into the user designed configuration, interprets user commands, creates an executable FORTRAN computer program, and executes the program to provide output to the user. Basic design features of the Pratt ampersand Whitney XNR2000 nuclear rocket concept and its operational performance are analyzed and simulated

  12. Fluid dynamic design and analysis of a highly loaded Centrifugal rotor for mini orc power systems

    Vitale, S.; Pini, M.; Ghidoni, A.; Colonna di Paliano, P.

    2015-01-01

    Organic Rankine Cycle (ORC) power systems are a well-established technology for the conversion of thermal energy sources in the small-to-medium power range. In the last few years, efforts have been devoted to the development of mini ORC (mORC) power systems (5- 30 kWe) for waste heat recovery from

  13. All Digital IQ Servo-System for CERN Linacs

    Broere, J; Garoby, R; Rohlev, A; Serrano, J

    2004-01-01

    A VME based control system has been developed and built at CERN for the servo loops regulating the field in linac accelerating structures. It is an all-digital system built on a single VME card, providing digital detection, processing, and modulation. It is foreseen to be used, in different versions, for the needs of both present and future CERN hadron linacs. The first application will be in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3). Design principle and the experimental results are described.

  14. Carbon capture from coal fired power plant using pressurized fluid bed technology

    Williams, Dennis; Christensen, Tor

    2010-09-15

    This presentation will discuss the use of a pressurized fluid bed boiler system and specialized carbon capture system to burn coal and generagte clean electricity. The paper will present the existing boiler and carbon capture technology and present economics, thermal performance and emissions reduction for a 100Mw module.

  15. Quasisimilarity of helical flow of power-law fluids in concentric annuli

    Filip, Petr; David, Jiří

    2004-01-01

    Roč. 45, - (2004), s. 97-107 ISSN 0920-4105 R&D Projects: GA AV ČR IAA2060004 Keywords : boreholes * concentric annuli * helical flow Subject RIV: BK - Fluid Dynamics Impact factor: 0.713, year: 2004

  16. Axial Couette-Poiseuille flow of power-law viscoplastic fluids in concentric annuli

    Filip, Petr; David, Jiří

    2003-01-01

    Roč. 40, 3/4 (2003), s. 111-119 ISSN 0920-4105 R&D Projects: GA AV ČR IAA2060004 Institutional research plan: CEZ:AV0Z2060917 Keywords : boreholes * channel geometry * viscoplastic materials Subject RIV: BK - Fluid Dynamics Impact factor: 0.570, year: 2003

  17. Rancang Bangun Graphical User Interface Untuk Pergerakan Motor Servo menggunakan Microsoft Visual Basic 2010 Express

    Anggoro S Pramudyo

    2016-03-01

    Full Text Available Zaman sekarang ini teknologi sedang berkembang pesat dan robot-robot dirancang untuk dapat membantu pekerjaan dan tugas-tugas manusia. Motor servo merupakan salah satu jenis dari motor DC dan banyak diaplikasikan pada dunia robotik maupun peralatan lain, contohnya motor servo yang digunakan untuk robot berkaki. Dalam penggunaannya motor servo dapat bergerak karena ada sinyal yang dibangkitkan melalui sinyal PWM. Sinyal yang dihasilkan akan membentuk sudut sesuai nilai yang diberikan. Penelitian ini bertujuan untuk membuat perangkat lunak GUI untuk membuat pergerakan motor servo menggunakan Microsoft Visual Basic dengan bantuan database menggunakan Microsoft Access. Pergerakan motor servo dapat bergerak secara sekuen dan real time menggunakan GUI yang dihubungkan dengan Arduino mega 2560. Parameter yang terdapat di dalam database juga bisa langsung di-export menjadi file Arduino. Hasil penelitian ini GUI yang telah dibuat dapat menggerakkan motor servo secara lancar melalui komunikasi serial ketika baudrate diatur pada kecepatan 9600 bps. GUI yang dibuat juga menghasilkan sudut untuk motor servo yaitu dari 00 sampai 1800 secara tepat dan akurat, sehingga mempercepat waktu dalam  menentukan sudut untuk pergerakan motor servo yang akan digunakan.

  18. Analysis and Design of Double-sided Air core Linear Servo Motor with Trapezoidal Permanent Magnets

    Zhang, Yuqiu; Yang, Zilong; Yu, Minghu

    2011-01-01

    In order to reduce the thrust ripple of linear servo system, a double-sided air core permanent magnet linear servo motor with trapezoidal shape permanent magnets (TDAPMLSM) is proposed in this paper. An analytical model of the motor for predicting the magnetic field in the air-gap at no...

  19. Analysis of a biphase-based servo format for hard-disk drives

    Makinwa, K.A.A.; Bergmans, J.W.M.; Voorman, J.O.

    2000-01-01

    Biphase modulation in an embedded-servo format for hard-disk drives is investigated. It is shown that for biphase, at the low linear densities typical of servo information, near-maximum-likelihood performance can be attained by a simple bit detector consisting of a full-response linear equalizer and

  20. Modelling and LPV control of an electro-hydraulic servo system

    Naus, G.J.L.; Wijnheijmer, F.P.; Post, W.J.A.E.M.; Steinbuch, M.; Teerhuis, A.P.

    2006-01-01

    This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear

  1. Analysis of the servo-spill control for slow beam extraction

    Sato, Hikaru; Toyama, Takeshi; Marutsuka, Katsumi; Shirakata, Masashi.

    1994-01-01

    This report describes an analysis of servo-spill control system for the slow beam extraction from the KEK PS. Transfer function of extraction process is derived from measurement of the closed-loop characteristic using measured frequency response of each equipment. Result indicates the restriction of the present servo-spill control and give a guide line for the improvement. (author)

  2. Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

    Chen, Yangyang; Yang, Ming; Hu, Kun

    2017-01-01

    High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain...

  3. Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD

    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.

  4. Application of simple adaptive control to water hydraulic servo cylinder system

    Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

    2012-09-01

    Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

  5. Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities--techniques and applications.

    Azizian, Mahdi; Najmaei, Nima; Khoshnam, Mahta; Patel, Rajni

    2015-03-01

    Intraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs. The focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013. Existing techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision. The main challenges in using visual servoing based on tomographic images have been identified. 'Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing. Copyright © 2014 John Wiley & Sons, Ltd.

  6. Results of the Workshop on Two-Phase Flow, Fluid Stability and Dynamics: Issues in Power, Propulsion, and Advanced Life Support Systems

    McQuillen, John; Rame, Enrique; Kassemi, Mohammad; Singh, Bhim; Motil, Brian

    2003-01-01

    The Two-phase Flow, Fluid Stability and Dynamics Workshop was held on May 15, 2003 in Cleveland, Ohio to define a coherent scientific research plan and roadmap that addresses the multiphase fluid problems associated with NASA s technology development program. The workshop participants, from academia, industry and government, prioritized various multiphase issues and generated a research plan and roadmap to resolve them. This report presents a prioritization of the various multiphase flow and fluid stability phenomena related primarily to power, propulsion, fluid and thermal management and advanced life support; and a plan to address these issues in a logical and timely fashion using analysis, ground-based and space-flight experiments.

  7. Control of pile power by measurement of the activity of the cooling fluid. The particular case of EL3

    Lalere, J.

    1959-01-01

    In a high flux pile the presence of local absorbers makes the power difficult to measure. In any case thermodynamic measurements are sometimes not very accurate. Another possible method could be the measurement of the cooling fluid activity. This has been tried on the heavy water circuit of EL3. In the first part of this report we give some qualitative indications of the various activities present in the heavy water in circulation. After this, the activity of the element chosen has been calculated. Finally, the results obtained from EL3 are given. (author) [fr

  8. Signal-based Gas Leakage Detection for Fluid Power Accumulators in Wind Turbines

    Liniger, Jesper; Sepehri, Nariman; N. Soltani, Mohsen

    2017-01-01

    This paper describes the development and application of a signal-based fault detection method for identifying gas leakage in hydraulic accumulators used in wind turbines. The method uses Multiresolution Signal Decomposition (MSD) based on wavelets for feature extraction from a~single fluid pressure...... measurement located close to the accumulator. Gas leakage is shown to create increased variations in this pressure signal. The Root Mean Square (RMS) of the detail coefficient Level 9 from the MSD is found as the most sensitive and robust fault indicator of gas leakage. The method is verified...... on an experimental setup allowing for the replication of the conditions for accumulators in wind turbines. Robustness is tested in a multi-fault environment where gas and external fluid leakage occurs simultaneously. In total, 24 experiments are performed, which show that the method is sensitive to gas leakage...

  9. Strong stabilization servo controller with optimization of performance criteria.

    Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor

    2011-07-01

    Synthesis of a simple robust controller with a pole placement technique and a H(∞) metrics is the method used for control of a servo mechanism with BLDC and BDC electric motors. The method includes solving a polynomial equation on the basis of the chosen characteristic polynomial using the Manabe standard polynomial form and parametric solutions. Parametric solutions are introduced directly into the structure of the servo controller. On the basis of the chosen parametric solutions the robustness of a closed-loop system is assessed through uncertainty models and assessment of the norm ‖•‖(∞). The design procedure and the optimization are performed with a genetic algorithm differential evolution - DE. The DE optimization method determines a suboptimal solution throughout the optimization on the basis of a spectrally square polynomial and Šiljak's absolute stability test. The stability of the designed controller during the optimization is being checked with Lipatov's stability condition. Both utilized approaches: Šiljak's test and Lipatov's condition, check the robustness and stability characteristics on the basis of the polynomial's coefficients, and are very convenient for automated design of closed-loop control and for application in optimization algorithms such as DE. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Modeling, simulation, and identification of the servo pumps

    Negoita, C G; Vasiliu, D; Vasiliu, Ne; Calinoiu, C, E-mail: claudia.negoita@gmail.co [Faculty of Power Engineering, University POLITEHNICA of Bucharest 313, Splaiul Independentei, Bucharest, 060042 (Romania)

    2010-08-15

    This paper contains the results of a systematic research on the steady-state behavior, and the transients occurring in a basic hydrostatic system containing a servo pump. The optimum structure of such a device working in given condition is found step by step, the synthesis stages are alternating with the analysis ones, in order to establish some general synthesis criteria, as well as for creating some images of the design parameters influence on the real system dynamic behavior. The dynamic computation of the servo pumps is based on the experimental researches carried out by the authors on the control force of the variable displacement axial piston pumps. The analysis takes into account the pressure feedback, the rigid or spring mechanical feedback or the electrical position feedback. The theoretical models are developed by AMESim (Advanced Modeling and Simulation Environment for Systems Engineering). The experimental tests were performed by the aid of LabVIEW software from National Instruments Corporation in the frame of a national certified laboratory set up by the aid of Parker Hannifin Corporation.

  11. Control-structure interaction in precision pointing servo loops

    Spanos, John T.

    1989-01-01

    The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

  12. Fluid dynamics of acoustic and hydrodynamic cavitation in hydraulic power systems

    Ferrari, A.

    2017-01-01

    Cavitation is the transition from a liquid to a vapour phase, due to a drop in pressure to the level of the vapour tension of the fluid. Two kinds of cavitation have been reviewed here: acoustic cavitation and hydrodynamic cavitation. As acoustic cavitation in engineering systems is related to the propagation of waves through a region subjected to liquid vaporization, the available expressions of the sound speed are discussed. One of the main effects of hydrodynamic cavitation in the nozzles ...

  13. Computational fluid dynamics study on mixing mode and power consumption in anaerobic mono- and co-digestion.

    Zhang, Yuan; Yu, Guangren; Yu, Liang; Siddhu, Muhammad Abdul Hanan; Gao, Mengjiao; Abdeltawab, Ahmed A; Al-Deyab, Salem S; Chen, Xiaochun

    2016-03-01

    Computational fluid dynamics (CFD) was applied to investigate mixing mode and power consumption in anaerobic mono- and co-digestion. Cattle manure (CM) and corn stover (CS) were used as feedstock and stirred tank reactor (STR) was used as digester. Power numbers obtained by the CFD simulation were compared with those from the experimental correlation. Results showed that the standard k-ε model was more appropriate than other turbulence models. A new index, net power production instead of gas production, was proposed to optimize feedstock ratio for anaerobic co-digestion. Results showed that flow field and power consumption were significantly changed in co-digestion of CM and CS compared with those in mono-digestion of either CM or CS. For different mixing modes, the optimum feedstock ratio for co-digestion changed with net power production. The best option of CM/CS ratio for continuous mixing, intermittent mixing I, and intermittent mixing II were 1:1, 1:1 and 1:3, respectively. Copyright © 2016. Published by Elsevier Ltd.

  14. Non-Darcy Free Convection of Power-Law Fluids Over a Two-Dimensional Body Embedded in a Porous Medium

    El-Amin, Mohamed

    2010-11-27

    A boundary layer analysis was presented to study the non-Darcy-free convection of a power-law fluid over a non-isothermal two-dimensional body embedded in a porous medium. The Ostwald-de Waele power-law model was used to characterize the non-Newtonian fluid behavior. Similarity solutions were obtained with variations in surface temperature or surface heat flux. In view of the fact that most of the non-Newtonian fluids have large Prandtl numbers, this study was directed toward such fluids. The effects of the porous medium parameters, k1 and k2, body shape parameter, m, and surface thermal variations parameter, p, as well as the power-law index, n, were examined. © 2010 Springer Science+Business Media B.V.

  15. Non-Darcy Free Convection of Power-Law Fluids Over a Two-Dimensional Body Embedded in a Porous Medium

    El-Amin, Mohamed; Sun, Shuyu; El-Ameen, M. A.; Jaha, Y. A.; Gorla, Rama Subba Reddy

    2010-01-01

    A boundary layer analysis was presented to study the non-Darcy-free convection of a power-law fluid over a non-isothermal two-dimensional body embedded in a porous medium. The Ostwald-de Waele power-law model was used to characterize the non-Newtonian fluid behavior. Similarity solutions were obtained with variations in surface temperature or surface heat flux. In view of the fact that most of the non-Newtonian fluids have large Prandtl numbers, this study was directed toward such fluids. The effects of the porous medium parameters, k1 and k2, body shape parameter, m, and surface thermal variations parameter, p, as well as the power-law index, n, were examined. © 2010 Springer Science+Business Media B.V.

  16. Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

    Alessandro Palla

    2017-05-01

    Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

  17. Degradation of phosphate ester hydraulic fluid in power station turbines investigated by a three-magnet unilateral magnet array.

    Guo, Pan; He, Wei; García-Naranjo, Juan C

    2014-04-14

    A three-magnet array unilateral NMR sensor with a homogeneous sensitive spot was employed for assessing aging of the turbine oils used in two different power stations. The Carr-Purcell-Meiboom-Gill (CPMG) sequence and Inversion Recovery-prepared CPMG were employed for measuring the ¹H-NMR transverse and longitudinal relaxation times of turbine oils with different service status. Two signal components with different lifetimes were obtained by processing the transverse relaxation curves with a numeric program based on the Inverse Laplace Transformation. The long lifetime components of the transverse relaxation time T₂eff and longitudinal relaxation time T₁ were chosen to monitor the hydraulic fluid aging. The results demonstrate that an increase of the service time of the turbine oils clearly results in a decrease of T₂eff,long and T₁,long. This indicates that the T₂eff,long and T₁,long relaxation times, obtained from the unilateral magnetic resonance measurements, can be applied as indices for degradation of the hydraulic fluid in power station turbines.

  18. Model-based Estimation of Gas Leakage for Fluid Power Accumulators in Wind Turbines

    Liniger, Jesper; Pedersen, Henrik Clemmensen; N. Soltani, Mohsen

    2017-01-01

    for accumulators, namely gas leakage. The method utilizes an Extended Kalman Filter for joint state and parameter estimation with special attention to limiting the use of sensors to those commonly used in wind turbines. The precision of the method is investigated on an experimental setup which allows for operation...... of the accumulator similar to the conditions in a turbine. The results show that gas leakage is indeed detectable during start-up of the turbine and robust behavior is achieved in a multi-fault environment where both gas and external fluid leakage occur simultaneously. The estimation precision is shown...... to be sensitive to initial conditions for the gas temperature and volume....

  19. Effects of Channel Geometry and Coolant Fluid on Thermoelectric Net Power

    Rezaniakolaei, Alireza; Rosendahl, Lasse; Sørensen, Kim

    2014-01-01

    Channel geometry has a strong influence on the heat transfer coefficient and cooling energy input in a heat sink. The net power output in a thermoelectric generator (TEG) can be defined as power generation minus the required cooling energy in TEG. This study aims to evaluate the net power generat......, and the maximum net power output occurs at smaller Reynolds number when the channel hydraulic diameter reduces....... generation in TEG for different size of hydraulic diameter of plate-fin heat sink and over a wide range of Reynolds number. The particular focus of this study is to find optimal Reynolds number in each considered channel hydraulic diameter and to explore optimal channel hydraulic diameter for maximum TEG net...

  20. Classification of micro-, mini- and small wind electric power plants applying wind fluid drives

    Sabev, S.; Kollen, H.; Sabeva, A.

    2006-01-01

    Wind power plants have various design features and efficiency ranges from 30 to 42%. In Bulgaria the first attempts in the field were made in the early 70-tees of the last century. At the moment Rexroth of the Bosch Group turns out a range of high-tech solutions. The generator gear unit with power output of 2.0 MW is a planetary type and the first gear drive is a helical one for noise reduction purposes. The azimuth gear unit rotates the cabin and is also a planetary one. The pitch Gear unit is also planetary and provides for the pitch of the rotor blades. Power plants have highly automated control systems. Essential care is paid to the reliability of the system to meet requirements for long term operation. Building of wind power plants is related to the wind energy potential of the specific site, and to that purpose the wind energy potential map of Bulgaria is used

  1. Influence of the type of working fluid in the lower cycle and superheated steam parameters in the upper cycle on effectiveness of operation of binary power plant

    Stachel Aleksander A.

    2015-03-01

    Full Text Available In the paper presented have been the results of the analysis of effectiveness of operation of binary power plant consisting of combined two Clausius-Rankine cycles, namely the binary cycle with water as a working fluid in the upper cycle and organic substance as a working fluid in the lower cycle, as well as a single fluid component power plant operating also in line with the C-R cycle for superheated steam, with water as a working fluid. The influence of the parameters of superheated steam in the upper cycle has been assessed as well as the type of working fluid in the lower cycle. The results of calculations have been referred to the single-cycle classical steam power plant operating at the same parameters of superheated steam and the same mass flow rate of water circulating in both cycles. On the basis of accomplished analysis it has been shown that the binary power plant shows a greater power with respect to the reference power plant.

  2. Inducement of Design Parameters for Reliability Improvement of Servo Actuator for Hydraulic Valve Operation

    Sung, Baek Ju; Kim, Do Sik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2014-05-15

    The precision hydraulic valve is widely used in various industrial field like aircraft, automobile, and general machinery. Servo actuator is the most important device for driving the precise hydraulic valve. The reliable operation of servo actuator effects on the overall hydraulic system. The performance of servo actuator relies on frequency response and step response according to arbitrary input signal. In this paper, we performed the analysis for the components of servo actuator to satisfy the reliable operation and response characteristics through the reliability analysis, and also induced the design parameters to realize the reliable operation and fast response characteristics of servo actuator for hydraulic valve operation through the empirical knowledge of experts and electromagnetic theories. We suggested the design equations to determine the values of design parameters of servo actuator as like bobbin size, length of yoke and plunger and turn number of coil, and verified the achieved design values through FEM analysis and performance tests using some prototypes of servo actuators adapted in hydraulic valve.

  3. Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

    Zhang, Zhi-Gang; Wang, Li-Ping; Cao, Yan-Ke

    2017-11-01

    Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.

  4. Servo Driven Corotation: Development of AN Inertial Clock.

    Cheung, Wah-Kwan Stephen

    An inertial clock to test non-metricity of gravity is proposed here. A first, room-temperature, servo corotation -protected, double magnetically suspended precision rotor system is developed for this purpose. The specific goal was to exhibit the properties of such a clock in its entirety at whatever level of precision was achievable. A monolithic system has been completed for these preliminary studies. It includes particular development of individual experimental sub-systems (a hybrid double magnetic suspension; a diffusion pumping system; a microcomputer -controlled eddy-current drive system; and the angular period measuring schemes for the doubly suspended rotors). Double magnetic suspension had been investigated by Beams for other purposes. The upper transducer is optical but parametrized and the lower transducer employs the frequency modulation characteristic of a LC tank circuit. The doubly suspended rotors corotate so that the upper rotor is servoed to rotate at the same angular velocity as that of the lower rotor. This creates a "drag free" environment for the lower rotor and effectively eliminates the gas drag on the lower rotor. Consequently, the decay time constant of the lower rotor increases. With other means of protection, the lower rotor will then, with perfect system operation, suffer no drag and therefore become the inertial time keeper. A commercial microcomputer is introduced to execute the servo-corotation. The tests thus far are, with one exception, run at atmospheric pressure. An idealized analysis for open and closed loop corotation is shown. Such analysis includes only the viscous drag acting on the corotating rotors. The analysis suggests that angular position control be added to the present feedback drive which is of derivative nature only. Open and closed corotation runs show that a strong torsional coupling besides that of the gas drag exists between the rotors. When misalignment of the support pole pieces is deliberately made significant

  5. Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

    Connolly, Joseph W.; Kopasakis, George; Chwalowski, Pawel; Sanetrik, Mark D.; Carlson, Jan-Renee; Silva, Walt A.; McNamara, Jack

    2016-01-01

    This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

  6. Conceptual design of stepper motor replacing servo motor for control rod controller

    Mohd Dzul Aiman Aslan; Mohd Idris Taib; Izhar Abu Hussin; Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat

    2010-01-01

    In PUSPATI TRIGA Reactor, current control rod controller are using servo motor to control the movement. Control rod is a very important safety element and measure in every nuclear reactor. So, precision is very important in measurement of security in the nuclear reactor. In this case, there are a few disadvantages when using the servo motor is measurement of the motor is not precise. One solution to overcome this is by shifting servo motor with stepper motor. A stepper motor (or step motor) is a brush less, synchronous electric motor that can divide a full rotation into a large number of steps. (author)

  7. Fuzzy model-based servo and model following control for nonlinear systems.

    Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

    2009-12-01

    This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

  8. Capital cost models for geothermal power plants and fluid transmission systems. [GEOCOST

    Schulte, S.C.

    1977-09-01

    The GEOCOST computer program is a simulation model for evaluating the economics of developing geothermal resources. The model was found to be both an accurate predictor of geothermal power production facility costs and a valid designer of such facilities. GEOCOST first designs a facility using thermodynamic optimization routines and then estimates costs for the selected design using cost models. Costs generated in this manner appear to correspond closely with detailed cost estimates made by industry planning groups. Through the use of this model, geothermal power production costs can be rapidly and accurately estimated for many alternative sites making the evaluation process much simpler yet more meaningful.

  9. Study on Fluid-Induced Vibration Power Harvesting of Square Columns under Different Attack Angles

    Meng Zhang

    2017-01-01

    Full Text Available A model of the flow-vibration-electrical circuit multiphysical coupling system for solving square column vortex-induced vibration piezoelectric energy harvesting (VIVPEH is proposed in this paper. The quasi steady state theory is adopted to describe the fluid solid coupling process of vortex-induced vibration based on the finite volume method coupled Gauss equation. The vibrational response and the quasi steady state form of the output voltage are solved by means of the matrix coefficient method and interactive computing. The results show that attack angles play an important role in the performance of square column VIVPEH, of which α=45° is a relatively ideal attack angle of square column VIVPEH.

  10. All Digital IQ Servo-System for CERN Linacs

    Rohlev, A; Garoby, R

    2003-01-01

    A new VME based system has been developed and built at CERN for the servo loops regulating the field in the linac accelerating structure. It makes use of high speed digital In-phase/Quadrature (IQ) detection, digital processing, and digital IQ modulation. The digital processing and IQ modulation is done in a single PLD. The system incorporates continually variable set points, iterative learning, feed forward as well as extensive diagnostics and other features well suited for digital implementations. Built on a single VME card, it will be first used in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3) and later for upgrading the present proton linac (linac 2). This system serves also as a prototype for the future Superconducting Proton Linac (SPL). The design principle and the experimental results are described.

  11. Visual servo simulation of EAST articulated maintenance arm robot

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  12. Visual servo simulation of EAST articulated maintenance arm robot

    Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

    2016-01-01

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  13. Velocity control of servo systems using an integral retarded algorithm.

    Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine

    2015-09-01

    This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Myoelectric hand prosthesis force control through servo motor current feedback.

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

  15. Adaptive integral robust control and application to electromechanical servo systems.

    Deng, Wenxiang; Yao, Jianyong

    2017-03-01

    This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Nonlinear control for a class of hydraulic servo system.

    Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

    2004-11-01

    The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

  17. Fuzzy self-learning control for magnetic servo system

    Tarn, J. H.; Kuo, L. T.; Juang, K. Y.; Lin, C. E.

    1994-01-01

    It is known that an effective control system is the key condition for successful implementation of high-performance magnetic servo systems. Major issues to design such control systems are nonlinearity; unmodeled dynamics, such as secondary effects for copper resistance, stray fields, and saturation; and that disturbance rejection for the load effect reacts directly on the servo system without transmission elements. One typical approach to design control systems under these conditions is a special type of nonlinear feedback called gain scheduling. It accommodates linear regulators whose parameters are changed as a function of operating conditions in a preprogrammed way. In this paper, an on-line learning fuzzy control strategy is proposed. To inherit the wealth of linear control design, the relations between linear feedback and fuzzy logic controllers have been established. The exercise of engineering axioms of linear control design is thus transformed into tuning of appropriate fuzzy parameters. Furthermore, fuzzy logic control brings the domain of candidate control laws from linear into nonlinear, and brings new prospects into design of the local controllers. On the other hand, a self-learning scheme is utilized to automatically tune the fuzzy rule base. It is based on network learning infrastructure; statistical approximation to assign credit; animal learning method to update the reinforcement map with a fast learning rate; and temporal difference predictive scheme to optimize the control laws. Different from supervised and statistical unsupervised learning schemes, the proposed method learns on-line from past experience and information from the process and forms a rule base of an FLC system from randomly assigned initial control rules.

  18. MHD free convection flow of a non-Newtonian power-law fluid over ...

    ... flow have been presented for various parameters such as Prandtl number, flow behavior index (n), porous plate parameter and magnetic parameter. The local Nusselt number and skin friction coefficient is also presented graphically. Keywords: Magnetohydrodynamic flow; free convection flow; Non-Newtonian power-law

  19. Optimal control of a wind turbine with digital fluid power transmission

    Pedersen, Niels Henrik; Johansen, Per; Andersen, Torben O.

    2018-01-01

    . The power throughput of a full stroke operated digital displacement machine is quantized by the number of pressure chambers. The dynamics of each pressure chamber may be described by highly nonlinear continuous differential equations, whereas the input is discretely updated and binary (active or inactive...

  20. Self-diffusion coefficients and shear viscosity of inverse power fluids: from hard- to soft-spheres.

    Heyes, D M; Brańka, A C

    2008-07-21

    Molecular dynamics computer simulation has been used to compute the self-diffusion coefficient, D, and shear viscosity, eta(s), of soft-sphere fluids, in which the particles interact through the soft-sphere or inverse power pair potential, phi(r) = epsilon(sigma/r)(n), where n measures the steepness or stiffness of the potential, and epsilon and sigma are a characteristic energy and distance, respectively. The simulations were carried out on monodisperse systems for a range of n values from the hard-sphere (n --> infinity) limit down to n = 4, and up to densities in excess of the fluid-solid co-existence value. A new analytical procedure is proposed which reproduces the transport coefficients at high densities, and can be used to extrapolate the data to densities higher than accurately accessible by simulation or experiment, and tending to the glass transition. This formula, DX(c-1) proportional, variant A/X + B, where c is an adjustable parameter, and X is either the packing fraction or the pressure, is a development of one proposed by Dymond. In the expression, -A/B is the value of X at the ideal glass transition (i.e., where D and eta(s)(-1) --> 0). Estimated values are presented for the packing fraction and the pressure at the glass transition for n values between the hard and soft particle limits. The above expression is also shown to reproduce the high density viscosity data of supercritical argon, krypton and nitrogen. Fits to the soft-sphere simulation transport coefficients close to solid-fluid co-existence are also made using the analytic form, ln(D) = alpha(X)X, and n-dependence of the alpha(X) is presented (X is either the packing fraction or the pressure).

  1. Effects of overlapping electric double layer on mass transport of a macro-solute across porous wall of a micro/nanochannel for power law fluid.

    Bhattacharjee, Saikat; Mondal, Mrinmoy; De, Sirshendu

    2017-05-01

    Effects of overlapping electric double layer and high wall potential on transport of a macrosolute for flow of a power law fluid through a microchannel with porous walls are studied in this work. The electric potential distribution is obtained by coupling the Poisson's equation without considering the Debye-Huckel approximation. The numerical solution shows that the center line potential can be 16% of wall potential at pH 8.5, at wall potential -73 mV and scaled Debye length 0.5. Transport phenomena involving mass transport of a neutral macrosolute is formulated by species advective equation. An analytical solution of Sherwood number is obtained for power law fluid. Effects of fluid rheology are studied in detail. Average Sherwood number is more for a pseudoplastic fluid compared to dilatant upto the ratio of Poiseuille to electroosmotic velocity of 5. Beyond that, the Sherwood number is independent of fluid rheology. Effects of fluid rheology and solute size on permeation flux and concentration of neutral solute are also quantified. More solute permeation occurs as the fluid changes from pseudoplastic to dilatant. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  2. Entropy Generation Analysis of Power-Law Non-Newtonian Fluid Flow Caused by Micropatterned Moving Surface

    M. H. Yazdi

    2014-01-01

    Full Text Available In the present study, the first and second law analyses of power-law non-Newtonian flow over embedded open parallel microchannels within micropatterned permeable continuous moving surface are examined at prescribed surface temperature. A similarity transformation is used to reduce the governing equations to a set of nonlinear ordinary differential equations. The dimensionless entropy generation number is formulated by an integral of the local rate of entropy generation along the width of the surface based on an equal number of microchannels and no-slip gaps interspersed between those microchannels. The velocity, the temperature, the velocity gradient, and the temperature gradient adjacent to the wall are substituted into this equation resulting from the momentum and energy equations obtained numerically by Dormand-Prince pair and shooting method. Finally, the entropy generation numbers, as well as the Bejan number, are evaluated. It is noted that the presence of the shear thinning (pseudoplastic fluids creates entropy along the surface, with an opposite effect resulting from shear thickening (dilatant fluids.

  3. Sliding friction in the hydrodynamic lubrication regime for a power-law fluid

    Warren, P B

    2017-01-01

    A scaling analysis is undertaken for the load balance in sliding friction in the hydrodynamic lubrication regime, with a particular emphasis on power-law shear-thinning typical of a structured liquid. It is argued that the shear-thinning regime is mechanically unstable if the power-law index n   <  1/2, where n is the exponent that relates the shear stress to the shear rate. Consequently the Stribeck (friction) curve should be discontinuous, with possible hysteresis. Further analysis suggests that normal stress and flow transience (stress overshoot) do not destroy this basic picture, although they may provide stabilising mechanisms at higher shear rates. Extensional viscosity is also expected to be insignificant unless the Trouton ratio is large. A possible application to shear thickening in non-Brownian particulate suspensions is indicated. (paper)

  4. Analysis of pressure falloff tests of non-Newtonian power-law fluids in naturally-fractured bounded reservoirs

    Omotayo Omosebi

    2015-12-01

    This article presents an analytic technique for interpreting pressure falloff tests of non-Newtonian Power-law fluids in wells that are located near boundaries in dual-porosity reservoirs. First, dimensionless pressure solutions are obtained and Stehfest inversion algorithm is used to develop new type curves. Subsequently, long-time analytic solutions are presented and interpretation procedure is proposed using direct synthesis. Two examples, including real field data from a heavy oil reservoir in Colombian eastern plains basin, are used to validate and demonstrate application of this technique. Results agree with conventional type-curve matching procedure. The approach proposed in this study avoids the use of type curves, which is prone to human errors. It provides a better alternative for direct estimation of formation and flow properties from falloff data.

  5. The position control of a capsule filled with magnetic fluid

    Rhee, E.J.; Park, M.K.; Yamane, R.; Oshima, S.

    2002-01-01

    In this paper, in order to establish the technique of a nozzle-flapper system of a servo valve using magnetic fluid in hydraulic system, a governing equation regarding the levitation of a capsule filled with magnetic fluid is formulated. Using PID control, an experiment for the position control of a capsule was performed. The experimental results were compared with the simulation results found by the governing equation

  6. Nuclear Nox4 Role in Stemness Power of Human Amniotic Fluid Stem Cells

    Tullia Maraldi

    2015-01-01

    Full Text Available Human amniotic fluid stem cells (AFSC are an attractive source for cell therapy due to their multilineage differentiation potential and accessibility advantages. However the clinical application of human stem cells largely depends on their capacity to expand in vitro, since there is an extensive donor-to-donor heterogeneity. Reactive oxygen species (ROS and cellular oxidative stress are involved in many physiological and pathophysiological processes of stem cells, including pluripotency, proliferation, differentiation, and stress resistance. The mode of action of ROS is also dependent on the localization of their target molecules. Thus, the modifications induced by ROS can be separated depending on the cellular compartments they affect. NAD(PH oxidase family, particularly Nox4, has been known to produce ROS in the nucleus. In the present study we show that Nox4 nuclear expression (nNox4 depends on the donor and it correlates with the expression of transcription factors involved in stemness regulation, such as Oct4, SSEA-4, and Sox2. Moreover nNox4 is linked with the nuclear localization of redox sensitive transcription factors, as Nrf2 and NF-κB, and with the differentiation potential. Taken together, these results suggest that nNox4 regulation may have important effects in stem cell capability through modulation of transcription factors and DNA damage.

  7. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  8. An open source digital servo for atomic, molecular, and optical physics experiments

    Leibrandt, D. R., E-mail: david.leibrandt@nist.gov; Heidecker, J. [National Institute of Standards and Technology, Boulder, Colorado 80305 (United States)

    2015-12-15

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of {sup 27}Al{sup +} in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  9. Permanent magnet synchronous motor servo system control based on μC/OS

    Shi, Chongyang; Chen, Kele; Chen, Xinglong

    2015-10-01

    When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

  10. Mathematical-model study of servo system with pulse-duration control of micromovements

    Dement'eva, M.A.; Leonov, A.P.; Popov, V.V.; Skugarevskii, A.I.; Ustinov, E.A.; Chernyavskii, N.N.

    1988-01-01

    A number of digital servo systems with pulse-duration control have been developed at the Institute of High Energy Physics for the instruments of the scanning and measurement system and various experimental setups. They are based on stock transistor bridge stages, whose loads are high-speed servomotors with printed-circuit armature windings. Study of these servo systems by traditional methods, which are based on Laplace transforms, or by mean values with expansion of the current pulse into a Fourier transform yields approximate results and does not reflect the actual processes that take place in a pulse servo system. They attempt to develop a method and extend it to the study of high-speed servo systems in the area of micromovements and quasistationary velocity without position or velocity feedback

  11. Servo-Drive Amplifier for Micro-Satellite Superconductor-Levitated Flywheels, Phase I

    National Aeronautics and Space Administration — A new servo-drive technology is available to support energy storage and navigation for micro-satellites. Exploiting the ?pinning? effect of high-temperature...

  12. An open source digital servo for atomic, molecular, and optical physics experiments

    Leibrandt, D. R.; Heidecker, J.

    2015-12-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  13. Piloted Simulator Investigation of Techniques to Achieve Attitude Command Response with Limited Authority Servos

    Key, David

    2002-01-01

    The purpose of the study was to develop generic design principles for obtaining attitude command response in moderate to aggressive maneuvers without increasing SCAS series servo authority from the existing +/- 10...

  14. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  15. Preterm infant thermal care: differing thermal environments produced by air versus skin servo-control incubators.

    Thomas, K A; Burr, R

    1999-06-01

    Incubator thermal environments produced by skin versus air servo-control were compared. Infant abdominal skin and incubator air temperatures were recorded from 18 infants in skin servo-control and 14 infants in air servo-control (26- to 29-week gestational age, 14 +/- 2 days postnatal age) for 24 hours. Differences in incubator and infant temperature, neutral thermal environment (NTE) maintenance, and infant and incubator circadian rhythm were examined using analysis of variance and scatterplots. Skin servo-control resulted in more variable air temperature, yet more stable infant temperature, and more time within the NTE. Circadian rhythm of both infant and incubator temperature differed by control mode and the relationship between incubator and infant temperature rhythms was a function of control mode. The differences between incubator control modes extend beyond temperature stability and maintenance of NTE. Circadian rhythm of incubator and infant temperatures is influenced by incubator control.

  16. An open source digital servo for atomic, molecular, and optical physics experiments

    Leibrandt, D. R.; Heidecker, J.

    2015-01-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27 Al + in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser

  17. Investigation of the low flux servo-controlled limit of a co-phased interferometer

    Damé, Luc; Derrien, Marc; Kozlowski, Mathias; Merdjane, Mohamed

    2018-04-01

    This paper, "Investigation of the low flux servo-controlled limit of a co-phased interferometer," was presented as part of International Conference on Space Optics—ICSO 1997, held in Toulouse, France.

  18. Damping values for nuclear power plant piping during seismic events and fluid-induced transients

    Ware, A.G.

    1986-01-01

    For several years the Idaho National Engineering Laboratory (INEL) has been assisting the United States Nuclear Regulatory Commission (USNRC) in efforts to establish best-estimate damping values for use in the dynamic analysis of nuclear power plant piping systems. Data from a number of piping vibration tests conducted at facilities worldwide (including the INEL) have been collected, evaluated, reported, and placed in a nuclear piping data bank at the INEL. These data are being used to justify changes in allowable damping values for use in nuclear piping design, thus making piping systems safer, less costly, and easier to inspect and maintain

  19. A deterministic - approach controller design for electrohydraulic position servo control system

    Johari Osman

    2000-01-01

    This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

  20. Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

    Wang, Yannian; Wu, Peizhi; Liu, Chengtao

    2017-09-01

    To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

  1. A powerful way of cooling computer chip using liquid metal with low melting point as the cooling fluid

    Li Teng; Lv Yong-Gang [Chinese Academy of Sciences, Beijing (China). Cryogenic Lab.; Chinese Academy of Sciences, Beijing (China). Graduate School; Liu Jing; Zhou Yi-Xin [Chinese Academy of Sciences, Beijing (China). Cryogenic Lab.

    2006-12-15

    With the improvement of computational speed, thermal management becomes a serious concern in computer system. CPU chips are squeezing into tighter and tighter spaces with no more room for heat to escape. Total power-dissipation levels now reside about 110 W, and peak power densities are reaching 400-500 W/mm{sup 2} and are still steadily climbing. As a result, higher performance and greater reliability are extremely tough to attain. But since the standard conduction and forced-air convection techniques no longer be able to provide adequate cooling for sophisticated electronic systems, new solutions are being looked into liquid cooling, thermoelectric cooling, heat pipes, and vapor chambers. In this paper, we investigated a novel method to significantly lower the chip temperature using liquid metal with low melting point as the cooling fluid. The liquid gallium was particularly adopted to test the feasibility of this cooling approach, due to its low melting point at 29.7 C, high thermal conductivity and heat capacity. A series of experiments with different flow rates and heat dissipation rates were performed. The cooling capacity and reliability of the liquid metal were compared with that of the water-cooling and very attractive results were obtained. Finally, a general criterion was introduced to evaluate the cooling performance difference between the liquid metal cooling and the water-cooling. The results indicate that the temperature of the computer chip can be significantly reduced with the increasing flow rate of liquid gallium, which suggests that an even higher power dissipation density can be achieved with a large flow of liquid gallium and large area of heat dissipation. The concept discussed in this paper is expected to provide a powerful cooling strategy for the notebook PC, desktop PC and large computer. It can also be extended to more wide area involved with thermal management on high heat generation rate. (orig.)

  2. Computational fluid dynamic simulation of pressurizer safety valve loop seal purge phenomena in nuclear power plants

    Park, Jong Woon

    2012-01-01

    In Korean 3 Loop plants a water loop seal pipe is installed containing condensed water upstream of a pressurizer safety valve to protect the valve disk from the hot steam environment. The loop seal water purge time is a key parameter in safety analyses for overpressure transients, because it delays valve opening. The loop seal purge time is uncertain to measure by test and thus 3-dimensional realistic computational fluid dynamics (CFD) model is developed in this paper to predict the seal water purge time before full opening of the valve which is driven by steam after water purge. The CFD model for a typical pressurizer safety valve with a loop seal pipe is developed using the computer code of ANSYS CFX 11. Steady-state simulations are performed for full discharge of steam at the valve full opening. Transient simulations are performed for the loop seal dynamics and to estimate the loop seal purge time. A sudden pressure drop higher than 2,000 psia at the tip of the upper nozzle ring is expected from the steady-state calculation. Through the transient simulation, almost loop seal water is discharged within 1.2 second through the narrow opening between the disk and the nozzle of the valve. It can be expected that the valve fully opens at least before 1.2 second because constant valve opening is assumed in this CFX simulation, which is conservative because the valve opens fully before the loop seal water is completely discharged. The predicted loop seal purge time is compared with previous correlation. (orig.)

  3. Computational fluid dynamic simulation of pressurizer safety valve loop seal purge phenomena in nuclear power plants

    Park, Jong Woon [Dongguk Univ., Gyeongju (Korea, Republic of). Nuclear and Energy Engineering Dept.

    2012-11-15

    In Korean 3 Loop plants a water loop seal pipe is installed containing condensed water upstream of a pressurizer safety valve to protect the valve disk from the hot steam environment. The loop seal water purge time is a key parameter in safety analyses for overpressure transients, because it delays valve opening. The loop seal purge time is uncertain to measure by test and thus 3-dimensional realistic computational fluid dynamics (CFD) model is developed in this paper to predict the seal water purge time before full opening of the valve which is driven by steam after water purge. The CFD model for a typical pressurizer safety valve with a loop seal pipe is developed using the computer code of ANSYS CFX 11. Steady-state simulations are performed for full discharge of steam at the valve full opening. Transient simulations are performed for the loop seal dynamics and to estimate the loop seal purge time. A sudden pressure drop higher than 2,000 psia at the tip of the upper nozzle ring is expected from the steady-state calculation. Through the transient simulation, almost loop seal water is discharged within 1.2 second through the narrow opening between the disk and the nozzle of the valve. It can be expected that the valve fully opens at least before 1.2 second because constant valve opening is assumed in this CFX simulation, which is conservative because the valve opens fully before the loop seal water is completely discharged. The predicted loop seal purge time is compared with previous correlation. (orig.)

  4. Computational Fluid Dynamics Ventilation Study for the Human Powered Centrifuge at the International Space Station

    Son, Chang H.

    2012-01-01

    The Human Powered Centrifuge (HPC) is a facility that is planned to be installed on board the International Space Station (ISS) to enable crew exercises under the artificial gravity conditions. The HPC equipment includes a "bicycle" for long-term exercises of a crewmember that provides power for rotation of HPC at a speed of 30 rpm. The crewmember exercising vigorously on the centrifuge generates the amount of carbon dioxide of about two times higher than a crewmember in ordinary conditions. The goal of the study is to analyze the airflow and carbon dioxide distribution within Pressurized Multipurpose Module (PMM) cabin when HPC is operating. A full unsteady formulation is used for airflow and CO2 transport CFD-based modeling with the so-called sliding mesh concept when the HPC equipment with the adjacent Bay 4 cabin volume is considered in the rotating reference frame while the rest of the cabin volume is considered in the stationary reference frame. The rotating part of the computational domain includes also a human body model. Localized effects of carbon dioxide dispersion are examined. Strong influence of the rotating HPC equipment on the CO2 distribution detected is discussed.

  5. Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

    Chan, Kwong Wah; Liao, Wei-Hsin

    2006-03-01

    Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

  6. CLFs-based optimization control for a class of constrained visual servoing systems.

    Song, Xiulan; Miaomiao, Fu

    2017-03-01

    In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  7. In situ quantification of Br and Cl in minerals and fluid inclusions by LA-ICP-MS: a powerful tool to identify fluid sources

    Hammerli, Johannes; Rusk, Brian; Spandler, Carl; Emsbo, Poul; Oliver, Nicholas H.S.

    2013-01-01

    Bromine and chlorine are important halogens for fluid source identification in the Earth's crust, but until recently we lacked routine analytical techniques to determine the concentration of these elements in situ on a micrometer scale in minerals and fluid inclusions. In this study, we evaluate the potential of in situ Cl and Br measurements by LA-ICP-MS through analysis of a range of scapolite grains with known Cl and Br concentrations. We assess the effects of varying spot sizes, variable plasma energy and resolve the contribution of polyatomic interferences on Br measurements. Using well-characterised natural scapolite standards, we show that LA-ICP-MS analysis allows measurement of Br and Cl concentrations in scapolite, and fluid inclusions as small as 16 μm in diameter and potentially in sodalite and a variety of other minerals, such as apatite, biotite, and amphibole. As a demonstration of the accuracy and potential of Cl and Br analyses by LA-ICP-MS, we analysed natural fluid inclusions hosted in sphalerite and compared them to crush and leach ion chromatography Cl/Br analyses. Limit of detection for Br is ~8 μg g−1, whereas relatively high Cl concentrations (> 500 μg g−1) are required for quantification by LA-ICP-MS. In general, our LA-ICP-MS fluid inclusion results agree well with ion chromatography (IC) data. Additionally, combined cathodoluminescence and LA-ICP-MS analyses on natural scapolites within a well-studied regional metamorphic suite in South Australia demonstrate that Cl and Br can be quantified with a ~25 μm resolution in natural minerals. This technique can be applied to resolve a range of hydrothermal geology problems, including determining the origins of ore forming brines and ore deposition processes, mapping metamorphic and hydrothermal fluid provinces and pathways, and constraining the effects of fluid–rock reactions and fluid mixing.

  8. Development of Molten-Salt Heat Transfer Fluid Technology for Parabolic Trough Solar Power Plants - Public Final Technical Report

    Grogan, Dylan C. P.

    2013-08-15

    Executive Summary This Final Report for the "Development of Molten-Salt Heat Transfer Fluid (HTF) Technology for Parabolic Trough Solar Power Plants” describes the overall project accomplishments, results and conclusions. Phase 1 analyzed the feasibility, cost and performance of a parabolic trough solar power plant with a molten salt heat transfer fluid (HTF); researched and/or developed feasible component options, detailed cost estimates and workable operating procedures; and developed hourly performance models. As a result, a molten salt plant with 6 hours of storage was shown to reduce Thermal Energy Storage (TES) cost by 43.2%, solar field cost by 14.8%, and levelized cost of energy (LCOE) by 9.8% - 14.5% relative to a similar state-of-the-art baseline plant. The LCOE savings range met the project’s Go/No Go criteria of 10% LCOE reduction. Another primary focus of Phase 1 and 2 was risk mitigation. The large risk areas associated with a molten salt parabolic trough plant were addressed in both Phases, such as; HTF freeze prevention and recovery, collector components and piping connections, and complex component interactions. Phase 2 analyzed in more detail the technical and economic feasibility of a 140 MWe,gross molten-salt CSP plant with 6 hours of TES. Phase 2 accomplishments included developing technical solutions to the above mentioned risk areas, such as freeze protection/recovery, corrosion effects of applicable molten salts, collector design improvements for molten salt, and developing plant operating strategies for maximized plant performance and freeze risk mitigation. Phase 2 accomplishments also included developing and thoroughly analyzing a molten salt, Parabolic Trough power plant performance model, in order to achieve the project cost and performance targets. The plant performance model and an extensive basic Engineering, Procurement, and Construction (EPC) quote were used to calculate a real levelized cost of energy (LCOE) of 11.50

  9. Steady flow torques in a servo motor operated rotary directional control valve

    Wang, He; Gong, Guofang; Zhou, Hongbin; Wang, Wei

    2016-01-01

    Highlights: • A novel servo motor operated rotary directional control valve is proposed. • Steady flow torque is a crucial issue that affects rotary valve performance. • Steady flow torque is analyzed on the aspects of theory, simulation and experiment. • Change law of the steady flow torque with spool rotation angle is explored. • Effect of pressure drop and flow rate on the steady flow torque is studied. - Abstract: In this paper, a servo motor operated rotary directional control valve is proposed, and a systematic analysis of steady flow torques in this valve is provided by theoretical calculation, CFD simulation and experimental test. In the analysis, spool rotation angle corresponding to the maximum orifice opening is tagged as 0°. Over a complete change cycle of the orifice, the range of spool rotation angle is symmetric about 0°. The results show that the direction of steady flow torques in this valve is always the direction of orifice closing. The steady flow torques serve as resistances to the spool rotation when the orifice opening increases, while impetuses to the spool rotation when the orifice opening decreases. At a certain pressure drop or flow rate, steady flow torques are approximately equal and opposite when at spool rotation angles which are symmetric about 0°. When the spool rotates from 0°, at a certain pressure drop, their values increase first then decrease with the spool rotation and reach their maximum values at an angle corresponding to about 1/2 of the maximum orifice opening, and at a certain flow rate, their values increase with the spool rotation. The steady flow torques in this valve are the sums of those in the meter-in and meter-out valve chambers. At a certain spool rotation angle, steady flow torques in the meter-in and meter-out valve chambers are approximately proportional to the pressure drop and the second power of the flow rate through the orifice. Theoretical calculation and CFD simulation can be validated by

  10. Feasibility of Influencing the Dynamic Fluid Film Coefficients of a Multirecess Journal Bearing by means of Active Hybrid Lubrication

    Santos, Ilmar; Watanabe, F. Y.

    2003-01-01

    and control techniques. The feasibility of influencing the dynamic fluid film coefficients (stiffness and damping) by means of a controllable fluid injection into opposed bearing recesses is investigated. By controlling the pressure and flow injection using servo control systems, it is possible to obtain...

  11. INVESTIGATION OF ELECTRO-PHYSICAL CHARACTERISTICS OF ECO-FRIENDLY FLUIDS FOR PROMISING REPLACEMENT OF PETROLEUM OIL IN POWER TRANSFORMER APPLICATIONS

    K. Sindhuja; A. Nagarajan; C. Paramasivan@Vignesh

    2017-01-01

    Transformer is generally considered to be the heart of the power system. For the continuous flow of power, the key element in the transmission and distribution network to be monitored is transformer. The insulating fluid plays a vital role in the proper functioning of transformer which serves as an effective coolant and insulation and it determines the lifetime of transformers. Thus, the reliability of a transformer is largely determined by its insulation condition.The globally used insulatin...

  12. Computer Assisted Fluid Power Instruction: A Comparison of Hands-On and Computer-Simulated Laboratory Experiences for Post-Secondary Students

    Wilson, Scott B.

    2005-01-01

    The primary purpose of this study was to examine the effectiveness of utilizing a combination of lecture and computer resources to train personnel to assume roles as hydraulic system technicians and specialists in the fluid power industry. This study compared computer simulated laboratory instruction to traditional hands-on laboratory instruction,…

  13. NDEA Institute for Advanced Study in Industrial Arts. (Detroit, June 24-August 2, 1968). Final Report. Integration of Fluid Power Instruction into Energy and Propulsion Systems.

    Cochran, Leslie H.; Wolansky, William D.

    The institute was designed to provide industrial arts teachers with updating experiences in fluid power education. It had four educational phases: technical instruction, directed field experiences, teaching strategies, and professional development. The latter involved meeting with participants in two other institutes. Twenty-one participants were…

  14. Panoramic optical-servoing for industrial inspection and repair

    Sallinger, Christian; O'Leary, Paul; Retschnig, Alexander; Kammerhofer, Martin

    2004-05-01

    Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

  15. Cylinder Position Servo Control Based on Fuzzy PID

    Shibo Cai

    2013-01-01

    Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

  16. Use of servo controlled weld head for end closure welding

    Pathak, S.K.; Setty, D.S.; Rameswara Rao, A.; Hemantha Rao, G.V.S.; Jayaraj, R.N. [Nuclear Fuel Complex, Dept. of Atomic Energy, Hyderabad (India)

    2010-07-01

    In the PHWR fuel fabrication line resistance welding processes are used for joining various zirconium based alloy components to fuel tube of similar material. The quality requirement of these welding processes is very stringent and has to meet all the product requirements. At present these welding processes are being carried out by using standard resistance welding machines. In the resistance welding process in addition to current and time, force is one of the critical and important parameter, which influences the weld quality. At present advanced feed back type fast response medium frequency weld controllers are being used. This has upslope/down slope, constant and repetitive weld pattern selection features makes this critical welding process more reliable. Compared to weld controllers, squeeze force application devices are limited and normally standard high response pneumatic cylinders are used in the welding process. With this type of devices the force is constant during welding process and cannot be varied during welding process as per the material deformation characteristics. Similarly due to non-availability of feed back systems in the squeeze force application systems restricts the accuracy and quality of the welding process. In the present paper the influence of squeeze force pattern on the weld quality using advanced feed back type servo based force control system was studied. Different squeeze forces were used during pre and post weld heat periods along with constant force and compared with the weld quality. (author)

  17. Integrating multi-objective optimization with computational fluid dynamics to optimize boiler combustion process of a coal fired power plant

    Liu, Xingrang; Bansal, R.C.

    2014-01-01

    Highlights: • A coal fired power plant boiler combustion process model based on real data. • We propose multi-objective optimization with CFD to optimize boiler combustion. • The proposed method uses software CORBA C++ and ANSYS Fluent 14.5 with AI. • It optimizes heat flux transfers and maintains temperature to avoid ash melt. - Abstract: The dominant role of electricity generation and environment consideration have placed strong requirements on coal fired power plants, requiring them to improve boiler combustion efficiency and decrease carbon emission. Although neural network based optimization strategies are often applied to improve the coal fired power plant boiler efficiency, they are limited by some combustion related problems such as slagging. Slagging can seriously influence heat transfer rate and decrease the boiler efficiency. In addition, it is difficult to measure slag build-up. The lack of measurement for slagging can restrict conventional neural network based coal fired boiler optimization, because no data can be used to train the neural network. This paper proposes a novel method of integrating non-dominated sorting genetic algorithm (NSGA II) based multi-objective optimization with computational fluid dynamics (CFD) to decrease or even avoid slagging inside a coal fired boiler furnace and improve boiler combustion efficiency. Compared with conventional neural network based boiler optimization methods, the method developed in the work can control and optimize the fields of flue gas properties such as temperature field inside a boiler by adjusting the temperature and velocity of primary and secondary air in coal fired power plant boiler control systems. The temperature in the vicinity of water wall tubes of a boiler can be maintained within the ash melting temperature limit. The incoming ash particles cannot melt and bond to surface of heat transfer equipment of a boiler. So the trend of slagging inside furnace is controlled. Furthermore, the

  18. Transient forced convection with viscous dissipation to power-law fluids in thermal entrance region of circular ducts with constant wall heat flux

    Dehkordi, Asghar Molaei; Mohammadi, Ali Asghar

    2009-01-01

    A numerical investigation was conducted on the transient behavior of a hydrodynamically, fully developed, laminar flow of power-law fluids in the thermally developing entrance region of circular ducts taking into account the effect of viscous dissipation but neglecting the effect of axial conduction. In this regard, the unsteady state thermal energy equation was solved by using a finite difference method, whereas the steady state thermal energy equation without wall heat flux was solved analytically as the initial condition of the former. The effects of the power-law index and wall heat flux on the local Nusselt number and thermal entrance length were investigated. Moreover, the local Nusselt number of steady state conditions was correlated in terms of the power-law index and wall heat flux and compared with literature data, which were obtained by an analytic solution for Newtonian fluids. Furthermore, a relationship was proposed for the thermal entrance length

  19. Performance optimization of low-temperature power generation by supercritical ORCs (organic Rankine cycles) using low GWP (global warming potential) working fluids

    Le, Van Long; Feidt, Michel; Kheiri, Abdelhamid; Pelloux-Prayer, Sandrine

    2014-01-01

    This paper presents the system efficiency optimization scenarios of basic and regenerative supercritical ORCs (organic Rankine cycles) using low-GWP (global warming potential) organic compounds as working fluid. A more common refrigerant, i.e. R134a, was also employed to make the comparison. A 150-°C, 5-bar-pressurized hot water is used to simulate the heat source medium. Power optimization was equally performed for the basic configuration of supercritical ORC. Thermodynamic performance comparison of supercritical ORCs using different working fluids was achieved by ranking method and exergy analysis method. The highest optimal efficiency of the system (η sys ) is always obtained with R152a in both basic (11.6%) and regenerative (13.1%) configurations. The highest value of optimum electrical power output (4.1 kW) is found with R1234ze. By using ranking method and considering low-GWP criterion, the best working fluids for system efficiency optimization of basic and regenerative cycles are R32 and R152a, respectively. The best working fluid for net electrical power optimization of basic cycle is R1234ze. Although CO 2 has many desirable environmental and safety properties (e.g. zero ODP (Ozone Depletion Potential), ultra low-GWP, non toxicity, non flammability, etc.), the worst thermodynamic performance is always found with the cycle using this compound as working fluid. - Highlights: • Performance optimizations were carried out for the supercritical ORCs using low-GWP working fluids. • Heat regeneration was used to improve the system efficiency of the supercritical ORC. • Thermodynamic performances of supercritical ORCs at the optima were evaluated by ranking method and exergy analysis

  20. Influence of enhanced fluid intake on reduction of committed dose after acute intake of tritiated water vapour by occupational workers at Narora Atomic Power Station, India

    Pawar, S.K.; Mitra, S.R.; Chand, Lal

    2001-01-01

    The study of acute exposure cases of male radiation workers to tritiated water vapour (HTO) in Narora Atomic Power Station, using the bi-exponential function has provided direct practical evidence that the committed dose following an HTO exposure is directly proportional to effective half-life which in turn is inversely proportional to the fluid intake. Urine samples from these workers apparently in good health, were collected and measured for tritium concentration in urine up to maximum of 163 days after the exposure. They were advised to increase their fluid intakes to accelerate the elimination of tritium for dose mitigation. Their fluid intakes reverted to normal levels in the later stage of the post exposure period. The non-linear regression analysis of the data of tritium concentration in urine showed an effective half-life of 1.5 to 3.8 days during the period of enhanced fluid intake, 3.4 to 6.9 days during the period of normal and slightly above normal fluid intake and 23.6 to 52.3 days due to elimination of metabolized organically bound tritium. This increase in elimination rate due to enhanced fluid intake directly resulted in dose mitigation of 45.1 to 76.0 percent in different subjects. (author)

  1. A New Servo Control Drive for Electro Discharge Texturing System Industrial Applications Using Ultrasonic Technology

    M. Shafik

    2013-07-01

    Full Text Available This paper presents a new ultrasonic servo control drive for electro discharge texturing system industrial applications. The new drive is aiming to overcome the current teething issues of the existing electro discharge texturing system, servo control drive level of precision, processing stability, dynamic response and surface profile of the machined products. The new ultrasonic servo control drive consists of three main apparatuses, an ultrasonic motor, electronic driver and control unit. The ultrasonic motor consists of three main parts, the stator, rotor and sliding element. The motor design process, basic configuration, principles of motion, finite element analysis and experimental examination of the main characteristics is discussed in this paper. The electronic driver of the motor consists of two main stages which are the booster and piezoelectric amplifier. The experimental test and validation of the developed servo control drive in electro discharge texturing platform is also discussed and presented in this paper. The initial results showed that the ultrasonic servo control drive is able to provide: a bidirectional of motion, a resolution of <50μm and a dynamic response of <10msec. The electron microscopic micro examination into the textured samples showed that: a clear improvement in machining stability, products surface profile, a notable reduction in the processing time, arcing and short-circuiting teething phenomena.

  2. Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm

    Kai LI

    2014-09-01

    Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.

  3. Investigations into the use of water glycol as the hydraulic fluid in a servo system

    Cole, G.V.

    1984-07-01

    The effects of water glycol on the performance of a hydraulic system and on the life of the system components have been investigated and a guide to the design of systems using water glycol is given. The dynamic performance of the system using water-glycol was compared with that using mineral oil, then the system was endurance tested to determine its service life. (author)

  4. Natural convection heat transfer in shallow horizontal rectangular enclosures uniformly heated from the side and filled with non-Newtonian power law fluids

    Lamsaadi, M.; Naimi, M.; Hasnaoui, M.

    2006-01-01

    A combined analytical and numerical study is conducted for two dimensional, steady state, buoyancy driven flows of non-Newtonian power law fluids confined in a shallow rectangular cavity submitted to uniform fluxes of heat along both its short vertical sides, while its long horizontal walls are considered adiabatic. The effect of the non-Newtonian behavior on the fluid flow and heat transfer characteristics is examined. An approximate theoretical solution is developed on the basis of the parallel flow assumption and validated numerically by solving the full governing equations

  5. Computational fluid dynamics (CFD) simulation of CO2 emission from a thermal power plant in an urban environment.

    Toja-Silva, Francisco; Chen, Jia; Hachinger, Stephan

    2017-04-01

    Climate change, a societal challenge for the European Union, is affecting all regions in Europe and has a profound impact on society and environment. It is now clear that the present global warming period is due to the strong anthropogenic greenhouse gas (GHG) emission, occurring at an unprecedented rate. Therefore, the identification and control of the greenhouse gas sources has a great relevance. Since the GHG emissions from cities are the largest human contribution to climate change, the present investigation focuses on the urban environment. Bottom-up annual emission inventories are compiled for most countries. However, a rigorous approach requires to perform experimental measurements in order to verify the official estimates. Measurements of column-averaged dry-air mole fractions of GHG (XGHG) can be used for this. To comprehensively detect and quantify GHG emission sources, these punctual column data, however, have to be extended to the surrounding urban map, requiring a deep understanding of the gas transport. The resulting emission estimation will serve several practical purposes, e.g. the verification of official emission rates and the determination of trends in urban emissions. They will enable the administration to make targeted and economically efficient decisions about mitigation options, and help to stop unintentional and furtive releases. With this aim, this investigation presents a completely new approach to the analysis of the carbon dioxide (CO2) emissions from fossil fuel thermal power plants in urban environments by combining differential column measurements with computational fluid dynamics (CFD) simulations in order to deeply understand the experimental conditions. The case study is a natural gas-fueled cogeneration (combined heat and power, CHP) thermal power plant inside the city of Munich (Germany). The software used for the simulations (OpenFOAM) was modified in order to use the most advanced RANS turbulence modeling (i.e. Durbin) and

  6. Control issues for a hydraulically powered dissimilar teleoperated system

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

    1995-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  7. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  8. Analysis of the jet pipe electro-hydraulic servo valve with finite element methods

    Kaiyu Zhao

    2018-01-01

    Full Text Available The dynamic characteristics analysis about the jet pipe electro-hydraulic servo valve based on experience and mathematical derivation was difficult and not so precise. So we have analysed the armature feedback components, torque motor and jet pipe receiver in electrohydraulic servo valve by sophisticated finite element analysis tools respectively and have got physical meaning data on these parts. Then the data were fitted by Matlab and the mathematical relationships among them were calculated. We have done the dynamic multi-physical fields’ Simulink co-simulation using above mathematical relationship, and have got the input-output relationship of the overall valve, the frequency response and step response. This work can show the actual working condition accurately. At the same time, we have considered the materials and the impact of the critical design dimensions in the finite element analysis process. It provides some new ideas to the overall design of jet pipe electro-hydraulic servo valve.

  9. Fault Diagnosis of Hydraulic Servo Valve Based on Genetic Optimization RBF-BP Neural Network

    Li-Ping FAN

    2014-04-01

    Full Text Available Electro-hydraulic servo valves are core components of the hydraulic servo system of rolling mills. It is necessary to adopt an effective fault diagnosis method to keep the hydraulic servo valve in a good work state. In this paper, RBF and BP neural network are integrated effectively to build a double hidden layers RBF-BP neural network for fault diagnosis. In the process of training the neural network, genetic algorithm (GA is used to initialize and optimize the connection weights and thresholds of the network. Several typical fault states are detected by the constructed GA-optimized fault diagnosis scheme. Simulation results shown that the proposed fault diagnosis scheme can give satisfactory effect.

  10. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  11. An electro-hydraulic servo control system research for CFETR blanket RH

    Chen, Changqi [Hefei University of Technology, Hefei 230009, Anhui (China); Tang, Hongjun, E-mail: taurustang@126.com [Hefei University of Technology, Hefei 230009, Anhui (China); Qi, Songsong [Hefei University of Technology, Hefei 230009, Anhui (China); Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, Hefei 230031, Anhui (China)

    2014-11-15

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system.

  12. Research Based on AMESim of Electro-hydraulic Servo Loading System

    Li, Jinlong; Hu, Zhiyong

    2017-09-01

    Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

  13. An electro-hydraulic servo control system research for CFETR blanket RH

    Chen, Changqi; Tang, Hongjun; Qi, Songsong; Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao

    2014-01-01

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system

  14. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  15. Analogical study of the servo-control of a reactivity modulator

    Le Bot, Michel

    1969-03-01

    In the context of the study of the transfer functions related to the Cabri reactor, this paper presents: the objective of the servo-control (reactivity modulator, reasons for the analogical study), the principles of the servo-control (description of the servo-controlled system, elaboration of the error signal, principles of the phase meter, critical analysis of different types of phase meters), the analogical formulation (transfer diagram of the process, analogical simulation of the process, analogical realization of the phase meter, simulation of the Low Frequency generator), study of the controlled system and results (system responses to echelon and ramp signals, responses of the controlled system with the phase meter in feedback)

  16. Semianalytical Solution for the Deformation of an Elastic Layer under an Axisymmetrically Distributed Power-Form Load: Application to Fluid-Jet-Induced Indentation of Biological Soft Tissues.

    Lu, Minhua; Huang, Shuai; Yang, Xianglong; Yang, Lei; Mao, Rui

    2017-01-01

    Fluid-jet-based indentation is used as a noncontact excitation technique by systems measuring the mechanical properties of soft tissues. However, the application of these devices has been hindered by the lack of theoretical solutions. This study developed a mathematical model for testing the indentation induced by a fluid jet and determined a semianalytical solution. The soft tissue was modeled as an elastic layer bonded to a rigid base. The pressure of the fluid jet impinging on the soft tissue was assumed to have a power-form function. The semianalytical solution was verified in detail using finite-element modeling, with excellent agreement being achieved. The effects of several parameters on the solution behaviors are reported, and a method for applying the solution to determine the mechanical properties of soft tissues is suggested.

  17. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments.

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J; Madison, Kirk W

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  18. Disturbance observer that uses radial basis function networks for the low speed control of a servo motor

    Lee, Kyo-Beum; Bae, C.H.; Blaabjerg, Frede

    2005-01-01

    A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function...

  19. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J.; Madison, Kirk W.

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  20. Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

    Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

    2012-01-01

    This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  1. DC motors and servo-motors controlled by Raspberry Pi 2B

    Šustek Michal

    2017-01-01

    Full Text Available The expanding capabilities of today’s microcontrollers and other devices lead to an increased utilization of these technologies in diverse fields. The automation and issue of remote control of moving objects belong to these fields. In this project, a microcontroller Raspberry Pi 2B was chosen for controlling DC motors and servo-motors. This paper provides basic insight into issue of controlling DC motors and servo-motors, connection between Raspberry and other components on breadboard and programming syntaxes for controlling motors in Python programming language.

  2. Active stabilization of a rapidly chirped laser by an optoelectronic digital servo-loop control.

    Gorju, G; Jucha, A; Jain, A; Crozatier, V; Lorgeré, I; Le Gouët, J-L; Bretenaker, F; Colice, M

    2007-03-01

    We propose and demonstrate a novel active stabilization scheme for wide and fast frequency chirps. The system measures the laser instantaneous frequency deviation from a perfectly linear chirp, thanks to a digital phase detection process, and provides an error signal that is used to servo-loop control the chirped laser. This way, the frequency errors affecting a laser scan over 10 GHz on the millisecond timescale are drastically reduced below 100 kHz. This active optoelectronic digital servo-loop control opens new and interesting perspectives in fields where rapidly chirped lasers are crucial.

  3. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    Mayer, R.L. II

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items

  4. Robust and Stable Disturbance Observer of Servo System for Low-Speed Operation

    Lee, Kyo Beum; Blaabjerg, Frede

    2007-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low-speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...

  5. Performance Improvement of Servo Machine Low Speed Operation Using RBFN Disturbance Observer

    Lee, Kyo-Beum; Blaabjerg, Frede

    2004-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The typical speed estimation scheme in most servo system for low speed operation is sensitive to the variation of machine parameters, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Networks (RBFN) is applied. The effectiveness of the proposed inertia estimation method is verified by experiments. It is concluded that the speed control performance in the low speed region is improved with the proposed...

  6. Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

    Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

    2018-02-01

    An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

  7. Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

    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.

  8. Electro-osmotic flow of power-law fluid and heat transfer in a micro-channel with effects of Joule heating and thermal radiation

    Shit, G. C.; Mondal, A.; Sinha, A.; Kundu, P. K.

    2016-11-01

    A mathematical model has been developed for studying the electro-osmotic flow and heat transfer of bio-fluids in a micro-channel in the presence of Joule heating effects. The flow of bio-fluid is governed by the non-Newtonian power-law fluid model. The effects of thermal radiation and velocity slip condition have been examined in the case of hydrophobic channel. The Poisson-Boltzmann equation governing the electrical double layer field and a body force generated by the applied electric potential field are taken into consideration. The results presented here pertain to the case where the height of the channel is much greater than the thickness of electrical double layer comprising the Stern and diffuse layers. The expressions for flow characteristics such as velocity, temperature, shear stress and Nusselt number have been derived analytically under the purview of the present model. The results estimated on the basis of the data available in the existing scientific literatures are presented graphically. The effects of thermal radiation have an important bearing on the therapeutic procedure of hyperthermia, particularly in understanding the heat transfer in micro-channel in the presence of electric potential. The dimensionless Joule heating parameter has a reducing impact on Nusselt number for both pseudo-plastic and dilatant fluids, nevertheless its impact on Nusselt number is more pronounced for dilatant fluid. Furthermore, the effect of viscous dissipation has a significant role in controlling heat transfer and should not be neglected.

  9. What trend for mechatronics ? - R&D teams mechatronics design engineering approach for research and self-learning competence in mechatronics and fluid power

    Conrad, Finn; Andersen, T. O.; Hansen, M. R.

    2003-01-01

    -learning within the area of design of mechatronic products and systems, in particular intelligent control, mechanical and fluid power components and systems. Experiences with interactive methods for improving of MSc- and PhD-students¿ research and self-learning competence at the Technical University of Denmark...... and the Aalborg University are presented and discussed. The didactic approach has two legs: (1) Analysis and IT-modelling of products and systems from day one at the university, and (2) Synthesis and hardware implementation with increasing project activities focusing on product development and design engineering......, including testing, evaluation and validation. The objective is to educate candidates with high-level professional engineering skills for research and integrated product development teams working within mechatronics and fluid power in order to make successful business in companies as well as at universities...

  10. Integrated working fluid-thermodynamic cycle design of organic Rankine cycle power systems for waste heat recovery

    Cignitti, Stefano; Andreasen, Jesper Graa; Haglind, Fredrik

    2017-01-01

    recovery. Inthis paper, an organic Rankine cycle process and its pure working fluid are designed simultaneously forwaste heat recovery of the exhaust gas from a marine diesel engine. This approach can overcome designissues caused by the high sensitivity between the fluid and cycle design variables......Today, some established working fluids are being phased out due to new international regulations on theuse of environmentally harmful substances. With an ever-increasing cost to resources, industry wants toconverge on improved sustainability through resource recovery, and in particular waste heat...

  11. Final Technical Report: Using Solid Particles as Heat Transfer Fluid for use in Concentrating Solar Power (CSP) Plants

    Lattanzi, Aaron [Univ. of Colorado, Boulder, CO (United States); Hrenya, Christine [Univ. of Colorado, Boulder, CO (United States)

    2016-03-31

    In today’s industrial economy, energy consumption has never been higher. Over the last 15 years the US alone has consumed an average of nearly 100 quadrillion BTUs per year [21]. A need for clean and renewable energy sources has become quite apparent. The SunShot Initiative is an ambitious effort taken on by the United States Department of Energy that targets the development of solar energy that is cost-competitive with other methods for generating electricity. Specifically, this work is concerned with the development of concentrating solar power plants (CSPs) with granular media as the heat transfer fluid (HTF) from the solar receiver. Unfortunately, the prediction of heat transfer in multiphase flows is not well understood. For this reason, our aim is to fundamentally advance the understanding of multiphase heat transfer, particularly in gas-solid flows, while providing quantitative input for the design of a near black body receiver (NBB) that uses solid grains (like sand) as the HTF. Over the course of this three-year project, a wide variety of contributions have been made to advance the state-of-the art description for non-radiative heat transfer in dense, gas-solid systems. Comparisons between a state-of-the-art continuum heat transfer model and discrete element method (DEM) simulations have been drawn. The results of these comparisons brought to light the limitations of the continuum model due to inherent assumptions in its derivation. A new continuum model was then developed for heat transfer at a solid boundary by rigorously accounting for the most dominant non-radiative heat transfer mechanism (particle-fluid-wall conduction). The new model is shown to be in excellent agreement with DEM data and captures the dependence of heat transfer on particle size, a dependency that previous continuum models were not capable of. DEM and the new continuum model were then employed to model heat transfer in a variety of receiver geometries. The results provided crucial

  12. A Computational Fluid Dynamic and Heat Transfer Model for Gaseous Core and Gas Cooled Space Power and Propulsion Reactors

    Anghaie, S.; Chen, G.

    1996-01-01

    A computational model based on the axisymmetric, thin-layer Navier-Stokes equations is developed to predict the convective, radiation and conductive heat transfer in high temperature space nuclear reactors. An implicit-explicit, finite volume, MacCormack method in conjunction with the Gauss-Seidel line iteration procedure is utilized to solve the thermal and fluid governing equations. Simulation of coolant and propellant flows in these reactors involves the subsonic and supersonic flows of hydrogen, helium and uranium tetrafluoride under variable boundary conditions. An enthalpy-rebalancing scheme is developed and implemented to enhance and accelerate the rate of convergence when a wall heat flux boundary condition is used. The model also incorporated the Baldwin and Lomax two-layer algebraic turbulence scheme for the calculation of the turbulent kinetic energy and eddy diffusivity of energy. The Rosseland diffusion approximation is used to simulate the radiative energy transfer in the optically thick environment of gas core reactors. The computational model is benchmarked with experimental data on flow separation angle and drag force acting on a suspended sphere in a cylindrical tube. The heat transfer is validated by comparing the computed results with the standard heat transfer correlations predictions. The model is used to simulate flow and heat transfer under a variety of design conditions. The effect of internal heat generation on the heat transfer in the gas core reactors is examined for a variety of power densities, 100 W/cc, 500 W/cc and 1000 W/cc. The maximum temperature, corresponding with the heat generation rates, are 2150 K, 2750 K and 3550 K, respectively. This analysis shows that the maximum temperature is strongly dependent on the value of heat generation rate. It also indicates that a heat generation rate higher than 1000 W/cc is necessary to maintain the gas temperature at about 3500 K, which is typical design temperature required to achieve high

  13. A computer-based servo system for controlling isotonic contractions of muscle.

    Smith, J P; Barsotti, R J

    1993-11-01

    We have developed a computer-based servo system for controlling isotonic releases in muscle. This system is a composite of commercially available devices: an IBM personal computer, an analog-to-digital (A/D) board, an Akers AE801 force transducer, and a Cambridge Technology motor. The servo loop controlling the force clamp is generated by computer via the A/D board, using a program written in QuickBASIC 4.5. Results are shown that illustrate the ability of the system to clamp the force generated by either skinned cardiac trabeculae or single rabbit psoas fibers down to the resolution of the force transducer within 4 ms. This rate is independent of the level of activation of the tissue and the size of the load imposed during the release. The key to the effectiveness of the system consists of two algorithms that are described in detail. The first is used to calculate the error signal to hold force to the desired level. The second algorithm is used to calculate the appropriate gain of the servo for a particular fiber and the size of the desired load to be imposed. The results show that the described computer-based method for controlling isotonic releases in muscle represents a good compromise between simplicity and performance and is an alternative to the custom-built digital/analog servo devices currently being used in studies of muscle mechanics.

  14. Efficient control of servo pneumatic actuator system utilizing by-pass ...

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the ...

  15. Feature tracking for visual servo based range regulation on a mobile robot

    Burke, Michael G

    2009-11-01

    Full Text Available This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a constant...

  16. Lung function studied by servo-controlled ventilator and respiratory mass spectrometer

    Piiper, J.

    1987-01-01

    The gas exchange function of lungs is studied. The gas concentration, measured by mass spectrometry and the lung volume and rate of change of lung volume are discussed. A servo-controlled ventilator is presented. Several experimental projects performed on anesthetized paralyzed dogs are reported. (M.A.C.) [pt

  17. The computer-aided design of a servo system as a multiple-criteria decision problem

    Udink ten Cate, A.J.

    1986-01-01

    This paper treats the selection of controller gains of a servo system as a multiple-criteria decision problem. In contrast to the usual optimization-based approaches to computer-aided design, inequality constraints are included in the problem as unconstrained objectives. This considerably simplifies

  18. A Matlab/Simulink-Based Interactive Module for Servo Systems Learning

    Aliane, N.

    2010-01-01

    This paper presents an interactive module for learning both the fundamental and practical issues of servo systems. This module, developed using Simulink in conjunction with the Matlab graphical user interface (Matlab-GUI) tool, is used to supplement conventional lectures in control engineering and robotics subjects. First, the paper introduces the…

  19. Adaptive control of the radial servo system of a compact disc player

    Draijer, W.; Steinbuch, M.; Bosgra, O.H.

    1992-01-01

    The radial servo system of a compact disc player has to cope with large gain variations which are due to disc dependent optical characteristics, tolerances in mechanical and electrical components and nonlinearity in the generation of the position index. In current players this problem has been

  20. Image-based visual servo control using the port-Hamiltonian Approach

    Muñoz Arias, Mauricio; El Hawwary, Mohamed; Scherpen, Jacquelien M.A.

    2015-01-01

    This work is devoted to an image-based visual servo control strategy for standard mechanical systems in the port-Hamiltonian framework. We utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia matrix, and we use an interaction matrix that

  1. A port-Hamiltonian approach to visual servo control of a pick and place system

    Dirksz, Daniel A.; Scherpen, Jacquelien M.A.

    2012-01-01

    In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting

  2. Performance verification and system parameter identification of spacecraft tape recorder control servo

    Mukhopadhyay, A. K.

    1979-01-01

    Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.

  3. A port-Hamiltonian approach to image-based visual servo control for dynamic systems

    Mahony, R.; Stramigioli, Stefano

    2012-01-01

    This paper introduces a port-Hamiltonian framework for the design of image-based visual servo control for dynamic mechanical systems. The approach taken introduces the concept of an image effort and provides an interpretation of energy exchange between the dynamics of the physical system and virtual

  4. A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System

    Dirksz, Daniel A.; Scherpen, Jacquelien M. A.; Steinbuch, Maarten

    In this paper, we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. Through a coordinate transformation and a passive interconnection between mechanical system and camera dynamics we realize a closed-loop system that is

  5. Model-based specification, analysis and synthesis of servo controllers for lithoscanners

    Schiffelers, R.; Alberts, W.; Voeten, J.P.M.

    2012-01-01

    ASML is the world's leading provider of complex lithography systems for the semiconductor industry. Such systems consist of numerous servo control systems. To design such control systems, a multi-disciplinary model-based development environment has been developed. It is based on a set of domain

  6. Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

    Oomen, T.A.E.; Wal, van de M.M.J.; Bosgra, O.H.

    2006-01-01

    Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary

  7. Antenna servo control system characterization: Rate loop analysis for 34-m antenna at DSS 15

    Nickerson, J. A.; Cox, D. G.; Smith, H. K.; Engel, J. H.; Ahlstrom, H. G.

    1986-01-01

    The elevation and azimuth servo rate loops at the 34-m High Efficiency Deep Space Station 15 (DSS 15) are described. Time and frequency response performance criteria were measured. The results are compared to theoretically deduced performance criteria. Unexpected anomalies in the frequency response are observed and identified.

  8. Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints

    Shu-Min Lu

    2017-01-01

    Full Text Available An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. In view of the low precision problem of the traditional hydraulic servo-system which is caused by the tracking errors surpassing appropriate bound, the previous works have shown that the constraint for the system is a good way to solve the low precision problem. Meanwhile, compared with constant constraints, the time-varying state constraints are more general in the actual systems. Therefore, when the states of the system are forced to obey bounded time-varying constraint conditions, the high precision tracking performance of the system can be easily realized. In order to achieve this goal, the time-varying barrier Lyapunov function (TVBLF is used to prevent the states from violating time-varying constraints. By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN is used to estimate the uncertainties. Based on analyzing the stability of the hydraulic servo-system, we show that the error signals are bounded in the compacts sets; the time-varying state constrains are never violated and all singles of the hydraulic servo-system are bounded. The simulation and experimental results show that the tracking accuracy of system is improved and the controller has fast tracking ability and strong robustness.

  9. Analysis of and H∞ Controller Design For An Electro-Hydraulic Servo Pressure Regulator

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2011-01-01

    -circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable...

  10. Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

    Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

    2005-01-01

    Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...

  11. Post-processing of polymer foam tissue scaffolds with high power ultrasound: A route to increased pore interconnectivity, pore size and fluid transport

    Watson, N.J.; Johal, R.K.; Glover, Z.; Reinwald, Y.; White, L.J.; Ghaemmaghami, A.M.; Morgan, S.P.; Rose, F.R.A.J.; Povey, M.J.W.; Parker, N.G.

    2013-01-01

    The aim of this work is to demonstrate that the structural and fluidic properties of polymer foam tissue scaffolds, post-fabrication but prior to the introduction of cells, can be engineered via exposure to high power ultrasound. Our analysis is supported by measurements of fluid uptake during insonification and imaging of the scaffold microstructure via X-ray computed tomography, scanning electron microscopy and acoustic microscopy. The ultrasonic treatment is performed with a frequency of 30 kHz, average intensities up to 80,000 Wm −2 and exposure times up to 20 h. The treatment is found to increase the mean pore size by over 10%. More striking is the improvement in fluid uptake: for scaffolds with only 40% water uptake via standard immersion techniques, we can routinely achieve full saturation of the scaffold over approximately one hour of exposure. These desirable modifications occur with negligible loss of scaffold integrity and mass, and are optimized when the ultrasound treatment is coupled to a pre-wetting stage with ethanol. Our findings suggest that high power ultrasound is highly targeted towards flow obstructions in the scaffold architecture, thereby providing an efficient means to promote pore interconnectivity and fluid transport in thick foam tissue scaffolds. - Highlights: • We expose thick PLA foam tissue scaffolds to high power ultrasound. • This treatment both accelerates and enhances the uptake of fluid into the scaffold. • It leads to significant increases in the mean pore size, pore interconnectivity and porosity. • The ultrasonic treatment is most effective when the scaffold is pre-wet with ethanol. • We demonstrate the use of acoustic microscopy to characterize the scaffold microstructure

  12. Adaptive servo ventilation for central sleep apnoea in heart failure: SERVE-HF on-treatment analysis.

    Woehrle, Holger; Cowie, Martin R; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-08-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the control group in the SERVE-HF trial.Time-dependent on-treatment analyses were conducted (unadjusted and adjusted for predictive covariates). A comprehensive, time-dependent model was developed to correct for asymmetric selection effects (to minimise bias).The comprehensive model showed increased cardiovascular death hazard ratios during adaptive servo ventilation usage periods, slightly lower than those in the SERVE-HF intention-to-treat analysis. Self-selection bias was evident. Patients randomised to adaptive servo ventilation who crossed over to the control group were at higher risk of cardiovascular death than controls, while control patients with crossover to adaptive servo ventilation showed a trend towards lower risk of cardiovascular death than patients randomised to adaptive servo ventilation. Cardiovascular risk did not increase as nightly adaptive servo ventilation usage increased.On-treatment analysis showed similar results to the SERVE-HF intention-to-treat analysis, with an increased risk of cardiovascular death in heart failure with reduced ejection fraction patients with predominant central sleep apnoea treated with adaptive servo ventilation. Bias is inevitable and needs to be taken into account in any kind of on-treatment analysis in positive airway pressure studies. Copyright ©ERS 2017.

  13. Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

    Connolly, Joe; Carlson, Jan-Renee; Kopasakis, George; Woolwine, Kyle

    2015-01-01

    This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the described dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

  14. Insights on the criteria of selection of vegetable and mineral dielectric fluids used in power transformers on the basis of their biodegradability and toxicity assessments.

    Módenes, Aparecido Nivaldo; Sanderson, Karina; Trigueros, Daniela Estelita Goes; Schuelter, Adilson Ricken; Espinoza-Quiñones, Fernando Rodolfo; Neves, Camila Vargas; Zanão Junior, Luiz Antônio; Kroumov, Alexander Dimitrov

    2018-05-01

    Leakage of transformer dielectric fluids is a concern because it may pose a risk of environmental contamination. In this study, the deleterious effects of vegetable and mineral dielectric fluids in water bodies were investigated using biodegradability and acute toxicity tests with Danio rerio and Artemia salina. Regarding biodegradability, all four tested vegetable oils (soy, canola, sunflower and crambe) were considered as easily biodegradable, presenting degradation rates significantly higher than the Lubrax-type mineral fluid. Acute toxicity tests were performed in two separate experiments without solution renewal. In the first experiment, the organisms were exposed in direct contact to different concentrations of vegetable (soy) and mineral (Lubrax) oils. Total soy-type vegetable oil has a higher toxic effect than Lubrax-type mineral oil. In the second experiment, the organisms were exposed to increasing percentages of the water-soluble fraction (WSF) of both types of tested oils. The LC 50 values for the water-soluble fraction of the Lubrax-type mineral oil were about 5 and 8% for the Danio rerio and Artemia salina bioindicators, respectively, whereas the vegetable oil did not present toxic effect, regardless of its WSF. These results have shown that a strict selection of dielectric fluids and monitoring the leakage from power transformers is a serious duty of environmental protection agencies. Copyright © 2018 Elsevier Ltd. All rights reserved.

  15. New method to improve dynamic stiffness of electro-hydraulic servo systems

    Bai, Yanhong; Quan, Long

    2013-09-01

    Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

  16. Techno-Economic Assessment of Heat Transfer Fluid Buffering for Thermal Energy Storage in the Solar Field of Parabolic Trough Solar Thermal Power Plants

    Jorge M. Llamas

    2017-08-01

    Full Text Available Currently, operating parabolic trough (PT solar thermal power plants, either solar-only or with thermal storage block, use the solar field as a heat transfer fluid (HTF thermal storage system to provide extra thermal capacity when it is needed. This is done by circulating heat transfer fluid into the solar field piping in order to create a heat fluid buffer. In the same way, by oversizing the solar field, it can work as an alternative thermal energy storage (TES system to the traditionally applied methods. This paper presents a solar field TES model for a standard solar field from a 50-MWe solar power plant. An oversized solar model is analyzed to increase the capacity storage system (HTF buffering. A mathematical model has been developed and different simulations have been carried out over a cycle of one year with six different solar multiples considered to represent the different oversized solar field configurations. Annual electricity generation and levelized cost of energy (LCOE are calculated to find the solar multiple (SM which makes the highest solar field thermal storage capacity possible within the minimum LCOE.

  17. Sensitivity analysis of Computer-aided molecular design problem for the development of novel working fluids for power cycles

    Frutiger, Jerome; Abildskov, Jens; Sin, Gürkan

    is vital. Multi-criteria database search and Computer Aided Molecular Design(CAMD) can be applied to generate, test and evaluate promising pure component/mixture candidate as process fluids to help optimize cycle design and performance. The problem formulation for the development of novel working fluids...... is anadvanced CAMD challenge both in terms of data and computational demand, because includes process related as wellas property related equations.In CAMD problems the identification of target properties is often based on expert knowledge. To support identification of relevant target properties, in this study...... allows the ranking ofsignificance of properties and also the identification of a set of properties which are relevant for the design of a workingfluids.In this study the CAMD problem for the development of novel working fluids for organic Rankine cycles (ORC) isformulated as a mathematical optimization...

  18. Robust control system for belt continuously variable transmission; Robust seigyo wo tekiyoshita mudan hensokuki no hensokuhi servo kei no kaihatsu

    Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)

    1997-10-01

    The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.

  19. Validation of a solid-fluid interaction computer program for the earthquake analysis of nuclear power reactors

    Dubois, J.; Descleve, P.; Dupont, Y.

    1978-01-01

    This paper evaluates a numerical method for the analysis of the mechanical response of nuclear reactor components composed of steel structures and fluids, during normal or accidental conditions. The method consists of computing the mode shapes and frequencies of the coupled system, with the assumption of small acoustic movements and incompressibility for the fluid. The paper validates the theory and its implementation in the computer program NOVAX (axisymmetric geometry, non axisymmetric loads and response for earthquake response studies) by comparison with known theoretical and experimental results. (author)

  20. Phytate (IP6) is a powerful agent for preventing calcifications in biological fluids: usefulness in renal lithiasis treatment.

    Grases, F; Costa-Bauzá, A

    1999-01-01

    The extraordinary capacity of phytate (myo-inositol hexaphosphate), a substance present in blood, urine, interstitial and intracellular fluids, to inhibit crystallization of calcium salts (oxalate and phosphate) is discussed. Its role in preventing calcium renal stone formation is specifically presented and discussed. "In vitro" and "in vivo" experiments, as well as clinical studies clearly demonstrated that phytate plays an important role as a crystallization inhibitor of calcium salts in biological fluids and becomes a clear alternative in the treatment of calcium oxalate renal lithiasis.

  1. Failure analysis of fire resistant fluid (FRF piping used in hydraulic control system at oil-fired thermal power generation plant

    Muhammad Akram

    2017-04-01

    Full Text Available This is a case study regarding frequent forced outages in an oil-fired power generating station due to failure of fire resistant fluid (FRF piping of material ASTM A-304. This analysis was done to find out the most probable cause of failure and to rectify the problem. Methods for finding and analyzing the cracks include nondestructive testing techniques such as visual testing (VT and dye penetrant testing (PT along with that periodic monitoring after rectification of problem. The study revealed that pitting and pit to crack transitions were formed in stainless steel piping containing high pressure (system pressure 115 bars fire resistant fluid. However, after replacement of piping the pitting and cracking reoccurred. It was observed that due to possible exposure to chlorinated moisture in surrounding environment pitting was formed which then transformed into cracks. The research work discussed in this paper illustrates the procedure used in detection of the problem and measures taken to solve the problem.

  2. Numerical Study of the Magnetic Field Effects on the Heat Transfer and Entropy Generation Aspects of a Power Law Fluid over an Axisymmetric Stretching Plate Structure

    Payam Hooshmand

    2017-03-01

    Full Text Available Numerical investigation of the effects of magnetic field strength, thermal radiation, Joule heating, and viscous heating on a forced convective flow of a non-Newtonian, incompressible power law fluid in an axisymmetric stretching sheet with variable temperature wall is accomplished. The power law shear thinning viscosity-shear rate model for the anisotropic solutions and the Rosseland approximation for the thermal radiation through a highly absorbing medium are considered. The temperature dependent heat sources, Joule heating, and viscous heating are considered as the source terms in the energy balance. The non-dimensional boundary layer equations are solved numerically in terms of similarity variable. A parameter study on the Nusselt number, viscous components of entropy generation, and thermal components of entropy generation in fluid is performed as a function of thermal radiation parameter (0 to 2, Brinkman number (0 to 10, Prandtl number (0 to 10, Hartmann number (0 to 1, power law index (0 to 1, and heat source coefficient (0 to 0.1.

  3. Electric fluid pump

    Van Dam, Jeremy Daniel; Turnquist, Norman Arnold; Raminosoa, Tsarafidy; Shah, Manoj Ramprasad; Shen, Xiaochun

    2015-09-29

    An electric machine is presented. The electric machine includes a hollow rotor; and a stator disposed within the hollow rotor, the stator defining a flow channel. The hollow rotor includes a first end portion defining a fluid inlet, a second end portion defining a fluid outlet; the fluid inlet, the fluid outlet, and the flow channel of the stator being configured to allow passage of a fluid from the fluid inlet to the fluid outlet via the flow channel; and wherein the hollow rotor is characterized by a largest cross-sectional area of hollow rotor, and wherein the flow channel is characterized by a smallest cross-sectional area of the flow channel, wherein the smallest cross-sectional area of the flow channel is at least about 25% of the largest cross-sectional area of the hollow rotor. An electric fluid pump and a power generation system are also presented.

  4. Flow and Displacement of Non-Newtonian Fluid(Power-Law Model) by Surface Tension and Gravity Force in Inclined Circular Tube

    Moh, Jeong Hah; Cho, Y. I.

    2014-01-01

    This paper presents the theoretical analysis of a flow driven by surface tension and gravity in an inclined circular tube. A governing equation is developed for describing the displacement of a non-Newtonian fluid(Power-law model) that continuously flows into a circular tube owing to surface tension, which represents a second-order, nonlinear, non-homogeneous, and ordinary differential form. It was found that quantitatively, the theoretical predictions of the governing equation were in excellent agreement with the solutions of the equation for horizontal tubes and the past experimental data. In addition, the predictions compared very well with the results of the force balance equation for steady

  5. Fusing Simulation Results From Multifidelity Aero-servo-elastic Simulators - Application To Extreme Loads On Wind Turbine

    Abdallah, Imad; Sudret, Bruno; Lataniotis, Christos

    2015-01-01

    Fusing predictions from multiple simulators in the early stages of the conceptual design of a wind turbine results in reduction in model uncertainty and risk mitigation. Aero-servo-elastic is a term that refers to the coupling of wind inflow, aerodynamics, structural dynamics and controls. Fusing...... the response data from multiple aero-servo-elastic simulators could provide better predictive ability than using any single simulator. The co-Kriging approach to fuse information from multifidelity aero-servo-elastic simulators is presented. We illustrate the co-Kriging approach to fuse the extreme flapwise...... bending moment at the blade root of a large wind turbine as a function of wind speed, turbulence and shear exponent in the presence of model uncertainty and non-stationary noise in the output. The extreme responses are obtained by two widely accepted numerical aero-servo-elastic simulators, FAST...

  6. Analysis of Dead Time and Implementation of Smith Predictor Compensation in Tracking Servo Systems for Small Unmanned Aerial Vehicles

    Brashear , Jr, Thomas J

    2005-01-01

    .... Gimbaled video camera systems, designed at NPS, use two servo actuators to command line of sight orientation via serial controller while tracking a target and is termed Visual Based Target Tracking (VBTT...

  7. Active control of residual tool marks for freeform optics functionalization by novel biaxial servo assisted fly cutting.

    Zhu, Zhiwei; To, Suet; Zhang, Shaojian

    2015-09-01

    The inherent residual tool marks (RTM) with particular patterns highly affect optical functions of the generated freeform optics in fast tool servo or slow tool servo (FTS/STS) diamond turning. In the present study, a novel biaxial servo assisted fly cutting (BSFC) method is developed for flexible control of the RTM to be a functional micro/nanotexture in freeform optics generation, which is generally hard to achieve in FTS/STS diamond turning. In the BSFC system, biaxial servo motions along the z-axis and side-feeding directions are mainly adopted for primary surface generation and RTM control, respectively. Active control of the RTM from the two aspects, namely, undesired effect elimination or effective functionalization, are experimentally demonstrated by fabricating a typical F-theta freeform surface with scattering homogenization and two functional microstructures with imposition of secondary phase gratings integrating both reflective and diffractive functions.

  8. Study of toluene rotary fluid management device and shear flow condenser performance for a space-based organic Rankine power system

    Havens, Vance; Ragaller, Dana

    1988-01-01

    Management of two-phase fluid and control of the heat transfer process in microgravity is a technical challenge that must be addressed for an orbital Organic Rankine Cycle (ORC) application. A test program was performed in 1-g that satisfactorily demonstrated the two-phase management capability of the rotating fluid management device (RFMD) and shear-flow condenser. Operational tests of the RFMD and shear flow condenser in adverse gravity orientations, confirmed that the centrifugal forces in the RFMD and the shear forces in the condenser were capable of overcoming gravity forces. In a microgravity environment, these same forces would not have to compete against gravity and would therefore be dominant. The specific test program covered the required operating range of the Space Station Solar Dynamic Rankine Cycle power system. Review of the test data verified that: fluid was pumped from the RFMD in all attitudes; subcooled states in the condenser were achieved; condensate was pushed uphill against gravity; and noncondensible gases were swept through the condenser.

  9. Turbine lubrication fluid varnish mitigation

    Farooq, Khalid [Pall Corporation, Port Washington, NY (United States)

    2010-04-15

    Varnish deposits on internal surfaces in turbine lube systems result in a number of adverse operational issues, especially the restriction and sticking of the moving parts of servo- or directional control valves, resulting in their malfunction. The lubrication fluid has limited solvency for the varnish-forming material, hence a typical turbine will have the majority of this material as deposits and a relatively small portion as suspension in the fluid phase, in quasi-equilibrium with the deposits. The lube system needs to be cleaned by removing the suspended varnish-forming material from the fluid phase, which allows the deposits to re-entrain into the fluid phase, until the majority of the transferable deposits are removed and the fluid carries no significant amount of the material to have any adverse effect. The methods used for the removal of varnish from turbine lube systems include chemical cleaning/flushing, electrostatic charge induced agglomeration/retention, and the adsorption of the varnish suspended in the oil on an adsorbent medium. The paper discusses an absorption-based removal method that utilizes a fibrous medium that has pronounced affinity for the removal and retention of the varnish-forming material from the fluid as well as the deposits from surfaces that are in quasi-equilibrium with the varnish precursors in the fluid. The filtration medium is a composite, made with cellulose bonded by specially formulated, temperature-cured resins. The absorptive medium exhibits high structural and chemical integrity and has been thoroughly tested on operating turbines, showing reduction in varnish levels from the critical range to below normal range in a relatively short time. The experience with the utilization of the absorptive medium in laboratory tests and in two operating turbines is presented. (orig.)

  10. A COMPUTATIONAL FLUID DYNAMICS ANALYSIS OF AIR FLOW THROUGH A TELECOM BACK-UP UNIT POWERED BY AN AIR-COOLED PROTON EXCHANGE MEMBRANE FUEL CELL

    Gao, Xin; Berning, Torsten; Kær, Søren Knudsen

    2016-01-01

    Proton exchange membrane fuel cells (PEMFC’s) are currently being commercialized for various applications ranging from automotive to stationary such as powering telecom back-up units. In PEMFC’s, oxygen from air is internally combined with hydrogen to form water and produce electricity and heat....... This product heat has to be effectively removed from the fuel cell, and while automotive fuel cells are usually liquid-cooled using a secondary coolant loop similar to the internal combustion engines, stationary fuel cell systems as they are used for telecom back-up applications often rely on excessive air fed...... to the fuel cell cathode to remove the heat. Thereby, the fuel cell system is much simpler and cheaper while the fuel cell performance is substantially lower compared to automotive fuel cells. This work presents a computational fluid dynamics analysis on the heat management of an air-cooled fuel cell powered...

  11. Analysis of an controller design for an electro-hydraulic servo pressure regulator

    Pedersen, Henrik C.; Andersen, Torben Ole; Madsen, A. M.

    2009-01-01

    Mobile hydraulics is in a transition phase, where electronic sensors and digital signal processors are starting to become standard on a high number of machines, hereby replacing hydraulic pilot lines and oering new possibilities with regard to both control and feasibility. For controlling some...... of the existing hydraulic components there are, however, still a need for being able to generate a hydraulic pilot pressure, as e.g. almost all open-circuit pumps are hydraulically controlled. The focus of the current paper is therefore on the analysis and controller design an electro-hydraulic servo pressure...... regulator, which generates a hydraulic LS-pressure based on an electrical reference, hereby synergistically integrating knowledge from all parts of the mechatronics area. The servo pressure regulator is used to generate the LS-signal for a variable displacement pump, and the paper rst presents...

  12. Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy

    Carlos Ignacio Sarmiento

    2015-12-01

    Full Text Available We discuss a novel servo-motorized laser device and a research protocol for visual pathways diseases therapies. The proposed servo-mechanized laser device can be used for potential rehabilitation of patients with hemianopia, quadrantanopia, scotoma, and some types of cortical damages. The device uses a semi spherical structure where the visual stimulus will be shown inside, according to a previous stimuli therapy designed by an ophthalmologist or neurologist. The device uses a pair of servomotors (with torque=1.5kg, which controls the laser stimuli position for the internal therapy and another pair for external therapy. Using electronic tools such as microcontrollers along with miscellaneous electronic materials, combined with LabVIEW based interface, a control mechanism is developed for the new device. The proposed device is well suited to run various visual stimuli therapies. We outline the major design principles including the physical dimensions, laser device’s kinematical analysis and the corresponding software development.

  13. Chiari malformation and central sleep apnea syndrome: efficacy of treatment with adaptive servo-ventilation

    Jorge Marques do Vale

    2014-10-01

    Full Text Available The Chiari malformation type I (CM-I has been associated with sleep-disordered breathing, especially central sleep apnea syndrome. We report the case of a 44-year-old female with CM-I who was referred to our sleep laboratory for suspected sleep apnea. The patient had undergone decompressive surgery 3 years prior. An arterial blood gas analysis showed hypercapnia. Polysomnography showed a respiratory disturbance index of 108 events/h, and all were central apnea events. Treatment with adaptive servo-ventilation was initiated, and central apnea was resolved. This report demonstrates the efficacy of servo-ventilation in the treatment of central sleep apnea syndrome associated with alveolar hypoventilation in a CM-I patient with a history of decompressive surgery.

  14. Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

    Bian, Min; Guo, Qingyun

    Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

  15. Image-Based Visual Servoing for Manipulation Via Predictive Control – A Survey of Some Results

    Corneliu Lazăr

    2016-09-01

    Full Text Available In this paper, a review of predictive control algorithms developed by the authors for visual servoing of robots in manipulation applications is presented. Using these algorithms, a control predictive framework was created for image-based visual servoing (IBVS systems. Firstly, considering the point features, in the year 2008 we introduced an internal model predictor based on the interaction matrix. Secondly, distinctly from the set-point trajectory, we introduced in 2011 the reference trajectory using the concept from predictive control. Finally, minimizing a sum of squares of predicted errors, the optimal input trajectory was obtained. The new concept of predictive control for IBVS systems was employed to develop a cascade structure for motion control of robot arms. Simulation results obtained with a simulator for predictive IBVS systems are also presented.

  16. Investigation on Superior Performance by Fractional Controller for Cart-Servo Laboratory Set-Up

    Ameya Anil Kesarkar

    2014-01-01

    Full Text Available In this paper, an investigation is made on the superiority of fractional PID controller (PI^alpha D^beta over conventional PID for the cart-servo laboratory set-up. The designed controllers are optimum in the sense of Integral Absolute Error (IAE and Integral Square Error (ISE. The paper contributes in three aspects: 1 Acquiring nonlinear mathematical model for the cart-servo laboratory set-up, 2 Designing fractional and integer order PID for minimizing IAE, ISE, 3 Analyzing the performance of designed controllers for simulated plant model as well as real plant. The results show a significantly superior performance by PI^alpha D^beta as compared to the conventional PID controller.

  17. Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

    Zhihong Wang

    2015-01-01

    Full Text Available Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

  18. Detection of Surface Defects and Servo Signal Restoration for a Compact Disc Player

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2006-01-01

    Compact disc (CD) players have been on the market for more than two decades, and the involved technologies, including control are very mature. Some problems, however, still remain with respect to playing CDs having to surface defects like scratches and fingerprints. Two servo control loops are used...... to keep the optical pick-up unit (OPU) focused and radially locked to the information track of the CD. The problem is to design servo controllers which are well suited for both handling surface defects and disturbances like mechanical shocks. The handling of surface defects requires a low-controller...... bandwidth which is in conflict with the requirement for the handling of disturbances. This control problem can be solved by the use of a fault tolerant control strategy, where the fault detection is very important. The OPU feeds the controllers with detector signals. Based on these, focus and radial...

  19. Servo-controlling structure of five-axis CNC system for real-time NURBS interpolating

    Chen, Liangji; Guo, Guangsong; Li, Huiying

    2017-07-01

    NURBS (Non-Uniform Rational B-Spline) is widely used in CAD/CAM (Computer-Aided Design / Computer-Aided Manufacturing) to represent sculptured curves or surfaces. In this paper, we develop a 5-axis NURBS real-time interpolator and realize it in our developing CNC(Computer Numerical Control) system. At first, we use two NURBS curves to represent tool-tip and tool-axis path respectively. According to feedrate and Taylor series extension, servo-controlling signals of 5 axes are obtained for each interpolating cycle. Then, generation procedure of NC(Numerical Control) code with the presented method is introduced and the method how to integrate the interpolator into our developing CNC system is given. And also, the servo-controlling structure of the CNC system is introduced. Through the illustration, it has been indicated that the proposed method can enhance the machining accuracy and the spline interpolator is feasible for 5-axis CNC system.

  20. Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

    Yan Ren

    2013-01-01

    Full Text Available A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

  1. Characteristic Modeling and Control of Servo Systems with Backlash and Friction

    Yifei Wu

    2014-01-01

    Full Text Available A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic model. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck friction model is introduced. The backlash is modeled by a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly time-varying difference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section adaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation and experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the dynamic performance of the servo system with backlash and friction.

  2. Design and performance characteristic analysis of servo valve-type water hydraulic poppet valve

    Park, Sung Hwan

    2009-01-01

    For water hydraulic system control, the flow or pressure control using high-speed solenoid valve controlled by PWM control method could be a good solution for prevention of internal leakage. However, since the PWM control of on-off valves cause extensive flow and pressure fluctuation, it is difficult to control the water hydraulic actuators precisely. In this study, the servo valve-type water hydraulic valve using proportional poppet as the main valve is designed and the performance characteristics of the servo valve-type water hydraulic valve are analyzed. Furthermore, it is demonstrated through experiments that a decline in control chamber pressure that follows the change of pilot flow is caused by the occurrence of cavitation around the proportional poppet, and that fundamental characteristics of the developed valve remain unaffected by the occurrence of cavitation

  3. Enhancement of tracking performance in electro-optical system based on servo control algorithm

    Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

    2017-10-01

    Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

  4. Numerical calculation for flow field of servo-tube guided hydraulic control rod driving system

    He Keyu; Han Weishi

    2010-01-01

    A new-style hydraulic control rod driving mechanism was put forward by using servo-tube control elements for the design of control rod driving mechanism. The results of numerical simulation by CFD program Fluent for flow field of hydraulic driving cylinder indicate that the bigger the outer diameter of servo-tube, the smaller the resistance coefficient of variable throttle orifice. The zero position gap of variable throttle orifice could be determined on 0.2 mm in the design. The pressure difference between the upper and nether surfaces of piston was mainly created by the throttle function of fixed throttle orifice. It can be effectively controlled by changing the gap of variable throttle orifice. And the lift force of driving cylinder is able to meet the requirement on the design load. (authors)

  5. High precision tracking control of a servo gantry with dynamic friction compensation.

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2016-05-01

    This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-02-01

    Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

  7. Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad

    Carlos Soria

    2008-10-01

    Full Text Available Resumen: En este trabajo se diseña un controlador servo visual basado en la propiedad de pasividad del sistema visual. Se propone un regulador con ganancias de control variables, de tal manera que se evita la saturación de los actuadores y al mismo tiempo presenta la capacidad de corregir errores de pequeña magnitud. Asimismo el diseno se hace tenieñdo en cuenta el desempeño L2, a fin de darle capacidad de seguimiento de objetos en movimiento, con un error de control pequeño. Se muestran resultados experimentales realizados en un robot manipulador industrial tipo planar para verificar el cumplimiento de los objetivos del controlador propuesto. Palabras Clave: robot manipulador industrial, control servo visual, control no lineal, pasividad

  8. Optimality based repetitive controller design for track-following servo system of optical disk drives.

    Chen, Wentao; Zhang, Weidong

    2009-10-01

    In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

  9. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    Mayer, R.L. II.

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items. 7 refs., 4 figs., 1 tab

  10. Fault detection for discrete-time switched systems with sensor stuck faults and servo inputs.

    Zhong, Guang-Xin; Yang, Guang-Hong

    2015-09-01

    This paper addresses the fault detection problem of switched systems with servo inputs and sensor stuck faults. The attention is focused on designing a switching law and its associated fault detection filters (FDFs). The proposed switching law uses only the current states of FDFs, which guarantees the residuals are sensitive to the servo inputs with known frequency ranges in faulty cases and robust against them in fault-free case. Thus, the arbitrarily small sensor stuck faults, including outage faults can be detected in finite-frequency domain. The levels of sensitivity and robustness are measured in terms of the finite-frequency H- index and l2-gain. Finally, the switching law and FDFs are obtained by the solution of a convex optimization problem. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    Dixon, Warren

    2003-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controllers. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position, and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques in conjunction with results from projective geometry are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  12. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    Dixon, Warren

    2002-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  13. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    Dixon, Warren

    2004-01-01

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (DandD) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix and by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the

  14. Ultrasound image based visual servoing for moving target ablation by high intensity focused ultrasound.

    Seo, Joonho; Koizumi, Norihiro; Mitsuishi, Mamoru; Sugita, Naohiko

    2017-12-01

    Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory-induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) image based visual servoing in a HIFU system; and (2) the experimental results obtained using the developed system. In the visual servoing system, target motion is monitored by biplane US imaging and tracked in real time (40 Hz) by registration with a preoperative 3D model. The distance between the target and the current HIFU focal position is calculated in every US frame and a three-axis robot physically compensates for differences. Because simultaneous HIFU irradiation disturbs US target imaging, a sophisticated interlacing strategy was constructed. In the experiments, respiratory-induced organ motion was simulated in a water tank with a linear actuator and kidney-shaped phantom model. Motion compensation with HIFU irradiation was applied to the moving phantom model. Based on the experimental results, visual servoing exhibited a motion compensation accuracy of 1.7 mm (RMS) on average. Moreover, the integrated system could make a spherical HIFU-ablated lesion in the desired position of the respiratory-moving phantom model. We have demonstrated the feasibility of our US image based visual servoing technique in a HIFU system for moving target treatment. © 2016 The Authors The International Journal of Medical Robotics and Computer Assisted Surgery Published by John Wiley & Sons Ltd.

  15. Servo-driven piezo common rail diesel injection system; Servogetriebene Piezo-Common-Rail-Dieseleinspritzung

    Schoeppe, Detlev; Stahl, Christian; Krueger, Grit; Dian, Vincent [Continental Automotive GmbH, Regensburg (Germany). Geschaeftsbereich Engine Systems

    2012-03-15

    The requirements to be met by future diesel engines represent major challenges for fuel injection technology: Fuel consumption, emissions and noise development are to be further reduced without impairing driving enjoyment. To address these challenges, Continental has developed a new fuel injection system that features a high level of precision and accuracy. The key component is a servo-driven injector that is operated in a closed control circuit. (orig.)

  16. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    Chen, Xu-guang [College of Engineering, Ocean University of China, Qingdao 266100 (China); Shandong Provincial Key Laboratory of Ocean Engineering, Qingdao 266100 (China); Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China); Zhang, Qiang-yong; Li, Shu-cai [Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China)

    2015-10-15

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  17. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance

    He, Jun; Gao, Feng; Bai, Yongjun; Wu, Shengfu

    2013-11-01

    The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

  18. Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis

    2014-10-02

    method of false nearest neighbors, we found that the minimum embedding dimension for the system is d=2. Figure 3 shows the recurrence plots of the...manufacturing process planning method for the components of a complex mechatronic system . Applied Mathematical Modelling, 37(24), 9829–9845. Samadani, M...diagnostics of nonlinear systems . A detailed nonlinear math- ematical model of a servo electro-hydraulic system has been used to demonstrate the procedure

  19. New mode switching algorithm for the JPL 70-meter antenna servo controller

    Nickerson, J. A.

    1988-01-01

    The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.

  20. Evaluating transient performance of servo mechanisms by analysing stator current of PMSM

    Zhang, Qing; Tan, Luyao; Xu, Guanghua

    2018-02-01

    Smooth running and rapid response are the desired performance goals for the transient motions of servo mechanisms. Because of the uncertain and unobservable transient behaviour of servo mechanisms, it is difficult to evaluate their transient performance. Under the effects of electromechanical coupling, the stator current signals of a permanent-magnet synchronous motor (PMSM) potentially contain the performance information regarding servo mechanisms in use. In this paper, a novel method based on analysing the stator current of the PMSM is proposed for quantifying the transient performance. First, a vector control model is constructed to simulate the stator current behaviour in the transient processes of consecutive speed changes, consecutive load changes, and intermittent start-stops. It is discovered that the amplitude and frequency of the stator current are modulated by the transient load torque and motor speed, respectively. The stator currents under different performance conditions are also simulated and compared. Then, the stator current is processed using a local means decomposition (LMD) algorithm to extract the instantaneous amplitude and instantaneous frequency. The sample entropy of the instantaneous amplitude, which reflects the complexity of the load torque variation, is calculated as a performance indicator of smooth running. The peak-to-peak value of the instantaneous frequency, which defines the range of the motor speed variation, is set as a performance indicator of rapid response. The proposed method is applied to both simulated data in an intermittent start-stops process and experimental data measured for a batch of servo turrets for turning lathes. The results show that the performance evaluations agree with the actual performance.

  1. A new state space model for the NASA/JPL 70-meter antenna servo controls

    Hill, R. E.

    1987-01-01

    A control axis referenced model of the NASA/JPL 70-m antenna structure is combined with the dynamic equations of servo components to produce a comprehansive state variable (matrix) model of the coupled system. An interactive Fortran program for generating the linear system model and computing its salient parameters is described. Results are produced in a state variable, block diagram, and in factored transfer function forms to facilitate design and analysis by classical as well as modern control methods.

  2. A servo controlled gradient loading triaxial model test system for deep-buried cavern.

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-10-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the "real" geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  3. Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

    Burken, John J.

    2005-01-01

    This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

  4. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-01-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures

  5. Computational fluid dynamics (CFD) analysis of the coal combustion in a boiler of a thermal power plant using different kinds of the manufactured coals

    Silva, Cristiano Vitorino da; Lazzari, Luis Carlos; Ziemniczak, Aline; Beskow, Arthur Bortolin [Universidade Regional Integrada do Alto Uruguai e das Missoes (URI), Erechim, RS (Brazil)], E-mails: cristiano@uricer.edu.br, arthur@uricer.edu.br

    2010-07-01

    The state of the art in computational fluid dynamics and the availability of commercial codes encourage numerical studies of combustion processes. In the present work the commercial software CFX Ansys Europe Ltd. has been used to study the combustion of pulverized coal into the boiler of a thermal power plant. The objective of this work is to obtain new information for process optimization. Different kinds of manufactured coals were numerically tested in a thermal power plant installed at the southeast region of Brazil. The simulations were made using the actual burning conditions of the boiler. Results include the residence time of the fuel into the combustion chamber, temperature fields, flow fluid mechanics, heat transfer and pollutant formation, as well as the CO and NOx concentrations, aiming to determinate the best conditions to burn the investigated coals. The numerical investigation of the phenomena involved on the coal combustion processes are used to complete the experimental information obtained in operational tests. Considering the characteristics of different kinds of manufactured coals used, with this study is possible to achieve the most efficient boiler operation parameters, with decreasing costs of electricity production and reduction of environmentally harmful emissions. It was verified that the different kinds of manufactured coals demand different operation conditions, and the kind of manufactured coal used on the combustion process has a significant effect on the pollutant formation, mainly in rel action with ash concentration. (author)

  6. A low-cost, FPGA-based servo controller with lock-in amplifier

    Yang, G; Barry, J F; Shuman, E S; Steinecker, M H; DeMille, D

    2012-01-01

    We describe the design and implementation of a low-cost, FPGA-based servo controller with an integrated waveform synthesizer and lock-in amplifier. This system has been designed with the specific application of laser frequency locking in mind but should be adaptable to a variety of other purposes as well. The system incorporates an onboard waveform synthesizer, a lock-in amplifier, two channels of proportional-integral (PI) servo control, and a ramp generator on a single FPGA chip. The system is based on an inexpensive, off-the-shelf FPGA evaluation board with a wide variety of available accessories, allowing the system to interface with standard laser controllers and detectors while minimizing the use of custom hardware and electronics. Gains, filter constants, and other relevant parameters are adjustable via onboard knobs and switches. These parameters and other information are displayed to the user via an integrated LCD, allowing full operation of the device without an accompanying computer. We demonstrate the performance of the system in a test setup, in which the frequency of a tunable external-cavity diode laser (ECDL) is locked to a resonant optical transmission peak of a Fabry-Perot cavity. In this setup, we achieve a total servo-loop bandwidth of ∼ 7 kHz and achieve locking of the ECDL to the cavity with a full-width-at-half-maximum (FWHM) linewidth of ∼ 200 kHz.

  7. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

    Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

    2009-10-01

    In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

  8. Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

    Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

    2017-07-01

    The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

  9. Fault Diagnosis for Hydraulic Servo System Using Compressed Random Subspace Based ReliefF

    Yu Ding

    2018-01-01

    Full Text Available Playing an important role in electromechanical systems, hydraulic servo system is crucial to mechanical systems like engineering machinery, metallurgical machinery, ships, and other equipment. Fault diagnosis based on monitoring and sensory signals plays an important role in avoiding catastrophic accidents and enormous economic losses. This study presents a fault diagnosis scheme for hydraulic servo system using compressed random subspace based ReliefF (CRSR method. From the point of view of feature selection, the scheme utilizes CRSR method to determine the most stable feature combination that contains the most adequate information simultaneously. Based on the feature selection structure of ReliefF, CRSR employs feature integration rules in the compressed domain. Meanwhile, CRSR substitutes information entropy and fuzzy membership for traditional distance measurement index. The proposed CRSR method is able to enhance the robustness of the feature information against interference while selecting the feature combination with balanced information expressing ability. To demonstrate the effectiveness of the proposed CRSR method, a hydraulic servo system joint simulation model is constructed by HyPneu and Simulink, and three fault modes are injected to generate the validation data.

  10. Hydraulically powered dissimilar teleoperated system controller design

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

    1996-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

  11. Application of a Self-recurrent Wavelet Neural Network in the Modeling and Control of an AC Servo System

    Run Min HOU

    2014-05-01

    Full Text Available To control the nonlinearity, widespread variations in loads and time varying characteristic of the high power ac servo system, the modeling and control techniques are studied here. A self-recurrent wavelet neural network (SRWNN modeling scheme is proposed, which successfully addresses the issue of the traditional wavelet neural network easily falling into local optimum, and significantly improves the network approximation capability and convergence rate. The control scheme of a SRWNN based on fuzzy compensation is expected. Gradient information is provided in real time for the controller by using a SRWNN identifier, so as to ensure that the learning and adjusting function of the controller of the SRWNN operate well, and fuzzy compensation control is applied to improve rapidity and accuracy of the entire system. Then the Lyapunov function is utilized to judge the stability of the system. The experimental analysis and comparisons with other modeling and control methods, it is clearly shown that the validities of the proposed modeling scheme and control scheme are effective.

  12. FOREWORD Fluid Mechanics and Fluid Power (FMFP)

    journal for their enthusiastic help. The articles contained in this section of the Special Issue represent diversity and content. We hope that the readers are stimulated by the choice of the articles and their presentation. May 2015. AMIT AGRAWAL. Department of Mechanical Engineering,. Indian Institute of Technology Bombay ...

  13. Compressible generalized Newtonian fluids

    Málek, Josef; Rajagopal, K.R.

    2010-01-01

    Roč. 61, č. 6 (2010), s. 1097-1110 ISSN 0044-2275 Institutional research plan: CEZ:AV0Z20760514 Keywords : power law fluid * uniform temperature * compressible fluid Subject RIV: BJ - Thermodynamics Impact factor: 1.290, year: 2010

  14. High-density fluid-perturbation theory based on an inverse 12th-power hard-sphere reference system

    Ross, M.

    1979-01-01

    A variational theory is developed that is accurate at normal liquid densities and densities up to 4 times that of the argon triple point. This theory uses the inverse 12th-power potential as a reference system. The properties of this reference system are expressed in terms of hard-sphere packing fractions by using a modified form of hard-space variational theory. As a result of this ''bootstrapping,'' a variational procedure may be followed that employs the inverse 12th-power system as a reference but uses the hard-sphere packing fraction as the scaling parameter with which to minimize the Helmholtz free energy

  15. Marine biofouling and its implications in the use of seawater as a heat transfer fluid in Madras Atomic Power Station

    Nair, K.V.K.; Venugopalan, V.P.

    1996-01-01

    Even though the problem of fouling is quite severe in the tropics because of rich diversity of species and longer periods available for breeding activity, most of the literature is from the temperate waters. In this paper, an attempt is made to illustrate the potential of biofouling to compromise the economical operation of coastal power plants by taking Madras Atomic Power Station (MAPS) as an example. The significance of acquiring information on biological aspects of the fouling species in successfully combating the problems is also highlighted. 3 refs., 3 tabs., 1 fig

  16. The research and development of the automatic solar power tracker

    Li Yan Ping

    2016-01-01

    Full Text Available The article describes a kind of automatic tracker using solar power. It depends on two important parts which are servo system and adjusting mechanism system to keep the tracker operating normally. The article focuses on describing the characteristics and functions of two systems and the operating details of the automatic solar power tracker.

  17. The research and development of the automatic solar power tracker

    Li Yan Ping; Yuan Zhong Ying

    2016-01-01

    The article describes a kind of automatic tracker using solar power. It depends on two important parts which are servo system and adjusting mechanism system to keep the tracker operating normally. The article focuses on describing the characteristics and functions of two systems and the operating details of the automatic solar power tracker.

  18. Optical fiber array for the delivery of high peak-power laser pulses for fluid flow measurements

    Parry, Jonathan P.; Shephard, Jonathan D.; Thomson, Martin J.; Taghizadeh, Mohammad R.; Jones, Julian D. C.; Hand, Duncan P.

    2007-01-01

    Fiber delivery of 64.7 mJ laser pulses (∼6 ns duration) from a Q-switched Nd:YAG laseroperating at532 nm is demonstrated. A custom diffractive optical element was used toshape the laser beam and facilitate coupling into a linear fiber array. This launcharrangement achieves an improvement in launch efficiency compared with a circular fiberbundle evaluated in previous work and the delivery of higher pulse energies isdemonstrated. The bundle is capable of delivering light of sufficient pulse energy and,importantly, with suitable focusability, to generate a thin light sheet for the fluid flowmeasurement technique of particle image velocimetry (PIV). Fiber delivery offers anadvantage, in terms of optical access, for the application of PIV to enclosed measurementvolumes, such as the cylinder of a combustion engine

  19. Influence of successive badminton matches on muscle strength, power, and body-fluid balance in elite players.

    Abian-Vicen, Javier; Castanedo, Adrián; Abian, Pablo; Gonzalez-Millan, Cristina; Salinero, Juan José; Del Coso, Juan

    2014-07-01

    The aim was to analyze the influence of competitive round on muscle strength, body-fluid balance, and renal function in elite badminton players during a real competition. Body mass, jump height during a countermovement jump, handgrip force, and urine samples were obtained from 13 elite badminton players (6 men and 7 women) before and after the 2nd-round and quarterfinal matches of the national Spanish badminton championship. Sweat rate was determined by using prematch-to-postmatch body-mass change and by weighing individually labeled fluid bottles. Sweat rates were 1.04 ± 0.62 and 0.98 ± 0.43 L/h, while rehydration rate was 0.69 ± 0.26 and 0.91 ± 0.52 L/h for the 2nd round and quarterfinals, respectively. Thus, dehydration was 0.47% ± 1.03% after the 2nd round and 0.23% ± 0.43% after the quarterfinals. There were no differences in prematch-to-postmatch jump height, but jump height was reduced from 37.51 ± 8.83 cm after the 2nd-round game to 34.82 ± 7.37 cm after the quarterfinals (P badminton competition were effective to prevent dehydration. A badminton match did not affect jump height or handgrip force, but jump height was progressively reduced by the competitive round. Badminton players' renal responses reflected diminished renal flux due to the high-intensity nature of this racket sport.

  20. Aero-servo-viscoelasticity theory: Lifting surfaces, plates, velocity transients, flutter, and instability

    Merrett, Craig G.

    Modern flight vehicles are fabricated from composite materials resulting in flexible structures that behave differently from the more traditional elastic metal structures. Composite materials offer a number of advantages compared to metals, such as improved strength to mass ratio, and intentional material property anisotropy. Flexible aircraft structures date from the Wright brothers' first aircraft with fabric covered wooden frames. The flexibility of the structure was used to warp the lifting surface for flight control, a concept that has reappeared as aircraft morphing. These early structures occasionally exhibited undesirable characteristics during flight such as interactions between the empennage and the aft fuselage, or control problems with the elevators. The research to discover the cause and correction of these undesirable characteristics formed the first foray into the field of aeroelasticity. Aeroelasticity is the intersection and interaction between aerodynamics, elasticity, and inertia or dynamics. Aeroelasticity is well suited for metal aircraft, but requires expansion to improve its applicability to composite vehicles. The first is a change from elasticity to viscoelasticity to more accurately capture the solid mechanics of the composite material. The second change is to include control systems. While the inclusion of control systems in aeroelasticity lead to aero-servo-elasticity, more control possibilities exist for a viscoelastic composite material. As an example, during the lay-up of carbon-epoxy plies, piezoelectric control patches are inserted between different plies to give a variety of control options. The expanded field is called aero-servo-viscoelasticity. The phenomena of interest in aero-servo-viscoelasticity are best classified according to the type of structure considered, either a lifting surface or a panel, and the type of dynamic stability present. For both types of structures, the governing equations are integral

  1. Product Analysis and Design Engineering Approach for MScand PhD Students´ Research and Self-Learning Competence in Mechatronics and Fluid Power

    Conrad, Finn; Andersen, T. O.; Hansen, M. R.

    2002-01-01

    with interactive methods for improving of MSc- and PhD-students´ research and self-learning competence at the Technical University of Denmark and the Aalborg University are presented and discussed. The didactic approach has two legs: (1) Analysis and IT-modelling of products and systems from day one......The paper deals with engineering education having the focus on research skills as well as experimental based project organised didactic self-learning within the area of design of mechatronic products and systems, in particular intelligent fluid power components and systems. Experiences...... at the university, and (2) Synthesis with increasing project activities focusing on product development and design engineering, including testing, evaluation and validation. The objective is to educate candidates with high-level professional engineering skills for research and integrated product development teams...

  2. Dual Solutions in a Boundary Layer Flow of a Power Law Fluid over a Moving Permeable Flat Plate with Thermal Radiation, Viscous Dissipation and Heat Generation/Absorption

    Aftab Ahmed

    2018-01-01

    Full Text Available The aim of the present study is to investigate the combined effects of the thermal radiation, viscous dissipation, suction/injection and internal heat generation/absorption on the boundary layer flow of a non-Newtonian power law fluid over a semi infinite permeable flat plate moving in parallel or reversely to a free stream. The resulting system of partial differential equations (PDEs is first transformed into a system of coupled nonlinear ordinary differential equations (ODEs which are then solved numerically by using the shooting technique. It is found that the dual solutions exist when the flat plate and the free stream move in the opposite directions. Dimensionless boundary layer velocity and temperature distributions are plotted and discussed for various values of the emerging physical parameters. Finally, the tables of the relevant boundary derivatives are presented for some values of the governing physical parameters.

  3. Effects of the selection of heat transfer fluid and condenser type on the performance of a solar thermal power plant with technoeconomic approach

    Yilmazoglu, M. Zeki

    2016-01-01

    Highlights: • The effects of the selection of HTF and condenser type on STPs were examined. • Levelized cost of energy (LCOE) for STP was investigated. • LCOE for STP compared with gas turbine and combined cycle. • CSP with thermal storage can be competitive technology with carbon tax/credits. - Abstract: Renewable electricity generation systems have an increasing trend in terms of usage due to aiming to decrease greenhouse gas emissions and energy source diversification strategies of countries. Parabolic trough, Fresnel, and solar tower systems have been used to generate solar thermal electricity around the world. In this study, the effects of the selection of collector heat transfer fluid (HTF) and condenser type on a concentrated solar thermal power plant were analyzed. Net power, net electrical efficiency, and economic analysis were carried out for the selected HTFs for different collector outlet temperature cases. In the case of condenser type selection four different systems were considered; water cooled, air cooled (dry air) and air cooled with water spraying (spraying before fan and spraying before and after fan). Levelized cost of energy (LCOE) and specific investment cost were calculated. According to the results, specific investment cost and LCOE were found to be 4000 USD/kW_e_l and 0.207 USD/kW h, respectively. Carbon tax/credit was also included to the calculations of LCOE and a comparison study was carried out for gas turbine, combined cycle and solar thermal power plant with thermal storage. Including carbon tax/credit to the LCOE shows that solar thermal power plant with heat storage can be competitive when compared to gas turbines.

  4. AeroPropulsoServoElasticity: Dynamic Modeling of the Variable Cycle Propulsion System

    Kopasakis, George

    2012-01-01

    This presentation was made at the 2012 Fundamental Aeronautics Program Technical Conference and it covers research work for the Dynamic Modeling of the Variable cycle Propulsion System that was done under the Supersonics Project, in the area of AeroPropulsoServoElasticity. The presentation covers the objective for the propulsion system dynamic modeling work, followed by the work that has been done so far to model the variable Cycle Engine, modeling of the inlet, the nozzle, the modeling that has been done to model the affects of flow distortion, and finally presenting some concluding remarks and future plans.

  5. Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

    Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

    2007-01-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

  6. Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

    Amir Reza Zare Bidaki

    2014-01-01

    Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

  7. A Simulation Model of Focus and Radial Servos in Compact Disc Players with Disc Surface Defects

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2004-01-01

    Compact Disc players have been on the market in more than two decades.As a consequence most of the control servo problems have been solved. A large remaining problem to solve is the handling of Compact Discs with severe surface defects like scratches and fingerprints. This paper introduces a method...... for making the design of controllers handling surface defects easier. A simulation model of Compact Disc players playing discs with surface defects is presented. The main novel element in the model is a model of the surface defects. That model is based on data from discs with surface defects. This model...

  8. L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.

    Zuo, Zongyu; Li, Xiao; Shi, Zhiguang

    2015-09-01

    This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Servo-control for maintaining abdominal skin temperature at 36C in low birth weight infants.

    Sinclair, J C

    2002-01-01

    Randomized trials have shown that the neonatal mortality rate of low birth-weight babies can be reduced by keeping them warm. For low birth-weight babies nursed in incubators, warm conditions may be achieved either by heating the air to a desired temperature, or by servo-controlling the baby's body temperature at a desired set-point. In low birth weight infants, to determine the effect on death and other important clinical outcomes of targeting body temperature rather than air temperature as the end-point of control of incubator heating. Standard search strategy of the Cochrane Neonatal Review Group. Searches were made of the Cochrane Controlled Trials Register (CCTR) (Cochrane Library, Issue 4, 2001) and MEDLINE, 1966 to November 2001. Randomized or quasi-randomized trials which test the effects of having the heat output of the incubator servo-controlled from body temperature compared with setting a constant incubator air temperature. Trial methodologic quality was systematically assessed. Outcome measures included death, timing of death, cause of death, and other clinical outcomes. Categorical outcomes were analyzed using relative risk and risk difference. Meta-analysis assumed a fixed effect model. Two eligible trials were found. In total, they included 283 babies and 112 deaths. Compared to setting a constant incubator air temperature of 31.8C, servo-control of abdominal skin temperature at 36C reduces the neonatal death rate among low birth weight infants: relative risk 0.72 (95% CI 0.54, 0.97); risk difference -12.7% (95% CI -1.6, -23.9). This effect is even greater among VLBW infants. During at least the first week after birth, low birth weight babies should be provided with a carefully regulated thermal environment that is near the thermoneutral point. For LBW babies in incubators, this can be achieved by adjusting incubator temperature to maintain an anterior abdominal skin temperature of at least 36C, using either servo-control or frequent manual

  10. An ultrasonic sensor controller for mapping and servo control in robotic systems

    Drotning, W.D.; Garcia, P. Jr.

    1993-03-01

    An ultrasonic sensor controller has been developed and applied in a variety of robotic systems for operation in hazardous environments. The controller consists of hardware and software that control multiple ultrasonic range sensors and provide workspace information to robot controllers for rapid, safe, and reliable operation in hazardous and remote environments. The hardware consists of a programmable multichannel controller that resides on a VMEbus for high speed communication to a multiprocessor architecture. The sensor controller has been used in a number of applications, which include providing high precision range information for proximity servo control of robots, and performing surface and obstacle mapping functions for safe path planning of robots in unstructured environments

  11. Smart Rotor Modeling: Aero-Servo-Elastic Modeling of a Smart Rotor with Adaptive Trailing Edge Flaps

    Bergami, Leonardo

    the trailing edge flap deflection to actively reduce the fatigue loads on the structure. The performance of the smart rotor configuration and its control algorithms are finally quantified by aero-servo-elastic simulations of the smart rotor turbine operating in a standard turbulent wind field.......This book presents the formulation of an aero-servo-elastic model for a wind turbine rotor equipped with Adaptive Trailing Edge Flaps (ATEF), a smart rotor configuration. As the name suggests, an aero-servo-elastic model consists of three main components: an aerodynamic model, a structural model......, and a control model. The book first presents an engineering type of aerodynamic model that accounts for the dynamic effects of flap deflection. The aerodynamic model is implemented in a Blade Element Momentum framework, and coupled with a multi-body structural model in the aero-servoelastic simulation code HAWC...

  12. Heat and fluid flow in accident of Fukushima Daiichi Nuclear Power Plant, Unit 2. Accident scenario based on thermodynamic model

    Maruyama, Shigenao

    2012-01-01

    An accident scenario of Fukushima Daiichi Nuclear Power Plant, Unit 2 is analyzed from the data open to the public. Phase equilibrium process model was introduced that the vapor and water are at saturation point in the vessels. Proposed accident scenario agrees very well with the data of the plant parameters obtained just after the accident. The estimation describes that the rupture time of the reactor pressure vessel (RPV) was at 22:50 14/3/2011. The estimation shows that the rupture time of the pressure containment vessel (RCP) was at 7:40 15/3/2011. These estimations are different from the ones by TEPCO, however; many measured evidences show good accordance with the present scenario. (author)

  13. A Novel Rotor and Stator Magnetic Fields Direct-Orthogonalized Vector Control Scheme for the PMSM Servo System

    Shi-Xiong Zhang

    2014-02-01

    Full Text Available Permanent Magnet Synchronous motor (PMSM has received widespread acceptance in recent years. In this paper, a new rotor and stator Magnetic Fields Direct-Orthogonalized Vector Control (MFDOVC scheme is proposed for PMSM servo system. This method simplified the complex calculation of traditional vector control, a part of the system resource is economized. At the same time, through the simulation illustration validation, the performance of PMSM servo system with the proposed MFDOVC scheme can achieve the same with the complex traditional vector control method, but much simpler calculation is implemented using the proposed method.

  14. Use of a novel drainage flow servo-controlled CPB for mitral valve replacement in a Jehovah's Witness.

    Niimi, Yoshinari; Murata, Seiichiro; Mitou, Yumi; Ohno, Yusuke

    2018-03-01

    We developed a novel open cardiopulmonary bypass (CPB) system, a drainage flow servo-controlled CPB system (DS-CPB), in which rotational speed of the main roller pump is servo-controlled to generate the same amount of flow as the systemic venous drainage. It was designed to safely decrease the priming volume while maintaining a constant reservoir level, even during fluctuations of the drainage flow. We report a successful use of a novel DS-CPB system in an elderly Jehovah's Witness patient with dehydration who underwent mitral valve replacement.

  15. Power

    Elmholdt, Claus Westergård; Fogsgaard, Morten

    2016-01-01

    and creativity suggests that when managers give people the opportunity to gain power and explicate that there is reason to be more creative, people will show a boost in creative behaviour. Moreover, this process works best in unstable power hierarchies, which implies that power is treated as a negotiable....... It is thus a central point that power is not necessarily something that breaks down and represses. On the contrary, an explicit focus on the dynamics of power in relation to creativity can be productive for the organisation. Our main focus is to elaborate the implications of this for practice and theory...

  16. Electrostatic screening in classical Coulomb fluids: exponential or power-law decay or both? An investigation into the effect of dispersion interactions

    Kjellander, Roland

    2006-01-01

    It is shown that the nature of the non-electrostatic part of the pair interaction potential in classical Coulomb fluids can have a profound influence on the screening behaviour. Two cases are compared: (i) when the non-electrostatic part equals an arbitrary finite-ranged interaction and (ii) when a dispersion r -6 interaction potential is included. A formal analysis is done in exact statistical mechanics, including an investigation of the bridge function. It is found that the Coulombic r -1 and the dispersion r -6 potentials are coupled in a very intricate manner as regards the screening behaviour. The classical one-component plasma (OCP) is a particularly clear example due to its simplicity and is investigated in detail. When the dispersion r -6 potential is turned on, the screened electrostatic potential from a particle goes from a monotonic exponential decay, exp(-κr)/r, to a power-law decay, r -8 , for large r. The pair distribution function acquire, at the same time, an r -10 decay for large r instead of the exponential one. There still remains exponentially decaying contributions to both functions, but these contributions turn oscillatory when the r -6 interaction is switched on. When the Coulomb interaction is turned off but the dispersion r -6 pair potential is kept, the decay of the pair distribution function for large r goes over from the r -10 to an r -6 behaviour, which is the normal one for fluids of electroneutral particles with dispersion interactions. Differences and similarities compared to binary electrolytes are pointed out

  17. Development of an EtherCAT enabled digital servo controller for the Green Bank Telescope

    Whiteis, Peter G.; Mello, Melinda J.

    2012-09-01

    EtherCAT (Ethernet for Control Automation Technology) is gaining wide spread popularity in the automation industry as a real time field bus based on low cost, Ethernet hardware. EtherCAT maximizes use of 100Mbps Ethernet hardware by using a collision free ring topology, efficient Ethernet frame utilization (> 95%), and data exchange "on the fly". These characteristics enable EtherCAT to achieve Master to Slave node data exchange rates of > 1000 Hz. The Green Bank Telescope, commissioned in 2000, utilizes an analog control system for motion control of 8 elevation and 16 azimuth motors. This architecture, while sufficient for observations at frequencies up to 50GHz, has significant limitations for the current scientific goals of observing at 115GHz. Accordingly, the Green Bank staff has embarked on a servo upgrade project to develop a digital servo system which accommodates development and implementation of advanced control algorithms. This paper describes how the new control system requirements, use of existing infrastructure and budget constraints led us to define a distributed motion control architecture where EtherCAT real-time Ethernet was selected as the communication bus. Finally, design details are provided that describe how NRAO developed a custom EtherCAT-enabled motor controller interface for the GBT's legacy motor drives in order to provide technical benefits and flexibility not available in commercial products.

  18. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  19. A Quasiphysics Intelligent Model for a Long Range Fast Tool Servo

    Liu, Qiang; Zhou, Xiaoqin; Lin, Jieqiong; Xu, Pengzi; Zhu, Zhiwei

    2013-01-01

    Accurately modeling the dynamic behaviors of fast tool servo (FTS) is one of the key issues in the ultraprecision positioning of the cutting tool. Herein, a quasiphysics intelligent model (QPIM) integrating a linear physics model (LPM) and a radial basis function (RBF) based neural model (NM) is developed to accurately describe the dynamic behaviors of a voice coil motor (VCM) actuated long range fast tool servo (LFTS). To identify the parameters of the LPM, a novel Opposition-based Self-adaptive Replacement Differential Evolution (OSaRDE) algorithm is proposed which has been proved to have a faster convergence mechanism without compromising with the quality of solution and outperform than similar evolution algorithms taken for consideration. The modeling errors of the LPM and the QPIM are investigated by experiments. The modeling error of the LPM presents an obvious trend component which is about ±1.15% of the full span range verifying the efficiency of the proposed OSaRDE algorithm for system identification. As for the QPIM, the trend component in the residual error of LPM can be well suppressed, and the error of the QPIM maintains noise level. All the results verify the efficiency and superiority of the proposed modeling and identification approaches. PMID:24163627

  20. Dynamic parameter identification of robot arms with servo-controlled electrical motors

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

    This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

  1. SYNTHESIS OF THE SERVO DRIVER WITH SPEED LOOP TUNED AT THE MODULAR OPTIMUM

    Mr. Sergei V. Stelmashchuk

    2016-12-01

    Full Text Available The paper presents a method of synthesis of servo driver for controlling the speed of the object with the speed tuned at the modular optimum. An automatic electric motor drive is considered as the controlled element. This assumes the use of the speed sensor on the output shaft of the drive gear. This approach can be used for geared motors, which are more commonly used in a variety of compact drives. The technique is based on the method of synthesis by using logarithmic frequency response (LFR. The result is a synthesis of the two tracking angle controllers: proportional-integral and proportional-derivative (PIPD regulator. The criterion for the synthesis of tracking angle controller is the desired LFR, the characteristics of which are defined based on saturated capability transition function of controlled object with standard configuration for modular optimum. It is assumed that the maximum speed and acceleration of the transition functions are required for the synthesis of parameters of servo driver system by LFR. The article covers the accuracy and contains an example of a particular electric motor.

  2. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  3. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  4. Design of an Image-Servo Mask Alignment System Using Dual CCDs with an XXY Stage

    Chih-Jer Lin

    2016-02-01

    Full Text Available Mask alignment of photolithography technology is used in many applications, such as micro electro mechanical systems’ semiconductor process, printed circuits board, and flat panel display. As the dimensions of the product are getting smaller and smaller, the automatic mask alignment of photolithography is becoming more and more important. The traditional stacked XY-Θz stage is heavy and it has cumulative flatness errors due to its stacked assembly mechanism. The XXY stage has smaller cumulative error due to its coplanar design and it can move faster than the traditional XY-Θz stage. However, the relationship between the XXY stage’s movement and the commands of the three motors is difficult to compute, because the movements of the three motors on the same plane are coupling. Therefore, an artificial neural network is studied to establish a nonlinear mapping from the desired position and orientation of the stage to three motors’ commands. Further, this paper proposes an image-servo automatic mask alignment system, which consists of a coplanar XXY stage, dual GIGA-E CCDs with lens and a programmable automatic controller (PAC. Before preforming the compensation, a self-developed visual-servo provides the positioning information which is obtained from the image processing and pattern recognition according to the specified fiducial marks. To obtain better precision, two methods including the center of gravity method and the generalize Hough Transformation are studied to correct the shift positioning error.

  5. Influence of Forming Conditions on Springback in V-bending Process Using Servo Press

    Abe, Shinya; Takahashi, Susumu

    To improve fuel efficiency, aluminum alloys and high tensile steel sheets are increasingly being applied to automotive body parts. However, it is difficult to obtain accurate dimensions of formed parts. Therefore, technologies for reducing springback for the part formed by press are strongly demanded. It is said that the die holding time at the bottom dead center of a servo press slide can affect springback. To clarify the forming mechanisms of this phenomenon, a V bending test with a servo press was performed. Aluminum alloys sheets are applied as specimens. The location of press slide was measured by linear scales. It was found that the movement of the slide in a slide motion program differs from the actual movement of the slide. It is important to confirm if the slide is located in the position specified in the program. In addition, a springback angle measurement system is proposed that uses laser displacement measurement apparatus. Because it avoids human error, the proposed measurement system is more accurate than the image processing method.

  6. Optimization and performance characteristics of servo-piston hydraulic control rod drive mechanism

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    This paper introduces the structure and working principles of the servo-piston hydraulic control rod drive mechanism (SHCM), which can be moved continuously and has self-lock capacity. The steady state characteristics of SHCM are simulated using FLUENT codes. Based on comparison with the experimental results, the simulation is proven to be credible as a tool to describe the steady state characteristics. Finally, the influence of structural parameters is analyzed to obtain an optimal design. The experimental results indicate that the traction of the servo-tube is larger in the starting and braking stages. The resistance coefficient of SHCM increases gradually in the starting and lifting stage, and then tends to be stable. This coefficient has a maximum value while the inlet pressure is low. Performance norms of SHCM, such as the anti-disturbance ability and positioning accuracy, are tested, the anti-disturbance ability of the actuator is strong while the inlet pressure is fluctuating. The positioning accuracy is high regardless of the action process (lifting or not). (author)

  7. Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

    Chen, Tien-Chi; Yu, Chih-Hsien

    2009-07-01

    A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

  8. Enhanced control of a flexure-jointed micromanipulation system using a vision-based servoing approach

    Chuthai, T.; Cole, M. O. T.; Wongratanaphisan, T.; Puangmali, P.

    2018-01-01

    This paper describes a high-precision motion control implementation for a flexure-jointed micromanipulator. A desktop experimental motion platform has been created based on a 3RUU parallel kinematic mechanism, driven by rotary voice coil actuators. The three arms supporting the platform have rigid links with compact flexure joints as integrated parts and are made by single-process 3D printing. The mechanism overall size is approximately 250x250x100 mm. The workspace is relatively large for a flexure-jointed mechanism, being approximately 20x20x6 mm. A servo-control implementation based on pseudo-rigid-body models (PRBM) of kinematic behavior combined with nonlinear-PID control has been developed. This is shown to achieve fast response with good noise-rejection and platform stability. However, large errors in absolute positioning occur due to deficiencies in the PRBM kinematics, which cannot accurately capture flexure compliance behavior. To overcome this problem, visual servoing is employed, where a digital microscopy system is used to directly measure the platform position by image processing. By adopting nonlinear PID feedback of measured angles for the actuated joints as inner control loops, combined with auxiliary feedback of vision-based measurements, the absolute positioning error can be eliminated. With controller gain tuning, fast dynamic response and low residual vibration of the end platform can be achieved with absolute positioning accuracy within ±1 micron.

  9. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  10. Experimental study on performance characteristics of servo-piston hydraulic control rod driving mechanism

    Yu Mingrui; Han Weishi; Zhou Jie; Liu Chunyu; Yang Zhida; Wang Ge

    2014-01-01

    An experimental study on the performance characteristics of the servo-piston hydraulic control rod driving mechanism is carried out, the dynamic processes of the driving mechanism are obtained through the experiments in different working conditions. Combined with the structure characteristics of the driving mechanism, the change rule between the characteristics parameters and the working condition is analyzed. The results indicate that the traction of the servo-tube decreases quickly at first, then slowly and finally trends to be a constant with the working pressure increasing, the tractions are the largest in the startup and deboost phases. The under pressure of the drive cylinder rises slowly and the upper pressure decreases rapidly at the beginning of the rise, the variation trend is opposite in the falling stage. There exists quick and clear flow change processes in the startup and deboost phases, the flow mutation value reduces and the mutation time changes a little with the working pressure increasing. The driving mechanism runs stable and has high sensitivity precision, the load does not vibrate at all when working conditions has small disturbance, a steady transform can be realized among every condition. (authors)

  11. Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

    Kaczka, David W; Lutchen, Kenneth R

    2004-04-01

    The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

  12. Vision Servo Motion Control and Error Analysis of a Coplanar XXY Stage for Image Alignment Motion

    Hau-Wei Lee

    2013-01-01

    Full Text Available In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-type XYθ stage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanar XXY stage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanar XXY stage.

  13. High mechanical advantage design of six-bar Stephenson mechanism for servo mechanical presses

    Jianguo Hu

    2016-06-01

    Full Text Available This article proposed a two-phase design scheme of Stephenson six-bar working mechanisms for servo mechanical presses with high mechanical advantage. In the qualitative design phase, first, a Stephenson six-bar mechanism with a slide was derived from Stephenson six-bar kinematic chains. Second, based on the instant center analysis method, the relationship between mechanical advantage and some special instant centers was founded, and accordingly a primary mechanism configuration with high mechanical advantage was designed qualitatively. Then, a parameterized prototype model was established, and the influences of design parameters toward slide kinematical characteristics were analyzed. In the quantitative design phase, a multi-objective optimization model, aiming at high mechanical advantage and dwelling characteristics, was built, and a case design was done to find optimal dimensions. Finally, simulations based on the software ADAMS were conducted to compare the transmission characteristics of the optimized working mechanism with that of slide-crank mechanism and symmetrical toggle mechanism, and an experimental press was made to validate the design scheme. The simulation and experiment results show that, compared with general working mechanisms, the Stephenson six-bar working mechanism has higher mechanical advantage and better dwelling characteristics, reducing capacities and costs of servo motors effectively.

  14. Micro-vision servo control of a multi-axis alignment system for optical fiber assembly

    Chen, Weihai; Yu, Fei; Qu, Jianliang; Chen, Wenjie; Zhang, Jianbin

    2017-01-01

    This paper describes a novel optical fiber assembly system featuring a multi-axis alignment function based on micro-vision feedback control. It consists of an active parallel alignment mechanism, a passive compensation mechanism, a micro-gripper and a micro-vision servo control system. The active parallel alignment part is a parallelogram-based design with remote-center-of-motion (RCM) function to achieve precise rotation without fatal lateral motion. The passive mechanism, with five degrees of freedom (5-DOF), is used to implement passive compensation for multi-axis errors. A specially designed 1-DOF micro-gripper mounted onto the active parallel alignment platform is adopted to grasp and rotate the optical fiber. A micro-vision system equipped with two charge-coupled device (CCD) cameras is introduced to observe the small field of view and obtain multi-axis errors for servo feedback control. The two CCD cameras are installed in an orthogonal arrangement—thus the errors can be easily measured via the captured images. Meanwhile, a series of tracking and measurement algorithms based on specific features of the target objects are developed. Details of the force and displacement sensor information acquisition in the assembly experiment are also provided. An experiment demonstrates the validity of the proposed visual algorithm by achieving the task of eliminating errors and inserting an optical fiber to the U-groove accurately. (paper)

  15. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

    Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

    2014-09-01

    Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

  16. Adaptive servo ventilation for central sleep apnoea in heart failure : SERVE-HF on-treatment analysis

    Woehrle, Holger; Cowie, Martin R.; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K.; Somers, Virend K.; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-01-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the

  17. Fluid Mechanics.

    Drazin, Philip

    1987-01-01

    Outlines the contents of Volume II of "Principia" by Sir Isaac Newton. Reviews the contributions of subsequent scientists to the physics of fluid dynamics. Discusses the treatment of fluid mechanics in physics curricula. Highlights a few of the problems of modern research in fluid dynamics. Shows that problems still remain. (CW)

  18. Self-powered implantable electronic-skin for in situ analysis of urea/uric-acid in body fluids and the potential applications in real-time kidney-disease diagnosis.

    Yang, Wenyan; Han, Wuxiao; Gao, Huiling; Zhang, Linlin; Wang, Shuai; Xing, Lili; Zhang, Yan; Xue, Xinyu

    2018-01-25

    As the concentration of different biomarkers in human body fluids are an important parameter of chronic disease, wearable biosensors for in situ analysis of body fluids with high sensitivity, real-time detection, flexibility and biocompatibility have significant potential therapeutic applications. In this paper, a flexible self-powered implantable electronic-skin (e-skin) for in situ body fluids analysis (urea/uric-acid) as a real-time kidney-disease diagnoser has been proposed based on the piezo-enzymatic-reaction coupling process of ZnO nanowire arrays. It can convert the mechanical energy of body movements into a piezoelectric impulse, and the outputting piezoelectric signal contains the urea/uric-acid concentration information in body fluids. This piezoelectric-biosensing process does not need an external electricity supply or battery. The e-skin was implanted under the abdominal skin of a mouse and provided in situ analysis of the kidney-disease parameters. These results provide a new approach for developing a self-powered in situ body fluids-analysis technique for chronic-disease diagnosis.

  19. Wireless transmission of power and information through one high frequency resonant AC link inverter for robot manipulator applications

    Kawamura, Atsuo; Ishioka, Kazuaki; Hirai, Junji.

    1995-01-01

    A contact-less decentralized power supply is proposed with communication capability through only one transformer. A prototype of wireless transmission system of power and information (WTPI system) was built, and the two axis position control for servo motors was achieved by transferring the power and signal through one rotatable high frequency transformer. The proposed concept can be applied for robotics and NC machines

  20. Induced hypothermia for infants with hypoxic- ischemic encephalopathy using a servo-controlled fan: an exploratory pilot study.

    Horn, Alan; Thompson, Clare; Woods, David; Nel, Alida; Bekker, Adrie; Rhoda, Natasha; Pieper, Clarissa

    2009-06-01

    Several trials suggest that hypothermia is beneficial in selected infants with hypoxic-ischemic encephalopathy. However, the cooling methods used required repeated interventions and were either expensive or reported significant temperature variation. The objective of this pilot study was to describe the use, efficacy, and physiologic impact of an inexpensive servo-controlled cooling fan blowing room-temperature air. A servo-controlled fan was manufactured and used to cool 10 infants with hypoxic-ischemic encephalopathy to a rectal temperature of 33 degrees C to 34 degrees C. The infants were sedated with phenobarbital, but clonidine was administered to some infants if shivering or discomfort occurred. A servo-controlled radiant warmer was used simultaneously with the fan to prevent overcooling. The settings used on the fan and radiant warmer differed slightly between some infants as the technique evolved. A rectal temperature of 34 degrees C was achieved in a median time of 58 minutes. Overcooling did not occur, and the mean temperature during cooling was 33.6 degrees C +/- 0.2 degrees C. Inspired oxygen requirements increased in 6 infants, and 5 infants required inotropic support during cooling, but this was progressively reduced after 1 to 2 days. Dehydration did not occur. Five infants shivered when faster fan speeds were used, but 4 of the 5 infants had hypomagnesemia. Shivering was controlled with clonidine in 4 infants, but 1 infant required morphine. Servo-controlled fan cooling with room-temperature air, combined with servo-controlled radiant warming, was an effective, simple, and safe method of inducing and maintaining rectal temperatures of 33 degrees C to 34 degrees C in sedated infants with hypoxic-ischemic encephalopathy. After induction of hypothermia, a low fan speed facilitated accurate temperature control, and warmer-controlled rewarming at 0.2 degrees C increments every 30 minutes resulted in more appropriate rewarming than when 0.5 degrees C

  1. Heat transfer fluids containing nanoparticles

    Singh, Dileep; Routbort, Jules; Routbort, A.J.; Yu, Wenhua; Timofeeva, Elena; Smith, David S.; France, David M.

    2016-05-17

    A nanofluid of a base heat transfer fluid and a plurality of ceramic nanoparticles suspended throughout the base heat transfer fluid applicable to commercial and industrial heat transfer applications. The nanofluid is stable, non-reactive and exhibits enhanced heat transfer properties relative to the base heat transfer fluid, with only minimal increases in pumping power required relative to the base heat transfer fluid. In a particular embodiment, the plurality of ceramic nanoparticles comprise silicon carbide and the base heat transfer fluid comprises water and water and ethylene glycol mixtures.

  2. A real-time control system architecture for industrial power amplifiers

    Qureshi, F.; Spinu, V.; Wijnands, C.G.E.; Lazar, M.

    2013-01-01

    Power amplifiers are a highly important component in a range of industrial applications, such as, servo-drives, magnetic resonance imaging, energy systems, and audio. The control system for power amplifiers should satisfy a range of requirements, e.g., offset free tracking, stability margins, and

  3. A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

    Jing He

    2013-01-01

    Full Text Available A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.

  4. Hankel Matrix Correlation Function-Based Subspace Identification Method for UAV Servo System

    Minghong She

    2018-01-01

    Full Text Available For the identification problem of closed-loop subspace model, we propose a zero space projection method based on the estimation of correlation function to fill the block Hankel matrix of identification model by combining the linear algebra with geometry. By using the same projection of related data in time offset set and LQ decomposition, the multiplication operation of projection is achieved and dynamics estimation of the unknown equipment system model is obtained. Consequently, we have solved the problem of biased estimation caused when the open-loop subspace identification algorithm is applied to the closed-loop identification. A simulation example is given to show the effectiveness of the proposed approach. In final, the practicability of the identification algorithm is verified by hardware test of UAV servo system in real environment.

  5. Propulsion System Dynamic Modeling of the NASA Supersonic Concept Vehicle for AeroPropulsoServoElasticity

    Kopasakis, George; Connolly, Joseph W.; Seiel, Jonathan

    2016-01-01

    A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report

  6. Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

    Yeming Zhang

    2018-03-01

    Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

  7. Optimization of Smart Structure for Improving Servo Performance of Hard Disk Drive

    Kajiwara, Itsuro; Takahashi, Masafumi; Arisaka, Toshihiro

    Head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very important to enhance the servo bandwidth of the head positioning system. In this study, smart structure technology is introduced into the hard disk drive to suppress the vibration of the head actuator. It has been expected that the smart structure technology will contribute to the development of small and light-weight mechatronics devices with the required performance. First, modeling of the system is conducted with finite element method and modal analysis. Next, the actuator location and the control system are simultaneously optimized using genetic algorithm. Vibration control effect with the proposed vibration control mechanisms has been evaluated by some simulations.

  8. Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System

    Ruihong Xie

    2017-05-01

    Full Text Available This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square error is 1.253 mrad when tracking 10° 0.2 Hz signal.

  9. Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing

    Noah Kuntz

    2009-12-01

    Full Text Available This paper presents the design and testing of a system for autonomous tracking, pickup, and delivery of cargo via an unmanned helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a six degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to direct the camera pan tilt unit to track the target, and uses a hook attached to a second pan tilt unit to pick up the cargo. The ability of the pickup system to hook a target is tested by mounting it on the Systems Integrated Sensor Test Rig gantry system while recorded helicopter velocities are played back by the test rig.

  10. The Improved SVM Multi Objects' Identification For the Uncalibrated Visual Servoing

    Min Wang

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  11. The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing

    Xiangjin Zeng

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  12. Improved servo-controlled inertial clock for laboratory tests of general relativity

    Leyh, C.H.

    1984-01-01

    An inertial clock, consisting of a protected macroscopic rotor as the time base, was developed and tested preliminarily and partially by Cheung. This research offers considerable refinement of the equipment and the operating software, and includes serious testing of the experimental behavior. The inertial clock uses magnetic suspension to levitate a capped hollow cylindrical rotor (called the shroud rotor) within a vacuum chamber. A second rotor (called the proof rotor) is magnetically suspended within the shroud rotor. The shroud rotor is caused to corotate precisely with the rotating proof rotor by a microcomputer-controlled eddy current drive feedback servo loop. This produces a drag-free environment for the proof rotor which becomes the inertial timekeeper. In this way corotation effectively eliminates the residual gas drag on the proof rotor and the magnetic suspension bearing reduces bearing drag

  13. Predictive IP controller for robust position control of linear servo system.

    Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

    2016-07-01

    Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  14. A new linearized equation for servo valve in hydraulic control systems

    Kim, Tae Hyung; Lee, Ill Yeong

    2002-01-01

    In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system

  15. What is the Optimal Strategy for Adaptive Servo-Ventilation Therapy?

    Imamura, Teruhiko; Kinugawa, Koichiro

    2018-05-23

    Clinical advantages in the adaptive servo-ventilation (ASV) therapy have been reported in selected heart failure patients with/without sleep-disorder breathing, whereas multicenter randomized control trials could not demonstrate such advantages. Considering this discrepancy, optimal patient selection and device setting may be a key for the successful ASV therapy. Hemodynamic and echocardiographic parameters indicating pulmonary congestion such as elevated pulmonary capillary wedge pressure were reported as predictors of good response to ASV therapy. Recently, parameters indicating right ventricular dysfunction also have been reported as good predictors. Optimal device setting with appropriate pressure setting during appropriate time may also be a key. Large-scale prospective trial with optimal patient selection and optimal device setting is warranted.

  16. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

    Ming-Tzu Ho

    2013-07-01

    Full Text Available This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA device to meet real-time constraints. A detailed dynamic model of the system is derived for the simulation study. By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input-output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP. The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

  18. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  19. Reliable Fluid Power Pitch Systems

    Liniger, Jesper; Pedersen, Henrik Clemmensen; Soltani, Mohsen

    2015-01-01

    The key objectives of wind turbine manufactures and buyers are to reduce the Total Cost of Ownership and Total Cost of Energy. Among others, low downtime of a wind turbine is important to increase the amount of energy produced during its lifetime. Historical data indicate that pitch systems accou...

  20. Fluids engineering

    Anon.

    1991-01-01

    Fluids engineering has played an important role in many applications, from ancient flood control to the design of high-speed compact turbomachinery. New applications of fluids engineering, such as in high-technology materials processing, biotechnology, and advanced combustion systems, have kept up unwaining interest in the subject. More accurate and sophisticated computational and measurement techniques are also constantly being developed and refined. On a more fundamental level, nonlinear dynamics and chaotic behavior of fluid flow are no longer an intellectual curiosity and fluid engineers are increasingly interested in finding practical applications for these emerging sciences. Applications of fluid technology to new areas, as well as the need to improve the design and to enhance the flexibility and reliability of flow-related machines and devices will continue to spur interest in fluids engineering. The objectives of the present seminar were: to exchange current information on arts, science, and technology of fluids engineering; to promote scientific cooperation between the fluids engineering communities of both nations, and to provide an opportunity for the participants and their colleagues to explore possible joint research programs in topics of high priority and mutual interest to both countries. The Seminar provided an excellent forum for reviewing the current state and future needs of fluids engineering for the two nations. With the Seminar ear-marking the first formal scientific exchange between Korea and the United States in the area of fluids engineering, the scope was deliberately left broad and general