Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik

1997-01-01

The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

Chapter 2. Mode-switching in Hydraulic Actuator Systems - An Experiment

DEFF Research Database (Denmark)

Andersen, Torben Ole; Conrad, Finn; Ravn, Anders P.

1996-01-01

Experiments with mode-switching adaptive control of actuators to drive a hydraulic test robot.The research is a cooperation with IT, DTU within the IMCIA Research Programme supported by the Danish Technical Research Council, STVF.......Experiments with mode-switching adaptive control of actuators to drive a hydraulic test robot.The research is a cooperation with IT, DTU within the IMCIA Research Programme supported by the Danish Technical Research Council, STVF....

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

Directory of Open Access Journals (Sweden)

Victor Barasuol

2018-06-01

Full Text Available Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT’s hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today’s main challenges of hydraulic actuation for legged robots through: (1 built-in controllers running inside integrated electronics for high-performance control, (2 low-leakage servo valves for reduced energy losses, and (3 compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for high-bandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.

Hydraulically amplified PZT mems actuator

Science.gov (United States)

Miles, Robin R.

2004-11-02

A hydraulically amplified microelectromechanical systems actuator. A piece of piezoelectric material or stacked piezo bimorph is bonded or deposited as a thin film. The piece is operatively connected to a primary membrane. A reservoir is operatively connected to the primary membrane. The reservoir contains a fluid. A membrane is operatively connected to the reservoir. In operation, energizing the piezoelectric material causing the piezoelectric material to bow. Bowing of the piezoelectric material causes movement of the primary membrane. Movement of the primary membrane results in a force in being transmitted to the liquid in the reservoir. The force in the liquid causes movement of the membrane. Movement of the membrane results in an operating actuator.

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

International Nuclear Information System (INIS)

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

1996-12-01

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

Hydraulically-actuated operating system for an electric circuit breaker

Science.gov (United States)

Barkan, Philip; Imam, Imdad

1978-01-01

This hydraulically-actuated operating system comprises a cylinder, a piston movable therein in an opening direction to open a circuit breaker, and an accumulator for supplying pressurized liquid to a piston-actuating space within the cylinder. A normally-closed valve between the accumulator and the actuating space is openable to allow pressurized liquid from the accumulator to flow through the valve into the actuating space to drive the piston in an opening direction. A vent is located hydraulically between the actuating space and the valve for affording communication between said actuating space and a low pressure region. Flow control means is provided for restricting leakage through said vent to a rate that prevents said leakage from substantially detracting from the development of pressure within said actuatng space during the period from initial opening of the valve to the time when said piston has moved through most of its opening stroke. Following such period and while the valve is still open, said flow control means allows effective leakage through said vent. The accumulator has a limited capacity that results in the pressure within said actuating space decaying promptly to a low value as a result of effective leakage through said vent after the piston has moved through a circuit-breaker opening stroke and while the valve is in its open state. Means is provided for resetting the valve to its closed state in response to said pressure decay in the actuating space.

Robust sampled-data control of hydraulic flight control actuators

OpenAIRE

Kliffken, Markus Gustav

1997-01-01

In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...

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

Science.gov (United States)

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.

Piezoelectric-hydraulic pump based band brake actuation system for automotive transmission control

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2007-04-01

The actuation system of friction elements (such as band brakes) is essential for high quality operations in modern automotive automatic transmissions (in short, ATs). The current band brake actuation system consists of several hydraulic components, including the oil pump, the regulating valve and the control valves. In general, it has been recognized that the current AT band brake actuation system has many limitations. For example, the oil pump and valve body are relatively heavy and complex. Also, the oil pumps induce inherently large drag torque, which affects fuel economy. This research is to overcome these problems of the current system by exploring the utilization of a hybrid type piezo-hydraulic pump device for AT band brake control. This new actuating system integrates a piezo-hydraulic pump to the input of the band brake. Compared with the current systems, this new actuator features much simpler structure, smaller size, and lower weight. This paper describes the development, design and fabrication of the new stand-alone prototype actuator for AT band brake control. An analytical model is developed and validated using experimental data. Performance tests on the hardware and system simulations utilizing the validated model are performed to characterize the new prototype actuator. It is predicted that with increasing of accumulator pressure and driving frequency, the proposed prototype actuating system will satisfy the band brake requirement for AT shift control.

Design, test and model of a hybrid magnetostrictive hydraulic actuator

International Nuclear Information System (INIS)

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

2009-01-01

The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm 3 s −1 and 22.7 cm 3 s −1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation

Real-time neural network-based self-tuning control of a nonlinear electro-hydraulic servomotor

Energy Technology Data Exchange (ETDEWEB)

Canelon, J.I.; Ortega, A.G. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Electrical Engineering; Shieh, L.S. [Houston Univ., Houston, TX (United States). Dept. of Electrical and Computer Engineering; Bastidas, J.I. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Mechanical Engineering; Zhang, Y.; Akujuobi, C.M. [Prairie View A and M Univ., Prairie View, TX (United States). Center of Excellence for Communication Systems Technology Research and Dept. of Engineering Technology

2010-08-13

For high power applications, hydraulic actuators offer many advantages over electromagnetic actuators, including higher torque/mass ratios; smaller control gains; excellent torque capability; filtered high frequency noise; better heat transfer characteristics; smaller size; higher speed of response of the servomechanism; cheaper hardware; and higher reliability. Therefore, any application that requires a large force applied smoothly by an actuator is a candidate for hydraulic power. Examples of such applications include vehicle steering and braking systems; roll mills; drilling rigs; heavy duty crane and presses; and industrial robots and actuators for aircraft control surfaces such as ailerons and flaps. It is extremely important to create effective control strategies for hydraulic systems. This paper outlined the real-time implementation of a neural network-based approach, for self-tuning control of the angular position of a nonlinear electro-hydraulic servomotor. Using an online training algorithm, a neural network autoregressive moving-average model with exogenous input (ARMAX) model of the system was identified and continuously updated and an optimal linear ARMAX model was determined. The paper briefly depicted the neural network-based self-tuning control approach and a description of the experimental equipment (hardware and software) was presented including the implementation details. The experimental results were discussed and conclusions were summarized. It was found that the approach proved to be very effective in the control of this fast dynamics system, outperforming a fine tuned PI controller. Therefore, although the self-tuning approach was computationally demanding, it was feasible for real-time implementation. 22 refs., 6 figs.

Development of Proportional Pressure Control Valve for Hydraulic Braking Actuator of Automobile ABS

Directory of Open Access Journals (Sweden)

Che-Pin Chen

2018-04-01

Full Text Available This research developed a novel proportional pressure control valve for an automobile hydraulic braking actuator. It also analyzed and simulated solenoid force of the control valves, and the pressure relief capability test of electromagnetic thrust with the proportional valve body. Considering the high controllability and ease of production, the driver of this proportional valve was designed with a small volume and powerful solenoid force to control braking pressure and flow. Since the proportional valve can have closed-loop control, the proportional valve can replace a conventional solenoid valve in current brake actuators. With the proportional valve controlling braking and pressure relief mode, it can narrow the space of hydraulic braking actuator, and precisely control braking force to achieve safety objectives. Finally, the proposed novel proportional pressure control valve of an automobile hydraulic braking actuator was implemented and verified experimentally.

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

Directory of Open Access Journals (Sweden)

Xin Zuo

2017-01-01

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

Helmholtz resonance in a piezoelectric–hydraulic pump-based hybrid actuator

International Nuclear Information System (INIS)

Kim, Gi-Woo; Wang, K W

2011-01-01

This paper demonstrates that a hydraulically acting Helmholtz resonator can exist in a piezoelectric–hydraulic pump (PHP) based hybrid actuator, which in turn affects the volumetric efficiency of the PHP. The simulation and experimental results illustrate the effect of Helmholtz resonance on the flow rate performance of the PHP. The study also shows how to shift the Helmholtz resonant frequency to a higher value through changing parameters such as the cylinder diameter and the effective bulk modulus of the working fluid, which will improve the volumetric efficiency and broaden the operating frequency range of the PHP actuator

Tracking control of the hydraulically actuated flexible manipulator

International Nuclear Information System (INIS)

Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

1995-01-01

The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

Control of a hydraulically actuated continuously variable transmission

NARCIS (Netherlands)

Pesgens, M.F.M.; Vroemen, B.G.; Stouten, B.; Veldpaus, F.E.; Steinbuch, M.

2006-01-01

Vehicular drivelines with hierarchical powertrain control require good component controller tracking, enabling the main controller to reach the desired goals. This paper focuses on the development of a transmission ratio controller for a hydraulically actuated metal push-belt continuously variable

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

DEFF Research Database (Denmark)

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

2015-01-01

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

Development of hydraulic brake actuator for active brake control; Active brake seigyoyo yuatsu booster no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Konishi, Y; Hattori, M. Sugisawa, M.; Nishii, M [Aisin Seiki Co. Ltd., Aichi (Japan)

1997-10-01

Recently, application of active brake control systems of the vehicle are increasing. (Vehicle stability control, Panic brake assist ) We have developed a new hydraulic brake actuator for active brake control systems. New hydraulic brake actuator is composed of the three parts. (Hydraulic booster unit, Power supply unit, Control valve unit) This report describes the construction of the new hydraulic booster unit. 2 refs., 10 figs.

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

DEFF Research Database (Denmark)

Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

2005-01-01

This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...

Adjustable static and dynamic actuation of clamped-guided beams using electrothermal axial loads

KAUST Repository

Alcheikh, Nouha

2018-02-14

The paper presents adjustable static and dynamic actuations of in-plane clamped-guided beams. The structures, of variable stiffness, can be used as highly tunable resonators and actuators. Axial loads are applied through electrothermal U-shaped and flexure beams actuators stacked near the edges of curved (arch) beams. The electrothermal actuators can be configurred in various ways to adjust as desired the mechanical stiffness of the structures; thereby controlling their deformation stroke as actuators and their operating resonance frequency as resonators. The experimental and finite element results demonstrate the flexibility of the designs in terms of static displacements and resonance frequencies of the first and second symmetric modes of the arches. The results show considerable increase in the resonance frequency and deflection of the microbeam upon changing end actuation conditions, which can be promising for low voltage actuation and tunable resonators applications, such as filters and memory devices. As case studies of potential device configurations of the proposed design, we demonstrate eight possibilities of achieving new static and dynamic behaviors, which produce various resonance frequencies and static displacement curves. The ability to actively shift the entire frequency response curve of a device is desirable for several applications to compensate for in-use anchor degradations and deformations. As an example, we experimentally demonstrate using the device as a resonant logic gate, with active resonance tuning, showing fundamental 2-bit logic functions, such as AND,XOR, and NOR.

Adjustable static and dynamic actuation of clamped-guided beams using electrothermal axial loads

KAUST Repository

Alcheikh, Nouha; Tella, Sherif Adekunle; Younis, Mohammad I.

2018-01-01

The paper presents adjustable static and dynamic actuations of in-plane clamped-guided beams. The structures, of variable stiffness, can be used as highly tunable resonators and actuators. Axial loads are applied through electrothermal U-shaped and flexure beams actuators stacked near the edges of curved (arch) beams. The electrothermal actuators can be configurred in various ways to adjust as desired the mechanical stiffness of the structures; thereby controlling their deformation stroke as actuators and their operating resonance frequency as resonators. The experimental and finite element results demonstrate the flexibility of the designs in terms of static displacements and resonance frequencies of the first and second symmetric modes of the arches. The results show considerable increase in the resonance frequency and deflection of the microbeam upon changing end actuation conditions, which can be promising for low voltage actuation and tunable resonators applications, such as filters and memory devices. As case studies of potential device configurations of the proposed design, we demonstrate eight possibilities of achieving new static and dynamic behaviors, which produce various resonance frequencies and static displacement curves. The ability to actively shift the entire frequency response curve of a device is desirable for several applications to compensate for in-use anchor degradations and deformations. As an example, we experimentally demonstrate using the device as a resonant logic gate, with active resonance tuning, showing fundamental 2-bit logic functions, such as AND,XOR, and NOR.

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

Science.gov (United States)

Xu, Bing; Cheng, Min

2018-06-01

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Self-Latching Piezocomposite Actuator

Science.gov (United States)

Wilkie, William K. (Inventor); Bryant, Robert G. (Inventor); Lynch, Christopher S. (Inventor)

2017-01-01

A self-latching piezocomposite actuator includes a plurality of shape memory ceramic fibers. The actuator can be latched by applying an electrical field to the shape memory ceramic fibers. The actuator remains in a latched state/shape after the electrical field is no longer present. A reverse polarity electric field may be applied to reset the actuator to its unlatched state/shape. Applied electric fields may be utilized to provide a plurality of latch states between the latched and unlatched states of the actuator. The self-latching piezocomposite actuator can be used for active/adaptive airfoils having variable camber, trim tabs, active/deformable engine inlets, adaptive or adjustable vortex generators, active optical components such as mirrors that change shapes, and other morphing structures.

Design and Performance Evaluation of an Electro-Hydraulic Camless Engine Valve Actuator for Future Vehicle Applications.

Science.gov (United States)

Nam, Kanghyun; Cho, Kwanghyun; Park, Sang-Shin; Choi, Seibum B

2017-12-18

This paper details the new design and dynamic simulation of an electro-hydraulic camless engine valve actuator (EH-CEVA) and experimental verification with lift position sensors. In general, camless engine technologies have been known for improving fuel efficiency, enhancing power output, and reducing emissions of internal combustion engines. Electro-hydraulic valve actuators are used to eliminate the camshaft of an existing internal combustion engines and used to control the valve timing and valve duration independently. This paper presents novel electro-hydraulic actuator design, dynamic simulations, and analysis based on design specifications required to satisfy the operation performances. An EH-CEVA has initially been designed and modeled by means of a powerful hydraulic simulation software, AMESim, which is useful for the dynamic simulations and analysis of hydraulic systems. Fundamental functions and performances of the EH-CEVA have been validated through comparisons with experimental results obtained in a prototype test bench.

Piezoresistive cantilever force-clamp system

Energy Technology Data Exchange (ETDEWEB)

Park, Sung-Jin; Petzold, Bryan C.; Pruitt, Beth L. [Department of Mechanical Engineering, Stanford University, Stanford, California 94305 (United States); Goodman, Miriam B. [Department of Molecular and Cellular Physiology, Stanford University, Stanford, California 94305 (United States)

2011-04-15

We present a microelectromechanical device-based tool, namely, a force-clamp system that sets or ''clamps'' the scaled force and can apply designed loading profiles (e.g., constant, sinusoidal) of a desired magnitude. The system implements a piezoresistive cantilever as a force sensor and the built-in capacitive sensor of a piezoelectric actuator as a displacement sensor, such that sample indentation depth can be directly calculated from the force and displacement signals. A programmable real-time controller operating at 100 kHz feedback calculates the driving voltage of the actuator. The system has two distinct modes: a force-clamp mode that controls the force applied to a sample and a displacement-clamp mode that controls the moving distance of the actuator. We demonstrate that the system has a large dynamic range (sub-nN up to tens of {mu}N force and nm up to tens of {mu}m displacement) in both air and water, and excellent dynamic response (fast response time, <2 ms and large bandwidth, 1 Hz up to 1 kHz). In addition, the system has been specifically designed to be integrated with other instruments such as a microscope with patch-clamp electronics. We demonstrate the capabilities of the system by using it to calibrate the stiffness and sensitivity of an electrostatic actuator and to measure the mechanics of a living, freely moving Caenorhabditis elegans nematode.

Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton

Directory of Open Access Journals (Sweden)

Jun Zhu

2017-01-01

Full Text Available This article presents the design and experimental testing of a unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton. The proposed actuator is designed for mimicking the high-efficiency passive behavior of biological knee and providing actively assistance in locomotion. The adjustable passive compliance of exoskeletal knee is achieved through a variable ratio lever mechanism with linear elastic element. A compact customized electrohydraulic system is also designed to accommodate application demands. Preliminary experimental results show the prototype has good performances in terms of stiffness regulation and joint torque control. The actuator is also implemented in an exoskeleton knee joint, resulting in anticipant human-like passive compliance behavior.

Design and modeling of a hydraulically amplified magnetostrictive actuator for automotive engine mounts

Science.gov (United States)

Chakrabarti, Suryarghya; Dapino, Marcelo J.

2009-03-01

A bidirectional magnetostrictive actuator with millimeter stroke and a blocked force of few tens of Newtons has been developed based on a Terfenol-D driver and a simple hydraulic magnification stage. The actuator is compared with an electrodynamic actuator used in active powertrain mounts in terms of electrical power consumption, frequency bandwidth, and spectral content of the response. The measurements show that the actuator has a flat free-displacement and blocked-force response up to 200 Hz, suggesting a significantly broader frequency bandwidth than commercial electromagnetic actuators while drawing comparable amounts of power.

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

Directory of Open Access Journals (Sweden)

Xavier Arouette

2010-03-01

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

Nonlinear Model-Based Fault Detection for a Hydraulic Actuator

NARCIS (Netherlands)

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

2011-01-01

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

Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

DEFF Research Database (Denmark)

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...

On Energy Efficient Mobile Hydraulic Systems : with Focus on Linear Actuation

OpenAIRE

Heybroek, Kim

2017-01-01

In this dissertation, energy efficient hydraulic systems are studied. The research focuses on solutions for linear actuators in mobile applications, with emphasis on construction machines. Alongside the aspect of energy efficiency, the thesis deals with competing aspects in hydraulic system design found in the development of construction machines. Simulation models and controls for different concepts are developed, taking the whole machine into account. In line with this work, several proof o...

Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.

Science.gov (United States)

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

2017-07-10

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

Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

Directory of Open Access Journals (Sweden)

Li Geqiang

2015-01-01

Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

Design and simulation for a hydraulic actuated quadruped robot

International Nuclear Information System (INIS)

Rong, Xuewen; Li, Yibin; Li, Bin; Ruan, Jiuhong

2012-01-01

This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders

Higher order modes excitation of electrostatically actuated clamped–clamped microbeams: experimental and analytical investigation

KAUST Repository

Jaber, Nizar

2016-01-06

© 2016 IOP Publishing Ltd. In this study, we demonstrate analytically and experimentally the excitations of the higher order modes of vibrations in electrostatically actuated clamped-clamped microbeam resonators. The concept is based on using partial electrodes with shapes that induce strong excitation of the mode of interest. The devices are fabricated using polyimide as a structural layer coated with nickel from the top and chrome and gold layers from the bottom. Experimentally, frequency sweeps with different electro-dynamical loading conditions are shown to demonstrate the excitation of the higher order modes of vibration. Using a half electrode, the second mode is excited with high amplitude of vibration compared with almost zero response using the full electrode. Also, using a two-third electrode configuration is shown to amplify the third mode resonance amplitude compared with the full electrode under the same electrical loading conditions. An analytical model is developed based on the Euler-Bernollui beam model and the Galerkin method to simulate the device response. Good agreement between the simulation results and the experimental data is reported.

Suitability of Hydraulic Disk Brakes for Passive Actuation of Upper-Extremity Rehabilitation Exoskeleton

Directory of Open Access Journals (Sweden)

Arno H. A. Stienen

2009-01-01

Full Text Available Passive, energy-dissipating actuators are promising for force-coordination training in stroke rehabilitation, as they are inherently safe and have a high torque-to-weight ratio. The goal of this study is to determine if hydraulic disk brakes are suitable to actuate an upper-extremity exoskeleton, for application in rehabilitation settings. Passive actuation with friction brakes has direct implications for joint control. Braking is always opposite to the movement direction. During standstill, the measured torque is equal to the torque applied by the human. During rotations, it is equal to the brake torque. Actively assisting movement is not possible, nor are energy-requiring virtual environments. The evaluated disk brake has a 20 Nm bandwidth (flat-spectrum, multi-sine of 10 Hz; sufficient for torques required for conventional therapy and simple, passive virtual environments. The maximum static output torque is 120 Nm, sufficient for isometric training of the upper extremity. The minimal impedance is close zero, with only the inertia of the device felt. In conclusion, hydraulic disk brakes are suitable for rehabilitation devices.

Recurrent-neural-network-based identification of a cascade hydraulic actuator for closed-loop automotive power transmission control

International Nuclear Information System (INIS)

You, Seung Han; Hahn, Jin Oh

2012-01-01

By virtue of its ease of operation compared with its conventional manual counterpart, automatic transmissions are commonly used as automotive power transmission control system in today's passenger cars. In accordance with this trend, research efforts on closed-loop automatic transmission controls have been extensively carried out to improve ride quality and fuel economy. State-of-the-art power transmission control algorithms may have limitations in performance because they rely on the steady-state characteristics of the hydraulic actuator rather than fully exploit its dynamic characteristics. Since the ultimate viability of closed-loop power transmission control is dominated by precise pressure control at the level of hydraulic actuator, closed-loop control can potentially attain superior efficacy in case the hydraulic actuator can be easily incorporated into model-based observer/controller design. In this paper, we propose to use a recurrent neural network (RNN) to establish a nonlinear empirical model of a cascade hydraulic actuator in a passenger car automatic transmission, which has potential to be easily incorporated in designing observers and controllers. Experimental analysis is performed to grasp key system characteristics, based on which a nonlinear system identification procedure is carried out. Extensive experimental validation of the established model suggests that it has superb one-step-ahead prediction capability over appropriate frequency range, making it an attractive approach for model-based observer/controller design applications in automotive systems

Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2009-08-01

In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1\\to 2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements.

Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

International Nuclear Information System (INIS)

Kim, Gi-Woo; Wang, K W

2009-01-01

In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

Hydraulic engine valve actuation system including independent feedback control

Science.gov (United States)

Marriott, Craig D

2013-06-04

A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

Self-Sensing Ionic Polymer Actuators: A Review

Directory of Open Access Journals (Sweden)

Karl Kruusamäe

2015-03-01

Full Text Available Ionic electromechanically active polymers (IEAP are laminar composites that can be considered attractive candidates for soft actuators. Their outstanding properties such as low operating voltage, easy miniaturization, and noiseless operation are, however, marred by issues related to the repeatability in the production and operation of these materials. Implementing closed-loop control for IEAP actuators is a viable option for overcoming these issues. Since IEAP laminates also behave as mechanoelectrical sensors, it is advantageous to combine the actuating and sensing functionalities of a single device to create a so-called self-sensing actuator. This review article systematizes the state of the art in producing self-sensing ionic polymer actuators. The IEAPs discussed in this paper are conducting (or conjugated polymers actuators (CPA, ionic polymer-metal composite (IPMC, and carbonaceous polymer laminates.

Servo-Elastic Dynamics of a Hydraulic Actuator Pitching a Blade with Large Deflections

International Nuclear Information System (INIS)

Hansen, M H; Kallesoee, B S

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 on the Ziegler-Nichols method. Computed transfer functions from reference to actual pitch angles indicate that the actuator can be approximated as a low-pass filter with some appropriate limitations on pitching speed and acceleration. The structural blade model includes the geometrical coupling of edgewise bending and torsion for large flapwise deflections. This coupling is shown to introduce edgewise bending response for pitch reference oscillations around the natural frequency of the edgewise bending mode, in which frequency range the transfer function from reference to actual pitch angle cannot be modeled as a simple low-pass filter. The pitch bearing is assumed to be frictionless as a first approximation

The Piezo Actuator-Driven Pulsed Water Jet System for Minimizing Renal Damage after Off-Clamp Laparoscopic Partial Nephrectomy.

Science.gov (United States)

Kamiyama, Yoshihiro; Yamashita, Shinichi; Nakagawa, Atsuhiro; Fujii, Shinji; Mitsuzuka, Koji; Kaiho, Yasuhiro; Ito, Akihiro; Abe, Takaaki; Tominaga, Teiji; Arai, Yoichi

2017-09-01

In the setting of partial nephrectomy (PN) for renal cell carcinoma, postoperative renal dysfunction might be caused by surgical procedure. The aim of this study was to clarify the technical safety and renal damage after off-clamp laparoscopic PN (LPN) with a piezo actuator-driven pulsed water jet (ADPJ) system. Eight swine underwent off-clamp LPN with this surgical device, while off-clamp open PN was also performed with radio knife or soft coagulation. The length of the removed kidney was 40 mm, and the renal parenchyma was dissected until the renal calyx became clearly visible. The degree of renal degeneration from the resection surface was compared by Hematoxylin-Eosin staining and immunostaining for 1-methyladenosine, a sensitive marker for the ischemic tissue damage. The mRNA levels of neutrophil gelatinase-associated lipocalin (Ngal), a biomarker for acute kidney injury, were measured by quantitative real-time PCR. Off-clamp LPN with ADPJ system was successfully performed while preserving fine blood vessels and the renal calix with little bleeding. In contrast to other devices, the resection surface obtained with the ADPJ system showed only marginal degree of ischemic changes. Indeed, the expression level of Ngal mRNA was lower in the resection surface obtained with the ADPJ system than that with soft coagulation (p = 0.02). Furthermore, using the excised specimens of renal cell carcinoma, we measured the breaking strength at each site of the human kidney, suggesting the applicability of this ADPJ to clinical trials. In conclusion, off-clamp LPN with the ADPJ system could be safely performed with attenuated renal damage.

True Low-Power Self-Locking Soft Actuators.

Science.gov (United States)

Kim, Seung Jae; Kim, Onnuri; Park, Moon Jeong

2018-03-01

Natural double-layered structures observed in living organisms are known to exhibit asymmetric volume changes with environmental triggers. Typical examples are natural roots of plants, which show unique self-organized bending behavior in response to environmental stimuli. Herein, light- and electro-active polymer (LEAP) based actuators with a double-layered structure are reported. The LEAP actuators exhibit an improvement of 250% in displacement and hold an object three times heavier as compared to that in the case of conventional electro-active polymer actuators. Most interestingly, the bending motion of the LEAP actuators can be effectively locked for a few tens of minutes even in the absence of a power supply. Further, the self-locking LEAP actuators show a large and reversible bending strain of more than 2.0% and require only 6.2 mW h cm -2 of energy to hold an object for 15 min at an operating voltage of 3 V. These novel self-locking soft actuators should find wide applicability in artificial muscles, biomedical microdevices, and various innovative soft robot technologies. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

International Nuclear Information System (INIS)

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.

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

Energy Technology Data Exchange (ETDEWEB)

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.

Water Hydraulic Systems

DEFF Research Database (Denmark)

Conrad, Finn

2005-01-01

The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on......-going research projects on fluid power and mechatronics based on tap water hydraulic servovalves and linear servo actuators and rotary vane actuators for motion control and power transmission. Development and design a novel water hydraulic rotary vane actuator for robot manipulators. Proposed mathematical...... modelling, control and simulation of a water hydraulic rotary vane actuator applied to power and control a two-links manipulator and evaluate performance. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University’s presentation of research...

Multifrequency Excitation of a Clamped-Clamped Microbeam

KAUST Repository

Jaber, Nizar R.

2016-01-20

We present analytical and experimental investigation of an electrically actuated clamped-clamped microbeam under a twosource harmonic excitation. The first frequency is swept around the first mode of vibration where the second one is fixed. These microbeams are fabricated using polyimide as structural layer coated with nickel form top and chromium and gold layers from bottom. We demonstrate the excitation of additive and subtractive type resonance. We show that by properly tuning the frequency and the amplitude of the excitation force, the frequency bandwidth of the resonator is increased. Theoretically, we solved the eigenvalue problem for different axial forces to find the natural frequencies ratio that match the experimental values. Using Galerkin method, a reduced order model is derived to simulate the static and dynamic response of the device where using three symmetric mode shapes provided a good agreement with experimental data. © Copyright 2015 by ASME.

Intelligent Hydraulic Actuator and Exp-based Modelling of Losses in Pumps and .

DEFF Research Database (Denmark)

Zhang, Muzhi

A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed.......A intelligent fuzzy logic self-organising PD+I controller for a gearrotor hydraulic motor was developed and evaluated. Furthermore, a experimental-based modelling methods with a new software tool 'Dynamodata' for modelling of losses in hydraulic motors and pumps was developed....

Self-organizing sensing and actuation for automatic control

Science.gov (United States)

Cheng, George Shu-Xing

2017-07-04

A Self-Organizing Process Control Architecture is introduced with a Sensing Layer, Control Layer, Actuation Layer, Process Layer, as well as Self-Organizing Sensors (SOS) and Self-Organizing Actuators (SOA). A Self-Organizing Sensor for a process variable with one or multiple input variables is disclosed. An artificial neural network (ANN) based dynamic modeling mechanism as part of the Self-Organizing Sensor is described. As a case example, a Self-Organizing Soft-Sensor for CFB Boiler Bed Height is presented. Also provided is a method to develop a Self-Organizing Sensor.

High-authority smart material integrated electric actuator

Science.gov (United States)

Weisensel, G. N.; Pierce, Thomas D.; Zunkel, Gary

1997-05-01

For many current applications, hydraulic power is still the preferred method of gaining mechanical advantage. However, in many of these applications, this power comes with the penalties of high weight, size, cost, and maintenance due to the system's distributed nature and redundancy requirements. A high authority smart material Integrated Electric Actuator (IEA) is a modular, self-contained linear motion device that is capable of producing dynamic output strokes similar to those of hydraulic actuators yet at significantly reduced weight and volume. It provides system simplification and miniaturization. This actuator concept has many innovative features, including a TERFENOL-D-based pump, TERFENOL-D- based active valves, control algorithms, a displacement amplification unit and integrated, unitized packaging. The IEA needs only electrical power and a control command signal as inputs to provide high authority, high response rate actuation. This approach is directly compatible with distributed control strategies. Aircraft control, automotive brakes and fuel injection, and fluid power delivery are just some examples of the IEA's pervasive applications in aerospace, defense and commercial systems.

Simulation of proportional control of hydraulic actuator using digital hydraulic valves

Science.gov (United States)

Raghuraman, D. R. S.; Senthil Kumar, S.; Kalaiarasan, G.

2017-11-01

Fluid power systems using oil hydraulics in earth moving and construction equipment have been using proportional and servo control valves for a long time to achieve precise and accurate position control backed by system performance. Such valves are having feedback control in them and exhibit good response, sensitivity and fine control of the actuators. Servo valves and proportional valves are possessing less hysteresis when compared to on-off type valves, but when the servo valve spools get stuck in one position, a high frequency called as jitter is employed to bring the spool back, whereas in on-off type valves it requires lesser technology to retract the spool. Hence on-off type valves are used in a technology known as digital valve technology, which caters to precise control on slow moving loads with fast switching times and with good flow and pressure control mimicking the performance of an equivalent “proportional valve” or “servo valve”.

Actuator digital interface unit (AIU). [control units for space shuttle data system

Science.gov (United States)

1973-01-01

Alternate versions of the actuator interface unit are presented. One alternate is a dual-failure immune configuration which feeds a look-and-switch dual-failure immune hydraulic system. The other alternate is a single-failure immune configuration which feeds a majority voting hydraulic system. Both systems communicate with the data bus through data terminals dedicated to each user subsystem. Both operational control data and configuration control information are processed in and out of the subsystem via the data terminal which yields the actuator interface subsystem, self-managing within its failure immunity capability.

Biological cell controllable patch-clamp microchip

Science.gov (United States)

Penmetsa, Siva; Nagrajan, Krithika; Gong, Zhongcheng; Mills, David; Que, Long

2010-12-01

A patch-clamp (PC) microchip with cell sorting and positioning functions is reported, which can avoid drawbacks of random cell selection or positioning for a PC microchip. The cell sorting and positioning are enabled by air bubble (AB) actuators. AB actuators are pneumatic actuators, in which air pressure is generated by microheaters within sealed microchambers. The sorting, positioning, and capturing of 3T3 cells by this type of microchip have been demonstrated. Using human breast cancer cells MDA-MB-231 as the model, experiments have been demonstrated by this microchip as a label-free technical platform for real-time monitoring of the cell viability.

A COMPUTATIONAL STUDY OF THE ACTUATION SPEED OF THE HYDRAULIC CYLINDER UNDER DIFFERENT PORTS’ SIZES AND CONFIGURATIONS

Directory of Open Access Journals (Sweden)

M. O. ABDALLA

2015-02-01

Full Text Available The discharged oil from hydraulic cylinder, during its operation, is highly restricted by the small sized outlets. As a result, a back pressure builds up and the piston motion, therefore, is slowed down; the system pump has to do additional work to overcome this hydraulic resistance so as to preserve the required speed. In this study the possibility of improvement of the actuation speed of the hydraulic cylinders was investigated and analysed. Both a four-port cylinder and a resized-ports cylinder were proposed as fast cylinders. FLUENT 6.3 was used for the simulation of the oil flow field of the hydraulic cylinders. Results showed that relation between discharge flow and the outlets diameters is best described by a power law having coefficients partially depending on the system pressure. It had also shown that for any given total outlet area, the actuation speed of the single outlet cylinders is always higher than that of the double outlets cylinders. In one case where the total outlet area is 3.93E-05m2, the actuation speed of the single outlet cylinder is 21% higher than that of the double outlets cylinder; whereas, when doubling the total outlet area the different is reduced to just 6% . Resizing the outlet for small ports was more efficient than using multi-outlets; while for a large ports it shows no significant difference to use either one outlet port or multi-outlets. Both the solutions of resizing or ports addition need special valve to be fit to the cylinder so that the cylinder could be effectively operated under the control of the proportional valve.

System and method for controlling engine knock using electro-hydraulic valve actuation

Science.gov (United States)

Brennan, Daniel G

2013-12-10

A control system for an engine includes a knock control module and a valve control module. The knock control module adjusts a period that one or more of an intake valve and an exhaust valve of a cylinder are open based on engine knock corresponding to the cylinder. The valve control module, based on the adjusted period, controls the one or more of the intake valve and the exhaust valve using one or more hydraulic actuators.

Nonlinear force feedback control of piezoelectric-hydraulic pump actuator for automotive transmission shift control

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2008-03-01

In recent years, researchers have investigated the feasibility of utilizing piezoelectric-hydraulic pump based actuation systems for automotive transmission controls. This new concept could eventually reduce the complexity, weight, and fuel consumption of the current transmissions. In this research, we focus on how to utilize this new approach on the shift control of automatic transmissions (AT), which generally requires pressure profiling for friction elements during the operation. To illustrate the concept, we will consider the 1--> 2 up shift control using band brake friction elements. In order to perform the actuation force tracking for AT shift control, nonlinear force feedback control laws are designed based on the sliding mode theory for the given nonlinear system. This paper will describe the modeling of the band brake actuation system, the design of the nonlinear force feedback controller, and simulation and experimental results for demonstration of the new concept.

Optimum Design of a Moving Coil Actuator for Fast-Switching Valves in Digital Hydraulic Pumps and Motors

DEFF Research Database (Denmark)

Roemer, Daniel Beck; Bech, Michael Møller; Johansen, Per

2015-01-01

Fast-switching seat valves suitable for digital hydraulic pumps and motors utilize direct electromagnetic actuators, which must exhibit superior transient performance to allow efficient operation of the fluid power pump/motor. A moving coil actuator resulting in a minimum valve switching time...... is designed for such valves using transient finite-element analysis of the electromagnetic circuit. The valve dynamics are coupled to the fluid restrictive forces, which significantly influence the effective actuator force. Fluid forces are modeled based on transient computational fluid dynamics models....... The electromagnetic finite-element model is verified against experimental measurement, and used to design an optimum moving coil actuator for the application considering different voltage-current ratios of the power supply. Results show that the optimum design depends on the supply voltage-current ratio, however...

Dynamic Actuation of Single-Crystal Diamond Nanobeams

OpenAIRE

Sohn, Young-Ik; Burek, Michael J.; Kara, Vural; Kearns, Ryan; Lončar, Marko

2014-01-01

We show the dielectrophoretic actuation of single-crystal diamond nanomechanical devices. Gradient radio-frequency electromagnetic forces are used to achieve actuation of both cantilever and doubly clamped beam structures, with operation frequencies ranging from a few MHz to ~50MHz. Frequency tuning and parametric actuation are also studied.

Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments.

Science.gov (United States)

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

2016-11-03

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

Comb-drive actuators for large displacements

NARCIS (Netherlands)

Legtenberg, Rob; Legtenberg, R.; Groeneveld, A.W.; Elwenspoek, Michael Curt

The design, fabrication and experimental results of lateral-comb-drive actuators for large displacements at low driving voltages is presented. A comparison of several suspension designs is given, and the lateral large deflection behaviour of clamped-clamped beams and a folded flexure design is

Pneumatic and hydraulic microactuators: a review

International Nuclear Information System (INIS)

De Volder, Michaël; Reynaerts, Dominiek

2010-01-01

The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston–cylinder and drag-based microdevices. (topical review)

A study of low-cost reliable actuators for light aircraft. Part B: Appendices

Science.gov (United States)

Eijsink, H.; Rice, M.

1978-01-01

Computer programs written in FORTRAN are given for time response calculations on pneumatic and linear hydraulic actuators. The programs are self-explanatory with comment statements. Program output is also included.

Temperature sensitive self-actuated scram mechanism

International Nuclear Information System (INIS)

Giuggio, N.; Noyes, R.C.; Zaman, S.U.

1982-01-01

This invention provides a mechanism for rapidly dropping a neutron absorbing poison material into the core of an LMFBR type reactor, and in particular a mechanism that is self-actuated when the reactor coolant temperature reaches a critical value. A safety duct located in the reactor core and extending above the core contains an inner column that provides a vertical coolant flow path through the duct. One or more fuel pins are located in the duct, with a temperature-responsive actuator near their upper ends. A poison bundle surrounds the inner column within the duct, held in position by a release mechanism connected to the actuator. The inferred core temperature is sensed by a fluid confined within the actuator, and the expansion of the fluid is translated into a linear force used to activate the release mechanism

Toward a New Generation of Smart Biomimetic Actuators for Architecture.

Science.gov (United States)

Poppinga, Simon; Zollfrank, Cordt; Prucker, Oswald; Rühe, Jürgen; Menges, Achim; Cheng, Tiffany; Speck, Thomas

2017-10-24

Motile plant structures (e.g., leaves, petals, cone scales, and capsules) are functionally highly robust and resilient concept generators for the development of biomimetic actuators for architecture. Here, a concise review of the state-of-the-art of plant movement principles and derived biomimetic devices is provided. Achieving complex and higher-dimensional shape changes and passive-hydraulic actuation at a considerable time scale, as well as mechanical robustness of the motile technical structures, is challenging. For example, almost all currently available bioinspired hydraulic actuators show similar limitations due to the poroelastic time scale. Therefore, a major challenge is increasing the system size to the meter range, with actuation times of minutes or below. This means that response speed and flow rate need significant improvement for the systems, and the long-term performance degradation issue of hygroscopic materials needs to be addressed. A theoretical concept for "escaping" the poroelastic regime is proposed, and the possibilities for enhancing the mechanical properties of passive-hydraulic bilayer actuators are discussed. Furthermore, the promising aspects for further studies to implement tropistic movement behavior are presented, i.e., movement that depends on the direction of the triggering stimulus, which can finally lead to "smart building skins" that autonomously and self-sufficiently react to changing environmental stimuli in a direction-dependent manner. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Effect of stiffness and movement speed on selected dynamic torque characteristics of hydraulic-actuation joystick controls for heavy vehicles.

Science.gov (United States)

Oliver, Michele; Rogers, Robert; Rickards, Jeremy; Tingley, Maureen; Biden, Edmund

2006-02-22

The purpose of this work was to quantify the effects of joystick stiffness and movement speed on the dynamic torque characteristics of hydraulic-actuation joystick controls, as found in off-road vehicles, as one of the initial steps towards the development of a joystick design protocol. Using a previously developed mathematical model in which a hydraulic-actuation joystick is assumed to rotate about two axes where the rotation origin is a universal joint, the dynamic torque characteristics incurred by an operator were predicted. Utilizing a laboratory mock-up of an excavator cab environment, three actuation torque characteristics (peak torque, angular impulse and deceleration at the hard endpoint) were quantified for nine unskilled joystick operators during the use of a commonly used North American hydraulic-actuation joystick. The six different experimental conditions included combinations of three joystick stiffnesses and two movement speeds. The highest instantaneous input torque over the course of the joystick movement (not including the hard endpoint) was evaluated using the peak torque value. Angular impulse provided an indication of the sustained exposure to force. The third indicator, deceleration at the hard endpoint, was included to provide a description of impact loading on the hand as the joystick came to a sudden stop. The most important result of this work is that the dynamic torque characteristics incurred during hydraulic-actuation joystick use are substantial. While the peak torque values were not very different between the fast and slow motion conditions, the high decelerations even for slow movements observed at maximum excursion of the joystick indicate that the dynamics do matter. On the basis of deceleration at the hard endpoint and peak torque, the joystick movements that require the highest values for a combination of torque variables are the side-to-side ones. This suggests that less stiff balance and return springs should be considered for

MEMS-based clamp with a passive hold function for precision position retaining of micro manipulators

International Nuclear Information System (INIS)

Brouwer, D M; Van Dijk, J; Soemers, H M J R; De Jong, B R; De Boer, M J; Jansen, H V; Krijnen, G J M

2009-01-01

In this paper the design, modeling and fabrication of a precision MEMS-based clamp with a relatively large clamping force are presented. The purpose of the clamp is to mechanically fix a six-degree-of-freedom (DOF) MEMS-based sample manipulator (Brouwer et al J. Int. Soc. Precis. Eng. Nanotechnol. submitted) once the sample has been positioned in all DOFs. The clamping force is generated by a rotational electrostatic comb-drive actuator and can be latched passively by a parallel plate type electrostatically driven locking device. The clamp design is based on the principles of exact constraint design, resulting in a high actuation compliance (flexibility) combined with a high suspension stiffness. Therefore, a relatively large blocking force of 1.4 mN in relation to the used area of 1.8 mm 2 is obtained. The fabrication is based on silicon bulk micromachining technology and combines a high-aspect-ratio deep reactive ion etching (DRIE), conformal deposition of low-pressure chemical vapor deposition (LPCVD) silicon nitride and an anisotropic potassium hydroxide (KOH) backside etching technology. Special attention is given to void reduction of Si x N y trench isolation and reduction of heating phenomena during front-side release etching. Guidelines are given for the applied process. Measurements showed that the clamp was able to fix, hold and release a test actuator. The dynamic behavior was in good agreement with the modal analysis

Temperature sensitive self-actuated scram mechanism

International Nuclear Information System (INIS)

Giuggio, N.; Noyes, R.C.; Zaman, S.U.

1980-01-01

A self-actuated mechanism within a safety assembly in a liquid metal nuclear reactor comprising sensor fuel pins located in a reactor coolant flow path, a sensor bulb containing NaK located near the upper end of the sensor fuel pins and in the reactor coolant flow path, and a sensor tube connecting the sensor bulb to a metal bellows and push rod. The motion of the push rod resulting from the temperature dependent change in the NaK volume actuates a safety rod release mechanism when a predetermined coolant temperature is reached

Core clamping device for a nuclear reactor

International Nuclear Information System (INIS)

Guenther, R.W.

1974-01-01

The core clamping device for a fast neutron reactor includes clamps to support the fuel zone against the pressure vessel. The clamps are arranged around the circumference of the core. They consist of torsion bars arranged parallel at some distance around the core with lever arms attached to the ends whose force is directed in the opposite direction, pressing against the wall of the pressure vessel. The lever arms and pressure plates also actuated by the ends of the torsion bars transfer the stress, the pressure plates acting upon the fuel elements or fuel assemblies. Coupling between the ends of the torsion bars and the pressure plates is achieved by end carrier plates directly attached to the torsion bars and radially movable. This clamping device follows the thermal expansions of the core, allows specific elements to be disengaged in sections and saves space between the core and the neutron reflectors. (DG) [de

TOPICAL REVIEW: Pneumatic and hydraulic microactuators: a review

Science.gov (United States)

De Volder, Michaël; Reynaerts, Dominiek

2010-04-01

The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston-cylinder and drag-based microdevices.

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

International Nuclear Information System (INIS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-01-01

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

Internal Leakage Fault Detection and Tolerant Control of Single-Rod Hydraulic Actuators

Directory of Open Access Journals (Sweden)

Jianyong Yao

2014-01-01

Full Text Available The integration of internal leakage fault detection and tolerant control for single-rod hydraulic actuators is present in this paper. Fault detection is a potential technique to provide efficient condition monitoring and/or preventive maintenance, and fault tolerant control is a critical method to improve the safety and reliability of hydraulic servo systems. Based on quadratic Lyapunov functions, a performance-oriented fault detection method is proposed, which has a simple structure and is prone to implement in practice. The main feature is that, when a prescribed performance index is satisfied (even a slight fault has occurred, there is no fault alarmed; otherwise (i.e., a severe fault has occurred, the fault is detected and then a fault tolerant controller is activated. The proposed tolerant controller, which is based on the parameter adaptive methodology, is also prone to realize, and the learning mechanism is simple since only the internal leakage is considered in parameter adaptation and thus the persistent exciting (PE condition is easily satisfied. After the activation of the fault tolerant controller, the control performance is gradually recovered. Simulation results on a hydraulic servo system with both abrupt and incipient internal leakage fault demonstrate the effectiveness of the proposed fault detection and tolerant control method.

Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

Directory of Open Access Journals (Sweden)

Ye HUANG

2014-09-01

Full Text Available Hydraulic control systems of butterfly valves are presently valve-controlled and pump-controlled. Valve-controlled hydraulic systems have serious power loss and generate much heat during throttling. Pump-controlled hydraulic systems have no overflow or throttling losses but are limited in the speed adjustment of the variable-displacement pump, generate much noise, pollute the environment, and have motor power that does not match load requirements, resulting in low efficiency under light loads and wearing of the variable-displacement pump. To overcome these shortcomings, this article designs a closed hydraulic control system in which an AC servo motor drives a quantitative pump that controls a spiral swinging hydraulic cylinder, and analyzes and calculates the structure and parameters of a spiral swinging hydraulic cylinder. The hydraulic system adjusts the servo motor’s speed according to the requirements of the control system, and the motor power matches the power provided to components, thus eliminating the throttling loss of hydraulic circuits. The system is compact, produces a large output force, provides stable transmission, has a quick response, and is suitable as a hydraulic control system of a large butterfly valve.

Actuator technology and market outlook: where does the actuator move

Directory of Open Access Journals (Sweden)

Aleksanin Sergei Andreevich

2013-11-01

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

Specific storage and hydraulic conductivity tomography through the joint inversion of hydraulic heads and self-potential data

Science.gov (United States)

Ahmed, A. Soueid; Jardani, A.; Revil, A.; Dupont, J. P.

2016-03-01

Transient hydraulic tomography is used to image the heterogeneous hydraulic conductivity and specific storage fields of shallow aquifers using time series of hydraulic head data. Such ill-posed and non-unique inverse problem can be regularized using some spatial geostatistical characteristic of the two fields. In addition to hydraulic heads changes, the flow of water, during pumping tests, generates an electrical field of electrokinetic nature. These electrical field fluctuations can be passively recorded at the ground surface using a network of non-polarizing electrodes connected to a high impedance (> 10 MOhm) and sensitive (0.1 mV) voltmeter, a method known in geophysics as the self-potential method. We perform a joint inversion of the self-potential and hydraulic head data to image the hydraulic conductivity and specific storage fields. We work on a 3D synthetic confined aquifer and we use the adjoint state method to compute the sensitivities of the hydraulic parameters to the hydraulic head and self-potential data in both steady-state and transient conditions. The inverse problem is solved using the geostatistical quasi-linear algorithm framework of Kitanidis. When the number of piezometers is small, the record of the transient self-potential signals provides useful information to characterize the hydraulic conductivity and specific storage fields. These results show that the self-potential method reveals the heterogeneities of some areas of the aquifer, which could not been captured by the tomography based on the hydraulic heads alone. In our analysis, the improvement on the hydraulic conductivity and specific storage estimations were based on perfect knowledge of electrical resistivity field. This implies that electrical resistivity will need to be jointly inverted with the hydraulic parameters in future studies and the impact of its uncertainty assessed with respect to the final tomograms of the hydraulic parameters.

Non Linear Modelling and Control of Hydraulic Actuators

Directory of Open Access Journals (Sweden)

B. Šulc

2002-01-01

Full Text Available This paper deals with non-linear modelling and control of a differential hydraulic actuator. The nonlinear state space equations are derived from basic physical laws. They are more powerful than the transfer function in the case of linear models, and they allow the application of an object oriented approach in simulation programs. The effects of all friction forces (static, Coulomb and viscous have been modelled, and many phenomena that are usually neglected are taken into account, e.g., the static term of friction, the leakage between the two chambers and external space. Proportional Differential (PD and Fuzzy Logic Controllers (FLC have been applied in order to make a comparison by means of simulation. Simulation is performed using Matlab/Simulink, and some of the results are compared graphically. FLC is tuned in a such way that it produces a constant control signal close to its maximum (or minimum, where possible. In the case of PD control the occurrence of peaks cannot be avoided. These peaks produce a very high velocity that oversteps the allowed values.

A hydraulic hybrid propulsion method for automobiles with self-adaptive system

International Nuclear Information System (INIS)

Wu, Wei; Hu, Jibin; Yuan, Shihua; Di, Chongfeng

2016-01-01

A hydraulic hybrid vehicle with the self-adaptive system is proposed. The mode-switching between the driving mode and the hydraulic regenerative braking mode is realised by the pressure cross-feedback control. Extensive simulated and tested results are presented. The control parameters are reduced and the energy efficiency can be increased by the self-adaptive system. The mode-switching response is fast. The response time can be adjusted by changing the controlling spool diameter of the hydraulic operated check valve in the self-adaptive system. The closing of the valve becomes faster with a smaller controlling spool diameter. The hydraulic regenerative braking mode can be achieved by changing the hydraulic transformer controlled angle. Compared with the convention electric-hydraulic system, the self-adaptive system for the hydraulic hybrid vehicle mode-switching has a higher reliability and a lower cost. The efficiency of the hydraulic regenerative braking is also increased. - Highlights: • A new hybrid system with a self-adaptive system for automobiles is presented. • The mode-switching is realised by the pressure cross-feedback control. • The energy efficiency can be increased with the self-adaptive system. • The control parameters are reduced with the self-adaptive system.

Clamp wins pipe repair prize

Energy Technology Data Exchange (ETDEWEB)

Anon.

2001-04-01

This paper describes the permanent pipeline repair system, developed by Tekmar, which is powered by seawater hydraulics and is easily installed and tested by any workclass remotely operated vehicle (rov). Details are given of the two main components of the system, namely, the diverless high pressure split repair clamp and the rov-operated tool to install it.

MEMS earthworm: a thermally actuated peristaltic linear micromotor

Science.gov (United States)

Arthur, Craig; Ellerington, Neil; Hubbard, Ted; Kujath, Marek

2011-03-01

This paper examines the design, fabrication and testing of a bio-mimetic MEMS (micro-electro mechanical systems) earthworm motor with external actuators. The motor consists of a passive mobile shuttle with two flexible diamond-shaped segments; each segment is independently squeezed by a pair of stationary chevron-shaped thermal actuators. Applying a specific sequence of squeezes to the earthworm segments, the shuttle can be driven backward or forward. Unlike existing inchworm drives that use clamping and thrusting actuators, the earthworm actuators apply only clamping forces to the shuttle, and lateral thrust is produced by the shuttle's compliant geometry. The earthworm assembly is fabricated using the PolyMUMPs process with planar dimensions of 400 µm width by 800 µm length. The stationary actuators operate within the range of 4-9 V and provide a maximum shuttle range of motion of 350 µm (approximately half its size), a maximum shuttle speed of 17 mm s-1 at 10 kHz, and a maximum dc shuttle force of 80 µN. The shuttle speed was found to vary linearly with both input voltage and input frequency. The shuttle force was found to vary linearly with the actuator voltage.

MEMS earthworm: a thermally actuated peristaltic linear micromotor

International Nuclear Information System (INIS)

Arthur, Craig; Ellerington, Neil; Hubbard, Ted; Kujath, Marek

2011-01-01

This paper examines the design, fabrication and testing of a bio-mimetic MEMS (micro-electro mechanical systems) earthworm motor with external actuators. The motor consists of a passive mobile shuttle with two flexible diamond-shaped segments; each segment is independently squeezed by a pair of stationary chevron-shaped thermal actuators. Applying a specific sequence of squeezes to the earthworm segments, the shuttle can be driven backward or forward. Unlike existing inchworm drives that use clamping and thrusting actuators, the earthworm actuators apply only clamping forces to the shuttle, and lateral thrust is produced by the shuttle's compliant geometry. The earthworm assembly is fabricated using the PolyMUMPs process with planar dimensions of 400 µm width by 800 µm length. The stationary actuators operate within the range of 4–9 V and provide a maximum shuttle range of motion of 350 µm (approximately half its size), a maximum shuttle speed of 17 mm s −1 at 10 kHz, and a maximum dc shuttle force of 80 µN. The shuttle speed was found to vary linearly with both input voltage and input frequency. The shuttle force was found to vary linearly with the actuator voltage.

Self-running and self-floating two-dimensional actuator using near-field acoustic levitation

Science.gov (United States)

Chen, Keyu; Gao, Shiming; Pan, Yayue; Guo, Ping

2016-09-01

Non-contact actuators are promising technologies in metrology, machine-tools, and hovercars, but have been suffering from low energy efficiency, complex design, and low controllability. Here we report a new design of a self-running and self-floating actuator capable of two-dimensional motion with an unlimited travel range. The proposed design exploits near-field acoustic levitation for heavy object lifting, and coupled resonant vibration for generation of acoustic streaming for non-contact motion in designated directions. The device utilizes resonant vibration of the structure for high energy efficiency, and adopts a single piezo element to achieve both levitation and non-contact motion for a compact and simple design. Experiments demonstrate that the proposed actuator can reach a 1.65 cm/s or faster moving speed and is capable of transporting a total weight of 80 g under 1.2 W power consumption.

Design method for marine direct drive volume control ahead actuator

Directory of Open Access Journals (Sweden)

WANG Haiyang

2018-02-01

Full Text Available [Objectives] In order to reduce the size, weight and auxiliary system configuration of marine ahead actuators, this paper proposes a kind of direct drive volume control electro-hydraulic servo ahead actuator. [Methods] The protruding and indenting control of the servo oil cylinder are realized through the forward and reverse of the bidirectional working gear pump, and the flow matching valve implements the self-locking of the ahead actuator in the target position. The mathematical model of the ahead actuator is established, and an integral separation fuzzy PID controller designed. On this basis, using AMESim software to build a simulation model of the ahead actuator, and combined with testing, this paper completes an analysis of the control strategy research and dynamic and static performance of the ahead actuator. [Results] The experimental results agree well with the simulation results and verify the feasibility of the ahead actuator's design. [Conclusions] The research results of this paper can provide valuable references for the integration and miniaturization design of marine ahead actuators.

On the impact of self-clearing on electroactive polymer (EAP) actuators

Science.gov (United States)

Ahmed, Saad; Ounaies, Zoubeida; Lanagan, Michael T.

2017-10-01

Electroactive polymer (EAP)-based actuators have large potential for a wide array of applications; however, their practical implementation is still a challenge because of the requirement of high driving voltage, which most often leads to premature defect-driven electrical breakdown. Polymer-based capacitors have the ability to clear defects with partial electrical breakdown and subsequent removal of a localized electrode section near the defect. In this study, this process, which is known as self-clearing, is adopted for EAP technologies. We report a methodical approach to self-clear an EAP, more specifically P(VDF-TrFE-CTFE) terpolymer, to delay premature defect-driven electrical breakdown of the terpolymer actuators at high operating electric fields. Breakdown results show that electrical breakdown strength is improved up to 18% in comparison to a control sample after self-clearing. Furthermore, the electromechanical performance in terms of blocked force and free displacement of P(VDF-TrFE-CTFE) terpolymer-based bending actuators are examined after self-clearing and precleared samples show improved blocked force, free displacement and maximum sustainable electric field compared to control samples. The study demonstrates that controlled self-clearing of EAPs improves the breakdown limit and reliability of the EAP actuators for practical applications without impeding their electromechanical performance.

A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves

DEFF Research Database (Denmark)

Nørgård, Christian; Schmidt, Lasse; Bech, Michael Møller

2016-01-01

This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture...... and the position is estimated by integrating the estimated velocity. The binary operation of digi-valves enables limiting and resetting the position estimate since the moving member is switched between the mechanical end-stops of the valve. This enables accurate tracking since drifting effects due to measurement...... noise and integration of errors in the velocity estimate may be circumvented. The proposed observer architecture is presented along with stability proofs and initial experimental results. To reveal the optimal observer performance, an optimization of the observer parameters is carried out. Subsequently...

Advanced sensor fault detection and isolation for electro-mechanical flight actuators

OpenAIRE

Ossmann, Daniel; van der Linden, Franciscus

2015-01-01

Moving towards the more electric aircraft to be able to replace mechanic, hydraulic and pneumatic components of an aircraft, the aircraft industry calls for new technologies able to support this trend. One of these technologies is the development of advanced electro-mechanical actuators for aircraft control surfaces. Step by step hydraulic actuators are replaced by their electro-mechanical alternatives featuring weight and cost savings. As hydraulic actuators are used for decades by the air...

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

International Nuclear Information System (INIS)

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

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

Energy Technology Data Exchange (ETDEWEB)

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.

Performance of optimised prosthetic ankle designs that are based on a hydraulic variable displacement actuator (VDA)

OpenAIRE

Gardiner, JD; Bari, AZ; Kenney, LPJ; Twiste, M; Moser, D; Zahedi, S; Howard, D

2017-01-01

Current energy storage and return (ESR) prosthetic\\ud feet only marginally reduce the cost of amputee locomotion\\ud compared to basic solid ankle cushioned heel (SACH) feet,\\ud possibly due to their lack of push-off at the end of stance. To our knowledge, a prosthetic ankle that utilises a hydraulic variable displacement actuator (VDA) to improve push-off performance has not previously been proposed. Therefore, here we report a design optimisation and simulation feasibility study for a VDA ba...

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL's flexible/prismatic test stand

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

1997-03-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

Flight Test Experience With an Electromechanical Actuator on the F-18 Systems Research Aircraft

Science.gov (United States)

Jensen, Stephen C.; Jenney, Gavin D.; Raymond, Bruce; Dawson, David

2000-01-01

Development of reliable power-by-wire actuation systems for both aeronautical and space applications has been sought recently to eliminate hydraulic systems from aircraft and spacecraft and thus improve safety, efficiency, reliability, and maintainability. The Electrically Powered Actuation Design (EPAD) program was a joint effort between the Air Force, Navy, and NASA to develop and fly a series of actuators validating power-by-wire actuation technology on a primary flight control surface of a tactical aircraft. To achieve this goal, each of the EPAD actuators was installed in place of the standard hydraulic actuator on the left aileron of the NASA F/A-18B Systems Research Aircraft (SRA) and flown throughout the SRA flight envelope. Numerous parameters were recorded, and overall actuator performance was compared with the performance of the standard hydraulic actuator on the opposite wing. This paper discusses the integration and testing of the EPAD electromechanical actuator (EMA) on the SRA. The architecture of the EMA system is discussed, as well as its integration with the F/A-18 Flight Control System. The flight test program is described, and actuator performance is shown to be very close to that of the standard hydraulic actuator it replaced. Lessons learned during this program are presented and discussed, as well as suggestions for future research.

The Effect of an Added Mass on the Frequency Shifts of a Clamped-Clamped Microbeam for Bio-Mass Detection

KAUST Repository

Bouchaala, Adam M.

2016-12-05

We present analytical formulations to calculate the induced resonance frequency shifts of electrically actuated clamped-clamped microbeams due to an added mass. Based on the Euler-Bernoulli beam theory, we investigate the linear dynamic responses of the beams added masses, which are modeled as discrete point masses. Analytical expressions based on perturbation techniques and a one-mode Galerkin approximation are developed to calculate accurately the frequency shifts under a DC voltage as a function of the added mass and position. The analytical results are compared to numerical solution of the eigenvalue problem. Results are shown for the fundamental as well as the higher-order modes of the beams. The results indicate a significant increase in the frequency shift, and hence the sensitivity of detection, when scaling down to nano scale and using higher-order modes.

The Effect of an Added Mass on the Frequency Shifts of a Clamped-Clamped Microbeam for Bio-Mass Detection

KAUST Repository

Bouchaala, Adam M.; Nayfeh, Ali H.; Younis, Mohammad I.

2016-01-01

We present analytical formulations to calculate the induced resonance frequency shifts of electrically actuated clamped-clamped microbeams due to an added mass. Based on the Euler-Bernoulli beam theory, we investigate the linear dynamic responses of the beams added masses, which are modeled as discrete point masses. Analytical expressions based on perturbation techniques and a one-mode Galerkin approximation are developed to calculate accurately the frequency shifts under a DC voltage as a function of the added mass and position. The analytical results are compared to numerical solution of the eigenvalue problem. Results are shown for the fundamental as well as the higher-order modes of the beams. The results indicate a significant increase in the frequency shift, and hence the sensitivity of detection, when scaling down to nano scale and using higher-order modes.

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

KAUST Repository

Ruzziconi, Laura; Bataineh, Ahmad M.; Younis, Mohammad I.; Cui, Weili; Lenci, Stefano

2013-01-01

We present a study of the dynamic behavior of a microelectromechanical systems (MEMS) device consisting of an imperfect clamped-clamped microbeam subjected to electrostatic and electrodynamic actuation. Our objective is to develop a theoretical

Torque characteristics of a 122-centimeter butterfly valve with a hydro/pneumatic actuator

Science.gov (United States)

Lin, F. N.; Moore, W. I.; Lundy, F. E.

1981-01-01

Actuating torque data from field testing of a 122-centimeter (48 in.) butterfly valve with a hydro/pneumatic actuator is presented. The hydraulic cylinder functions as either a forward or a reverse brake. Its resistance torque increases when the valve speeds up and decreases when the valve slows down. A reduction of flow resistance in the hydraulic flow path from one end of the hydraulic cylinder to the other will effectively reduce the hydraulic resistance torque and hence increase the actuating torque. The sum of hydrodynamic and friction torques (combined resistance torque) of a butterfly valve is a function of valve opening time. An increase in the pneumatic actuating pressure will result in a decrease in both the combined resistance torque and the actuator opening torque; however, it does shorten the valve opening time. As the pneumatic pressure increases, the valve opening time for a given configuration approaches an asymptotical value.

Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

Directory of Open Access Journals (Sweden)

V. N. Pilgunov

2016-01-01

Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

Analysis and experiment on a self-sensing ionic polymer–metal composite actuator

International Nuclear Information System (INIS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-01-01

An ionic polymer–metal composite (IPMC) actuator is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network. This paper aims to develop a self-sensing actuator for practical use, since current sensing methods generally face limitations due to the compact size and mobility of the IPMC actuator. Firstly, the variation of surface resistance during bending operations is investigated. Then, the behavior of IPMC corresponding to the variation of surface resistance is mathematically analyzed. Based on the analysis results, a simple configuration to realize the self-sensing behavior is introduced. In this technique, the bending curvature of an IPMC can be obtained accurately by employing several feedback voltage signals along with the IPMC length. Finally, experimental evaluations proved the ability of the proposed scheme to estimate the bending behavior of IPMC actuators. (paper)

A magnetorheological actuation system: test and model

International Nuclear Information System (INIS)

John, Shaju; Chaudhuri, Anirban; Wereley, Norman M

2008-01-01

Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data

Self-healing bolted joint employing a shape memory actuator

Science.gov (United States)

Muntges, Daniel E.; Park, Gyuhae; Inman, Daniel J.

2001-08-01

This paper is a report of an initial investigation into the active control of preload in the joint using a shape memory actuator around the axis of the bolt shaft. Specifically, the actuator is a cylindrical Nitinol washer that expands axially when heated, according to the shape memory effect. The washer is actuated in response to an artificial decrease in torque. Upon actuation, the stress generated by its axial strain compresses the bolted members and creates a frictional force that has the effect of generating a preload and restoring lost torque. In addition to torque wrenches, the system in question was monitored in all stages of testing using piezoelectric impedance analysis. Impedance analysis drew upon research techniques developed at Center for Intelligent Material Systems and Structures, in which phase changes in the impedance of a self-sensing piezoceramic actuator correspond to changes in joint stiffness. Through experimentation, we have documented a successful actuation of the shape memory element. Due to complexity of constitutive modeling, qualitative analysis by the impedance method is used to illustrate the success. Additional considerations encountered in this initial investigation are made to guide further thorough research required for the successful commercial application of this promising technique.

A rotary piezoelectric actuator using longitudinal and bending hybrid transducer

Directory of Open Access Journals (Sweden)

Yingxiang Liu

2012-12-01

Full Text Available A rotary piezoelectric actuator using bolt-clamped type transducer with double driving feet is proposed in this study. The first-order longitudinal and fourth-order bending vibration modes are superimposed in the actuator to produce elliptical movements on the driving tips. Longitudinal PZT and bending PZT are clamped between the exponential shape horns and the flange by bolts. The vibration shape changes of the actuator are presented to give a clear explanation of its working principle. Several structural parameters of the exponential shape horn are selected and adjusted to accomplish the tuning process of the longitudinal and bending resonance frequencies. The input impedance and vibration characteristics are calculated by using FEM method; the gained results verify the feasibility of the proposed actuator. After the fabrication of a prototype, its vibration characteristics are measured by using a scanning laser Doppler vibrometer; the tested results are in good agreement with the FEM calculated results. The mechanical output performance experiments state that the prototype achieves a maximum speed of 129 r/min and a maximum torque of 1.5 Nm.

Electrostatic actuation and electromechanical switching behavior of one-dimensional nanostructures.

Science.gov (United States)

Subramanian, Arunkumar; Alt, Andreas R; Dong, Lixin; Kratochvil, Bradley E; Bolognesi, Colombo R; Nelson, Bradley J

2009-10-27

We report on the electromechanical actuation and switching performance of nanoconstructs involving doubly clamped, individual multiwalled carbon nanotubes. Batch-fabricated, three-state switches with low ON-state voltages (6.7 V average) are demonstrated. A nanoassembly architecture that permits individual probing of one device at a time without crosstalk from other nanotubes, which are originally assembled in parallel, is presented. Experimental investigations into device performance metrics such as hysteresis, repeatability and failure modes are presented. Furthermore, current-driven shell etching is demonstrated as a tool to tune the nanomechanical clamping configuration, stiffness, and actuation voltage of fabricated devices. Computational models, which take into account the nonlinearities induced by stress-stiffening of 1-D nanowires at large deformations, are presented. Apart from providing accurate estimates of device performance, these models provide new insights into the extension of stable travel range in electrostatically actuated nanowire-based constructs as compared to their microscale counterparts.

Shape-Memory-Alloy Actuator For Flight Controls

Science.gov (United States)

Barret, Chris

1995-01-01

Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.

A novel integrated self-powered brake system for more electric aircraft

Directory of Open Access Journals (Sweden)

Yaoxing SHANG

2018-05-01

Full Text Available Traditional hydraulic brake systems require a complex system of pipelines between an aircraft engine driven pump (EDP and brake actuators, which increases the weight of the aircraft and may even cause serious vibration and leakage problems. In order to improve the reliability and safety of more electric aircraft (MEA, this paper proposes a new integrated self-powered brake system (ISBS for MEA. It uses a hydraulic pump geared to the main wheel to recover a small part of the kinetic energy of a landing aircraft. The recovered energy then serves as the hydraulic power supply for brake actuators. It does not require additional hydraulic source, thus removing the pipelines between an EDP and brake actuators. In addition, its self-powered characteristic makes it possible to brake as usual even in an emergency situation when the airborne power is lost. This paper introduces the working principle of the ISBS and presents a prototype. The mathematical models of a taxiing aircraft and the ISBS are established. A feedback linearization control algorithm is designed to fulfill the anti-skid control. Simulations are carried out to verify the feasibility of the ISBS, and experiments are conducted on a ground inertia brake test bench. The ISBS presents a good performance and provides a new potential solution in the field of brake systems for MEA. Keywords: Hydraulic, Feedback linearization control, More electric aircraft, Novel brake system, Self-powered

Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

Science.gov (United States)

Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

2017-09-01

Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

Experimental characterization of self-sensing SMA actuators under controlled convective cooling

International Nuclear Information System (INIS)

Lewis, N; York, A; Seelecke, S

2013-01-01

Shape memory alloy (SMA) wires are attractive for actuation systems due to their high energy density, light weight and silent operation. In addition, they feature self-sensing capabilities by relating electrical resistance measurements to strain changes. In real world applications SMAs typically operate in non-ambient air and it is imperative to understand an actuator’s behavior under varying convective cooling conditions, especially for smaller diameter wires, where convective effects are amplified. This paper shows that the multi-functionality of SMA actuators can be further extended by related heating power to convective air speed. It investigates the relationship between the normalized excess power needed and corresponding airspeed under controlled, laminar airflow patterns in a small-scale wind tunnel. For each experiment, airflow through the wind tunnel, strain in the SMA wire, and power supplied to the SMA wire were controlled, while the stress and resistance of the wire were measured. The ability to understand and predict an SMA wire’s behavior under various external airflows will aid in the design and understanding of future SMA actuated structures, such as micro-air vehicles, and shows that SMAs can function as self-sensing actuators and airspeed sensors. (paper)

Energy harvesting for self-powered aerostructure actuation

Science.gov (United States)

Bryant, Matthew; Pizzonia, Matthew; Mehallow, Michael; Garcia, Ephrahim

2014-04-01

This paper proposes and experimentally investigates applying piezoelectric energy harvesting devices driven by flow induced vibrations to create self-powered actuation of aerostructure surfaces such as tabs, flaps, spoilers, or morphing devices. Recently, we have investigated flow-induced vibrations and limit cycle oscillations due to aeroelastic flutter phenomena in piezoelectric structures as a mechanism to harvest energy from an ambient fluid flow. We will describe how our experimental investigations in a wind tunnel have demonstrated that this harvested energy can be stored and used on-demand to actuate a control surface such as a trailing edge flap in the airflow. This actuated control surface could take the form of a separate and discrete actuated flap, or could constitute rotating or deflecting the oscillating energy harvester itself to produce a non-zero mean angle of attack. Such a rotation of the energy harvester and the associated change in aerodynamic force is shown to influence the operating wind speed range of the device, its limit cycle oscillation (LCO) amplitude, and its harvested power output; hence creating a coupling between the device's performance as an energy harvester and as a control surface. Finally, the induced changes in the lift, pitching moment, and drag acting on a wing model are quantified and compared for a control surface equipped with an oscillating energy harvester and a traditional, static control surface of the same geometry. The results show that when operated in small amplitude LCO the energy harvester adds negligible aerodynamic drag.

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

International Nuclear Information System (INIS)

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)

Optimization of Moving Coil Actuators for Digital Displacement Machines

DEFF Research Database (Denmark)

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

2016-01-01

This paper focuses on deriving an optimal moving coil actuator design, used as force pro-ducing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetiza-tion direction) are optimized for actu......This paper focuses on deriving an optimal moving coil actuator design, used as force pro-ducing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetiza-tion direction) are optimized...... for actuating annular seat valves in a digital displacement machine. The optimization objectives are to the minimize the actuator power, the valve flow losses and the height of the actuator. Evaluation of the objective function involves static finite element simulation and simulation of an entire operation...... designs requires approximately 20 W on average and may be realized in 20 mm × Ø 22.5 mm (height × diameter) for a 20 kW pressure chamber. The optimization is carried out using the multi-objective Generalized Differential Evolu-tion optimization algorithm GDE3 which successfully handles constrained multi-objective...

Q-factor enhancement for self-actuated self-sensing piezoelectric MEMS resonators applying a lock-in driven feedback loop

International Nuclear Information System (INIS)

Kucera, M; Bittner, A; Schmid, U; Manzaneque, T; Sánchez-Rojas, J L

2013-01-01

This paper presents a robust Q-control approach based on an all-electrical feedback loop enhancing the quality factor of a resonant microstructure by using the self-sensing capability of a piezoelectric thin film actuator made of aluminium nitride. A lock-in amplifier is used to extract the feedback signal which is proportional to the piezoelectric current. The measured real part is used to replace the originally low-quality and noisy feedback signal to modulate the driving voltage of the piezoelectric thin-film actuator. Since the lock-in amplifier reduces the noise in the feedback signal substantially, the proposed enhancement loop avoids the disadvantage of a constant signal-to-noise ratio, which an analogue feedback circuit usually suffers from. The quality factor was increased from the intrinsic value of 1766 to a maximum of 34 840 in air. These promising results facilitate precise measurements for self-actuated and self-sensing MEMS cantilevers even when operated in static viscous media. (paper)

Fabrication of a Miniature Paper-Based Electroosmotic Actuator

Directory of Open Access Journals (Sweden)

Deepa Sritharan

2016-11-01

Full Text Available A voltage-controlled hydraulic actuator is presented that employs electroosmotic fluid flow (EOF in paper microchannels within an elastomeric structure. The microfluidic device was fabricated using a new benchtop lamination process. Flexible embedded electrodes were formed from a conductive carbon-silicone composite. The pores in the layer of paper placed between the electrodes served as the microchannels for EOF, and the pumping fluid was propylene carbonate. A sealed fluid-filled chamber was formed by film-casting silicone to lay an actuating membrane over the pumping liquid. Hydraulic force generated by EOF caused the membrane to bulge by hundreds of micrometers within fractions of a second. Potential applications of these actuators include soft robots and biomedical devices.

Development of Heavy-Duty and High-Precision Hydraulic Manipulator for Inspection, Maintenance and Decommission of Nuclear Power Plants

Energy Technology Data Exchange (ETDEWEB)

Lee, Sung Uk; Seo, Yong-chil; Jung, Kyung Min; Kim, Chang-hoi; Choi, Byung-seon; Moon, Jei-kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robotic manipulators have been used for inspection, maintenance and decommission of nuclear power plants because nuclear power plants have high radiation and human workers cannot easily access the plants. And also, to inspecting, maintaining and decommissioning nuclear power plants require various manipulators. Only one manipulator cannot response to many required tasks. The existing manipulators that was used at nuclear power plants can only operate only focused specific task and cannot be used at several tasks. The actuators used at manipulators are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of manipulator is time consuming and expensive. The essential item of a manipulator is an actuator module. If actuator module is standardized, it’s easier to develop a manipulator and also maintain a manipulator. Recently, manipulator having high-radiation, high-duty and high-precision is necessary to inspection, maintain and decommissioning of nuclear power plants. Hydraulic actuator has been used to development high-duty manipulator. But control performance of a hydraulic actuator is not better than that of an electric actuator so that hydraulic manipulator cannot easily satisfy the required precision. In this paper, we developed high-duty and high-precision actuator modules and hydraulic manipulator using the developed actuator modules. The developed hydraulic manipulator have a payload of 250kg and a precision of ±1mm. Four modularized hydraulic actuator modules were developed for inspection, maintenance and decommission. Using the developed actuator modules, the manipulator for decommissioning is easily developed. And also, various manipulators having different kinematic structure for specific tasks will be easily developed by using hydraulic modules.

Development of Heavy-Duty and High-Precision Hydraulic Manipulator for Inspection, Maintenance and Decommission of Nuclear Power Plants

International Nuclear Information System (INIS)

Lee, Sung Uk; Seo, Yong-chil; Jung, Kyung Min; Kim, Chang-hoi; Choi, Byung-seon; Moon, Jei-kwon

2016-01-01

Robotic manipulators have been used for inspection, maintenance and decommission of nuclear power plants because nuclear power plants have high radiation and human workers cannot easily access the plants. And also, to inspecting, maintaining and decommissioning nuclear power plants require various manipulators. Only one manipulator cannot response to many required tasks. The existing manipulators that was used at nuclear power plants can only operate only focused specific task and cannot be used at several tasks. The actuators used at manipulators are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of manipulator is time consuming and expensive. The essential item of a manipulator is an actuator module. If actuator module is standardized, it’s easier to develop a manipulator and also maintain a manipulator. Recently, manipulator having high-radiation, high-duty and high-precision is necessary to inspection, maintain and decommissioning of nuclear power plants. Hydraulic actuator has been used to development high-duty manipulator. But control performance of a hydraulic actuator is not better than that of an electric actuator so that hydraulic manipulator cannot easily satisfy the required precision. In this paper, we developed high-duty and high-precision actuator modules and hydraulic manipulator using the developed actuator modules. The developed hydraulic manipulator have a payload of 250kg and a precision of ±1mm. Four modularized hydraulic actuator modules were developed for inspection, maintenance and decommission. Using the developed actuator modules, the manipulator for decommissioning is easily developed. And also, various manipulators having different kinematic structure for specific tasks will be easily developed by using hydraulic modules

A multi-purpose electromagnetic actuator for magnetic resonance elastography.

Science.gov (United States)

Feng, Yuan; Zhu, Mo; Qiu, Suhao; Shen, Ping; Ma, Shengyuan; Zhao, Xuefeng; Hu, Chun-Hong; Guo, Liang

2018-04-19

An electromagnetic actuator was designed for magnetic resonance elastography (MRE). The actuator is unique in that it is simple, portable, and capable of brain, abdomen, and phantom imagings. A custom-built control unit was used for controlling the vibration frequency and synchronizing the trigger signals. An actuation unit was built and mounted on the specifically designed clamp and holders for different imaging applications. MRE experiments with respect to gel phantoms, brain, and liver showed that the actuator could produce stable and consistent mechanical waves. Estimated shear modulus using local frequency estimate method demonstrated that the measurement results were in line with that from MRE studies using different actuation systems. The relatively easy setup procedure and simple design indicated that the actuator system had the potential to be applied in many different clinical studies. Copyright © 2018 Elsevier Inc. All rights reserved.

Miniature Inchworm Actuators Fabricated by Use of LIGA

Science.gov (United States)

Yang, Eui-Hyeok

2003-01-01

Miniature inchworm actuators that would have relatively simple designs have been proposed for applications in which there are requirements for displacements of the order of microns or tens of microns and for the ability to hold their positions when electric power is not applied. The proposed actuators would be members of the class of microelectromechanical systems (MEMS), but would be designed and fabricated following an approach that is somewhat unusual for MEMS. Like other MEMS actuators, the proposed inchworm actuators could utilize thermoplastic, bimetallic, shape-memory-alloy, or piezoelectric actuation principles. The figure depicts a piezoelectric inchworm actuator according to the proposal. As in other inchworm actuators, linear motion of an extensible member would be achieved by lengthening and shortening the extensible member in synchronism with alternately clamping and releasing one and then the other end of the member. In this case, the moving member would be the middle one; the member would be piezoelectric and would be shortened by applying a voltage to it. The two outer members would also be piezoelectric; the release of the clamps on the upper or lower end would be achieved by applying a voltage to the electrodes on the upper or lower ends, respectively, of these members. Usually, MEMS actuators cannot be fabricated directly on the side walls of silicon wafers, yet the geometry of this actuator necessitates such fabrication. The solution, according to the proposal, would be to use the microfabrication technique known by the German acronym LIGA - "lithographie, galvanoformung, abformung," which means lithography, electroforming, molding. LIGA involves x-ray lithography of a polymer film followed by selective removal of material to form a three-dimensional pattern from which a mold is made. Among the advantages of LIGA for this purpose are that it is applicable to a broad range of materials, can be used to implement a variety of designs, including

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

Science.gov (United States)

Pourghodrat, Abolfazl; Nelson, Carl A

2017-03-01

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

Self-potential observations during hydraulic fracturing

Energy Technology Data Exchange (ETDEWEB)

Moore, Jeffrey R.; Glaser, Steven D.

2007-09-13

The self-potential (SP) response during hydraulic fracturing of intact Sierra granite was investigated in the laboratory. Excellent correlation of pressure drop and SP suggests that the SP response is created primarily by electrokinetic coupling. For low pressures, the variation of SP with pressure drop is linear, indicating a constant coupling coefficient (Cc) of -200 mV/MPa. However for pressure drops >2 MPa, the magnitude of the Cc increases by 80% in an exponential trend. This increasing Cc is related to increasing permeability at high pore pressures caused by dilatancy of micro-cracks, and is explained by a decrease in the hydraulic tortuosity. Resistivity measurements reveal a decrease of 2% prior to hydraulic fracturing and a decrease of {approx}35% after fracturing. An asymmetric spatial SP response created by injectate diffusion into dilatant zones is observed prior to hydraulic fracturing, and in most cases this SP variation revealed the impending crack geometry seconds before failure. At rupture, injectate rushes into the new fracture area where the zeta potential is different than in the rock porosity, and an anomalous SP spike is observed. After fracturing, the spatial SP distribution reveals the direction of fracture propagation. Finally, during tensile cracking in a point load device with no water flow, a SP spike is observed that is caused by contact electrification. However, the time constant of this event is much less than that for transients observed during hydraulic fracturing, suggesting that SP created solely from material fracture does not contribute to the SP response during hydraulic fracturing.

A study of metalized electrode self-clearing in electroactive polymer (EAP) based actuators

Science.gov (United States)

Ahmed, Saad; Ounaies, Zoubeida

2016-04-01

Electroactive polymer (EAP) based technologies have shown promise in areas such as artificial muscles, actuator, aerospace, medical and soft robotics. Still challenges remain such as low induced forces and defects-driven electrical breakdown, which impede the practical implementation of this technology. Multilayered or stacked configuration can address the low induced force issue whereas self-clearing can be a technique to improve breakdown limit of EAP based actuators. Self-clearing refers to the partial local breakdown of dielectric medium due to the presence of impurities, which in turn results in the evaporation of some of the metalized electrode. After this evaporation, the impurity is cleared and any current path would be safely cut off, which means the actuator continues to perform. It is a widely studied concept in the capacitor community, while it has not been studied much for EAP technologies. In this paper we report a systematic approach to precondition a silver-metalized electroactive polymer (EAP), more specifically P(VDF-TrFE-CTFE) terpolymer, using self-clearing concept. First, we show improvement in the dielectric breakdown strength of EAP based unimorph actuators after pre-clearing the impurities using low electric field (lower than dielectric breakdown of the terpolymer). Inspired by this improvement, we used Weibull statistics to systematically estimate the self-clearing/ preconditioning field needed to clear the defects. Then electrical breakdown experiments are conducted with and without preconditioning the samples to investigate its effect on the breakdown strength of the sample.

Axially Modulated Clamped-Guided Arch Resonator for Memory and Logic Applications

KAUST Repository

Hafiz, Md Abdullah Al; Tella, Sherif Adekunle; Alcheikh, Nouha; Fariborzi, Hossein; Younis, Mohammad I.

2017-01-01

We experimentally demonstrate memory and logic devices based on an axially modulated clamped-guided arch resonator. The device are electrostatically actuated and capacitively sensed, while the resonance frequency modulation is achieved through an axial electrostatic force from the guided side of the clamped-guided arch microbeam. We present two case studies: first, a dynamic memory based on the nonlinear frequency response of the resonator, and second, a reprogrammable two-input logic gate based on the linear frequency modulation of the resonator. These devices show energy cost per memory/logic operation in pJ, are fully compatible with CMOS fabrication processes, have the potential for on-chip system integration, and operate at room temperature.

Axially Modulated Clamped-Guided Arch Resonator for Memory and Logic Applications

KAUST Repository

Hafiz, Md Abdullah Al

2017-11-03

We experimentally demonstrate memory and logic devices based on an axially modulated clamped-guided arch resonator. The device are electrostatically actuated and capacitively sensed, while the resonance frequency modulation is achieved through an axial electrostatic force from the guided side of the clamped-guided arch microbeam. We present two case studies: first, a dynamic memory based on the nonlinear frequency response of the resonator, and second, a reprogrammable two-input logic gate based on the linear frequency modulation of the resonator. These devices show energy cost per memory/logic operation in pJ, are fully compatible with CMOS fabrication processes, have the potential for on-chip system integration, and operate at room temperature.

Interfacial evaluation and hydrophobicity of multi-functional Ni-nanopowder/epoxy composites for self-sensing and actuation

International Nuclear Information System (INIS)

Park, Joung-Man; Wang, Zuo-Jia; Kwon, Dong-Jun; Jang, Jung-Hoon; DeVries, K Lawrence

2010-01-01

Electrical and interfacial properties of Ni-nanopowder/epoxy composites were investigated for self-sensing and actuation. Contact resistance and electrical resistivity were measured using a micro-specimen with a gradient grid of electrical contact on its length. The specimens' self-sensing characteristics were monitored reasonably well under applied cyclic loading. Actuation in an electromagnetic field was evaluated by measurement of induced strain for three wavefunction voltages, i.e. sine, triangular and square. Due to the presence of hydrophobic domains on the heterogeneous surface, the static contact angle of Ni-nanopowder/epoxy composites exhibited hydrophobicity. The specimens responded well in both self-sensing and actuation tests, in electromagnetic fields, due to the intrinsic metallic property of Ni-nanopowder. Displacement of the actuator was evaluated to attain optimum performance as functions of wave type, frequency and voltage. The strain response followed the shape of the applied voltages better, and was much smoother and less erratic for applied voltages with sine and triangular waveforms than it was for voltages with a rectangular waveform. This is attributed to the sudden changes in voltage in the latter case. Such self-sensing and actuation, in conductive Ni-nanopowder/epoxy composites, might find uses in multi-functional composite devices such as biomimetic and micro-size generators

A Design to Digitalize Hydraulic Cylinder Control of a Machine Tool ...

African Journals Online (AJOL)

Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC milling machine which employs a small stepping motor to digitally actuated hydraulic piston - cylinder servo drives existing on the machines Y-axis is ...

Hydraulic system for driving control rods

International Nuclear Information System (INIS)

Okuzumi, Naoaki.

1982-01-01

Purpose: To enable safety reactor shut down upon occurrence of an abnormal excess pressure in a hydraulic control unit. Constitution: The actuation pressure for a pressure switch that generates a scram signal is set lower than the release pressure set to a pressure release valve. Thus, if the pressure of nitrogen gas in a nitrogen container increases such as upon exposure of the hydraulic control unit to a high temperature, the pressure switch is actuated at first to generate the scram signal and a scram valve is opened to supply water at high pressure to control rod drives under the driving force of the nitrogen gas at high pressure to rapidly insert the control element into the reactor and shut down it. If the pressure of the nitrogen gas still increases after the scram, the pressure release valve is opened to release the nitrogen gas at high temperature to the atmosphere. Since the scram is attained before the actuation of the pressure release valve, safety reactor shut down can be attained and the hydraulic control unit can be protected. (Sekiya, K.)

Electrothermally Actuated Microbeams With Varying Stiffness

KAUST Repository

Tella, Sherif Adekunle

2017-11-03

We present axially loaded clamped-guided microbeams that can be used as resonators and actuators of variable stiffness, actuation, and anchor conditions. The applied axial load is implemented by U-shaped electrothermal actuators stacked at one of the beams edges. These can be configured and wired in various ways, which serve as mechanical stiffness elements that control the operating resonance frequency of the structures and their static displacement. The experimental results have shown considerable increase in the resonance frequency and mid-point deflection of the microbeam upon changing the end conditions of the beam. These results can be promising for applications requiring large deflection and high frequency tunability, such as filters, memory devices, and switches. The experimental results are compared to multi-physics finite-element simulations showing good agreement among them.

Hydraulic lifter for an underwater drilling rig

Energy Technology Data Exchange (ETDEWEB)

Garan' ko, Yu L

1981-01-15

A hydraulic lifter is suggested for an underwater drilling rig. It includes a base, hydraulic cylinders for lifting the drilling pipes connected to the clamp holder and hydraulic distributor. In order to simplify the design of the device, the base is made with a hollow chamber connected to the rod cavities and through the hydraulic distributor to the cavities of the hydraulic cylinders for lifting the drilling pipes. The hydraulic distributor is connected to the hydrosphere through the supply valve with control in time or by remote control. The base is equipped with reverse valves whose outlets are on the support surface of the base.

Performance of an Electro-Hydrostatic Actuator on the F-18 Systems Research Aircraft

Science.gov (United States)

Navarro, Robert

1997-01-01

An electro-hydrostatic actuator was evaluated at NASA Dryden Flight Research Center, Edwards, California. The primary goal of testing this actuator system was the flight demonstration of power-by-wire technology on a primary flight control surface. The electro-hydrostatic actuator uses an electric motor to drive a hydraulic pump and relies on local hydraulics for force transmission. This actuator replaced the F-18 standard left aileron actuator on the F-18 Systems Research Aircraft and was evaluated throughout the Systems Research Aircraft flight envelope. As of July 24, 1997 the electro-hydrostatic actuator had accumulated 23.5 hours of flight time. This paper presents the electro-hydrostatic actuator system configuration and component description, ground and flight test plans, ground and flight test results, and lessons learned. This actuator performs as well as the standard actuator and has more load capability than required by aileron actuator specifications of McDonnell- Douglas Aircraft, St. Louis, Missouri. The electro-hydrostatic actuator system passed all of its ground tests with the exception of one power-off test during unloaded dynamic cycling.

Two-stage actuation system using DC motors and piezoelectric actuators for controllable industrial and automotive brakes and clutches

Science.gov (United States)

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

2005-05-01

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

Clamping characteristics study on different types of clamping unit

Energy Technology Data Exchange (ETDEWEB)

Jiao, Zhiwei; Liu, Haichao; Xie, Pengcheng [College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing China 100029 (China); Yang, Weimin [College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing China 100029 (China); State Key Laboratory of Organic-Inorganic Composites, Beijing University of Chemical Technology, Beijing China 100029 (China)

2015-05-22

Plastic products are becoming more and more widely used in aerospace, IT, digital electronics and many other fields. With the development of technology, the requirement of product precision is getting higher and higher. However, type and working performance of clamping unit play a decisive role in product precision. Clamping characteristics of different types of clamping unit are discussed in this article, which use finite element numerical analysis method through the software ABAQUS to study the clamping uniformity, and detect the clamping force repeatability precision. The result shows that compared with toggled three-platen clamping unit, clamping characteristics of internal circulation two-platen clamping unit are better, for instance, its mold cavity deformation and force that bars and mold parting surface suffered are more uniform, and its clamping uniformity and repeatability precision is also better.

Corrugated paraffin nanocomposite films as large stroke thermal actuators and self-activating thermal interfaces.

Science.gov (United States)

Copic, Davor; Hart, A John

2015-04-22

High performance active materials are of rapidly growing interest for applications including soft robotics, microfluidic systems, and morphing composites. In particular, paraffin wax has been used to actuate miniature pumps, solenoid valves, and composite fibers, yet its deployment is typically limited by the need for external volume constraint. We demonstrate that compact, high-performance paraffin actuators can be made by confining paraffin within vertically aligned carbon nanotube (CNT) films. This large-stroke vertical actuation is enabled by strong capillary interaction between paraffin and CNTs and by engineering the CNT morphology by mechanical compression before capillary-driven infiltration of the molten paraffin. The maximum actuation strain of the corrugated CNT-paraffin films (∼0.02-0.2) is comparable to natural muscle, yet the maximum stress is limited to ∼10 kPa by collapse of the CNT network. We also show how a CNT-paraffin film can serve as a self-activating thermal interface that closes a gap when it is heated. These new CNT-paraffin film actuators could be produced by large-area CNT growth, infiltration, and lamination methods, and are attractive for use in miniature systems due to their self-contained design.

On justification of efficient Energy-Force parameters of Hydraulic-excavator main mechanisms

Science.gov (United States)

Komissarov, Anatoliy; Lagunova, Yuliya; Shestakov, Viktor; Lukashuk, Olga

2018-03-01

The article formulates requirements for energy-efficient designs of the operational equipment of a hydraulic excavator (its boom, stick and bucket) and defines, for a mechanism of that equipment, a new term “performance characteristic”. The drives of main rotation mechanisms of the equipment are realized by hydraulic actuators (hydraulic cylinders) and transmission (leverage) mechanisms, with the actuators (the cylinders themselves, their pistons and piston rods) also acting as links of the leverage. Those drives are characterized by the complexity of translating mechanical-energy parameters of the actuators into energy parameters of the driven links (a boom, a stick and a bucket). Relations between those parameters depend as much on the types of mechanical characteristics of the hydraulic actuators as on the types of structural schematics of the transmission mechanisms. To assess how energy-force parameters of the driven links change when a typical operation is performed, it was proposed to calculate performance characteristics of the main mechanisms as represented by a set of values of transfer functions, i.e. by functional dependences between driven links and driving links (actuators). Another term “ideal performance characteristic” of a mechanism was introduced. Based on operation-emulating models for the main mechanisms of hydraulic excavators, analytical expressions were derived to calculate kinematic and force transfer functions of the main mechanisms.

Pressure control valve using proportional electro-magnetic solenoid actuator

International Nuclear Information System (INIS)

Yun, So Nam; Ham, Young Bog; Park, Pyoung Won

2006-01-01

This paper presents an experimental characteristics of electro-hydraulic proportional pressure control valve. In this study, poppet and valve body which are assembled into the proportional solenoid were designed and manufactured. The constant force characteristics of proportional solenoid actuator in the control region should be independent of the plunger position in order to be used to control the valve position in the fluid flow control system. The stroke-force characteristics of the proportional solenoid actuator is determined by the shape (or parameters) of the control cone. In this paper, steady state and transient characteristics of the solenoid actuator for electro-hydraulic proportional valve are analyzed using finite element method and it is confirmed that the proportional solenoid actuator has a constant attraction force in the control region independently on the stroke position. The effects of the parameters such as control cone length, thickness and taper length are also discussed

Highly Tunable Electrothermally and Electrostatically Actuated Resonators

KAUST Repository

Hajjaj, Amal Z.

2016-03-30

This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341

A low order adaptive control scheme for hydraulic servo systems

DEFF Research Database (Denmark)

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...

Development of self-actuated shutdown system using curie point electromagnet

International Nuclear Information System (INIS)

Kim, Tae Ryong; Park, Jin Ho

1999-01-01

An innovative concept for a passive reactor shutdown system, so called self-actuated shutdown system (SASS), is inevitably required for the inherent safety in liquid metal reactor, which is designed with the totally different concept from the usual reactor shutdown system in LWR. SASS using Curie point electromagnet (CPEM) was selected as the passive reactor shutdown system for KALIMER (Korea Advanced Liquid Metal Reactor). A mock-up of the SASS was designed, fabricated and tested. From the test it was confirmed that the mockup was self-actuated at the Curie point of the temperature sensing material used in the mockup. An articulated control rod was also fabricated and assembled with the CPEM to confirm that the control rod can be inserted into core even when the control rod guide tube is deformed due to earthquake. The operability of SASS in the actual sodium environment should be confirmed in the future. All the design and test data will be applied to the KALIMER design. (author)

Performance of Optimized Prosthetic Ankle Designs That Are Based on a Hydraulic Variable Displacement Actuator (VDA).

Science.gov (United States)

Gardiner, James; Bari, Abu Zeeshan; Kenney, Laurence; Twiste, Martin; Moser, David; Zahedi, Saeed; Howard, David

2017-12-01

Current energy storage and return prosthetic feet only marginally reduce the cost of amputee locomotion compared with basic solid ankle cushioned heel feet, possibly due to their lack of push-off at the end of stance. To the best of our knowledge, a prosthetic ankle that utilizes a hydraulic variable displacement actuator (VDA) to improve push-off performance has not previously been proposed. Therefore, here we report a design optimization and simulation feasibility study for a VDA-based prosthetic ankle. The proposed device stores the eccentric ankle work done from heel strike to maximum dorsiflexion in a hydraulic accumulator and then returns the stored energy to power push-off. Optimization was used to establish the best spring characteristic and gear ratio between ankle and VDA. The corresponding simulations show that, in level walking, normal push-off is achieved and, per gait cycle, the energy stored in the accumulator increases by 22% of the requirements for normal push-off. Although the results are promising, there are many unanswered questions and, for this approach to be a success, a new miniature, low-losses, and lightweight VDA would be required that is half the size of the smallest commercially available device.

Is early cord clamping, delayed cord clamping or cord milking best?

Science.gov (United States)

Vatansever, Binay; Demirel, Gamze; Ciler Eren, Elif; Erel, Ozcan; Neselioglu, Salim; Karavar, Hande Nur; Gundogdu, Semra; Ulfer, Gozde; Bahadir, Selcen; Tastekin, Ayhan

2018-04-01

To compare the antioxidant status of three cord clamping procedures (early clamping, delayed clamping and milking) by analyzing the thiol-disulfide balance. This randomized controlled study enrolled 189 term infants who were divided into three groups according to the cord clamping procedure: early clamping, delayed clamping and milking. Blood samples were collected from the umbilical arteries immediately after clamping, and the thiol/disulfide homeostasis was analyzed. The native and total thiol levels were significantly (p total thiol ratio was significantly (p = .026) lower in the delayed cord clamping and milking groups compared with the early clamping groups. Early cord clamping causes the production of more disulfide bonds and lower thiol levels, indicating that oxidation reactions are increased in the early cord clamping procedure compared with the delayed cord clamping and milking procedures. The oxidant capacity is greater with early cord clamping than with delayed clamping or cord milking. Delayed cord clamping or milking are beneficial in neonatal care, and we suggest that they be performed routinely in all deliveries.

Piezoelectric self sensing actuators for high voltage excitation

International Nuclear Information System (INIS)

Grasso, E; Totaro, N; Janocha, H; Naso, D

2013-01-01

Self sensing techniques allow the use of a piezoelectric transducer simultaneously as an actuator and as a sensor. Such techniques are based on knowledge of the transducer behaviour and on measurements of electrical quantities, in particular voltage and charge. Past research work has mainly considered the linear behaviour of piezoelectric transducers, consequently restricting the operating driving voltages to low values. In this work a new self sensing technique is proposed which is able to perform self sensing reconstruction both at low and at high driving voltages. This technique, in fact, makes use of a hysteretic model to describe the nonlinear piezoelectric capacitance necessary for self sensing reconstruction. The capacitance can be measured and identified at the antiresonances of a vibrating structure with a good approximation. After providing a mathematical background to deal with the main aspects of self sensing, this technique is compared theoretically and experimentally to a typical linear one by using an aluminum plate with one bonded self sensing transducer and a positive position feedback (PPF) controller to verify the performance in self sensing based vibration control. (paper)

Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

Energy Technology Data Exchange (ETDEWEB)

Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

1996-09-01

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Basher, A.M.H.

1996-09-01

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

Nonlinear vibration of an electrically actuated microresonator tuned by combined DC piezoelectric and electric actuations

International Nuclear Information System (INIS)

Zamanian, M; Khadem, S E

2010-01-01

This paper studies the nonlinear vibration of a clamped–clamped microresonator under combined electric and piezoelectric actuations. The electric actuation is induced by applying an AC–DC voltage between the microbeam and the electrode plate that lies on opposite sides of the microbeam, and the piezoelectric actuation is induced by applying the DC voltage between upper and lower sides of the piezoelectric layer deposited on the microbeam length. It is assumed that the neutral axis of bending is stretched when the microbeam is deflected. The equations of motion are derived using Newton's second law, and are solved using the multiple-scale perturbation method. It is shown that, depending on the value of DC electric and piezoelectric actuations, geometry and the bending stiffness of the system. A softening or hardening behavior may be realized. It demonstrates that nonlinear behavior of an electrically actuated microresonator may be tuned to a linear behavior by applying a convenient DC electric voltage to the piezoelectric layer, and so an undesirable shift of resonance frequency may be removed. If one lets the applied voltage to the piezoelectric layer be equal to zero, this paper would be an effort to tailor the linear and nonlinear stiffness coefficients of two layered electrically actuated microresonators without the assumption that the lengths of the two layers are equal

Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates

KAUST Repository

Saghir, Shahid; Younis, Mohammad I.

2016-01-01

and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate

Mechanical behaviour of bending bucky-gel actuators and its representation

International Nuclear Information System (INIS)

Kruusamäe, Karl; Mukai, Ken; Sugino, Takushi; Asaka, Kinji

2014-01-01

Bucky-gel actuators are ionic electromechanically active materials that bend in response to a low-voltage excitation. While bending actuators may offer new approaches in engineering solutions, the characterization of bending poses many challenges in comparison to conventional rotary motion. It is often desired to reduce the bending behaviour to a single parameter, which may lead to the loss of accuracy in modelling. A high-speed laser profilometer is utilized to characterize the bending response of different bucky-gel actuators at their full length and to critically compare the applicability of existing representation tools for bending. The best analytical representation of the bending of a bucky-gel actuator is found to be in the form of a power function. It is also observed that, along the length of the actuator, sections closer to the electrical input clamp exhibit back-relaxation (a common drawback for bending ionic actuators) already when the far end of the bending strip is still in forward motion. (paper)

Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot

Directory of Open Access Journals (Sweden)

Lingtao Yu

2015-04-01

Full Text Available The micromanipulator’s force feedback is one of the key research contents of minimally invasive surgical robotic system. Because the micromanipulator is a kind of compact construction which is suitable for valve installation with small space in surgery, especially for the influence of disinfection method, there are major difficulties and limitations to integrate compact sensors in the end of micromanipulator. This article focuses on the 3-degree-of-freedom micromanipulator’s clamping force sensing, and these three joints are actuated by wirerope driving. A clamping force sensing method is proposed based on static tension of wirerope driving, and a static model between the clamping force and wirerope’s static tension is established considering the influence of real friction resistance in the mechanical system. Finally, an equivalent experimental test platform for 3-degree-of-freedom micromanipulator’s clamping force sensing is set up, and then a series of experiments of the clamping force are studied. The frictional resistances of wirerope between the guide plate and guide pulley mechanism are tested, and a calibration and correction method of the experimental clamping force is proposed. The final experiment results show that the total average accuracy of experimental clamping force is about 78.3%, and it can be the basic measurement force to realize micromanipulator’s clamping force feedback of a minimally invasive surgical robot.

A system look at electromechanical actuation for primary flight control

NARCIS (Netherlands)

Lomonova, E.A.

1997-01-01

An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs)

Dynamic Self-Adaptive Reliability Control for Electric-Hydraulic Systems

Directory of Open Access Journals (Sweden)

Yi Wan

2015-02-01

Full Text Available The high-speed electric-hydraulic proportional control is a new development of the hydraulic control technique with high reliability, low cost, efficient energy, and easy maintenance; it is widely used in industrial manufacturing and production. However, there are still some unresolved challenges, the most notable being the requirements of high stability and real-time by the classical control algorithm due to its high nonlinear characteristics. We propose a dynamic self-adaptive mixed control method based on the least squares support vector machine (LSSVM and the genetic algorithm for high-speed electric-hydraulic proportional control systems in this paper; LSSVM is used to identify and adjust online a nonlinear electric-hydraulic proportional system, and the genetic algorithm is used to optimize the control law of the controlled system and dynamic self-adaptive internal model control and predictive control are implemented by using the mixed intelligent method. The internal model and the inverse control model are online adjusted together. At the same time, a time-dependent Hankel matrix is constructed based on sample data; thus finite dimensional solution can be optimized on finite dimensional space. The results of simulation experiments show that the dynamic characteristics are greatly improved by the mixed intelligent control strategy, and good tracking and high stability are met in condition of high frequency response.

Floating clamping mechanism of PT fuel injector and its dynamic characteristics analysis

Science.gov (United States)

Wang, Xinqing; Liang, Sheng; Xia, Tian; Wang, Dong; Qian, Shuhua

2012-05-01

PT fuel injector is one of the most important parts of modern diesel engine. To satisfy the requirements of the rapid and accurate test of PT fuel injector, the self-adaptive floating clamping mechanism was developed and used in the relevant bench. Its dynamic characteristics directly influence the test efficiency and accuracy. However, due to its special structure and complex oil pressure signal, related documents for evaluating dynamic characteristics of this mechanism are lack and some dynamic characteristics of this mechanism can't be extracted and recognized effectively by traditional methods. Aiming at the problem above-mentioned, a new method based on Hilbert-Huang transform (HHT) is presented. Firstly, combining with the actual working process, the dynamic liquid pressure signal of the mechanism is acquired. By analyzing the pressure fluctuation during the whole working process in time domain, oil leakage and hydraulic shock in the clamping chamber are discovered. Secondly, owing to the nonlinearity and nonstationarity of pressure signal, empirical mode decomposition is used, and the signal is decomposed and reconstructed into forced vibration, free vibration and noise. By analyzing forced vibration in the time domain, machining error and installation error of cam are revealed. Finally, free vibration component is analyzed in time-frequency domain with HHT, the traits of free vibration in the time-frequency domain are revealed. Compared with traditional methods, Hilbert spectrum has higher time-frequency resolutions and higher credibility. The improved mechanism based on the above analyses can guarantee the test accuracy of injector injection. This new method based on the analyses of the pressure signal and combined with HHT can provide scientific basis for evaluation, design improvement of the mechanism, and give references for dynamic characteristics analysis of the hydraulic system in the interrelated fields.

Curved Piezoelectric Actuators for Stretching Optical Fibers

Science.gov (United States)

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

2008-01-01

Assemblies containing curved piezoceramic fiber composite actuators have been invented as means of stretching optical fibers by amounts that depend on applied drive voltages. Piezoceramic fiber composite actuators are conventionally manufactured as sheets or ribbons that are flat and flexible, but can be made curved to obtain load-carrying ability and displacement greater than those obtainable from the flat versions. In the primary embodiment of this invention, piezoceramic fibers are oriented parallel to the direction of longitudinal displacement of the actuators so that application of drive voltage causes the actuator to flatten, producing maximum motion. Actuator motion can be transmitted to the optical fiber by use of hinges and clamp blocks. In the original application of this invention, the optical fiber contains a Bragg grating and the purpose of the controlled stretching of the fiber is to tune the grating as part of a small, lightweight, mode-hop-free, rapidly tunable laser for demodulating strain in Bragg-grating strain-measurement optical fibers attached to structures. The invention could also be used to apply controllable tensile force or displacement to an object other than an optical fiber.

Energy harvesting from hydraulic pressure fluctuations

International Nuclear Information System (INIS)

Cunefare, K A; Skow, E A; Erturk, A; Savor, J; Verma, N; Cacan, M R

2013-01-01

State-of-the-art hydraulic hose and piping systems employ integral sensor nodes for structural health monitoring to avoid catastrophic failures. Energy harvesting in hydraulic systems could enable self-powered wireless sensor nodes for applications such as energy-autonomous structural health monitoring and prognosis. Hydraulic systems inherently have a high energy intensity associated with the mean pressure and flow. Accompanying the mean pressure is the dynamic pressure ripple, which is caused by the action of pumps and actuators. Pressure ripple is a deterministic source with a periodic time-domain behavior conducive to energy harvesting. An energy harvester prototype was designed for generating low-power electricity from pressure ripples. The prototype employed an axially-poled off-the-shelf piezoelectric stack. A housing isolated the stack from the hydraulic fluid while maintaining a mechanical coupling allowing for dynamic-pressure-induced deflection of the stack. The prototype exhibited an off-resonance energy harvesting problem since the fundamental resonance of the piezoelectric stack was much higher than the frequency content of the pressure ripple. The prototype was designed to provide a suitable power output for powering sensors with a maximum output of 1.2 mW. This work also presents electromechanical model simulations and experimental characterization of the piezoelectric power output from the pressure ripple in terms of the force transmitted into the harvester. (paper)

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

Science.gov (United States)

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.

Design of Self-Oscillating Gels and Application to Biomimetic Actuators

Directory of Open Access Journals (Sweden)

Ryo Yoshida

2010-03-01

Full Text Available As a novel biomimetic polymer, we have developed polymer gels with an autonomous self-oscillating function. This was achieved by utilizing oscillating chemical reactions, called the Belousov-Zhabotinsky (BZ reaction, which is recognized as a chemical model for understanding several autonomous phenomena in biological systems. Under the coexistence of the reactants, the polymer gel undergoes spontaneous swelling-deswelling changes without any on-off switching by external stimuli. In this review, our recent studies on the self-oscillating polymer gels and application to biomimetic actuators are summarized.

Rapid manufacture of monolithic micro-actuated forceps inspired by echinoderm pedicellariae

International Nuclear Information System (INIS)

Leigh, S J; Purssell, C P; Covington, J A; Billson, D R; Hutchins, D A; Bowen, J

2012-01-01

The concept of biomimetics and bioinspiration has been used to enhance the function of materials and devices in fields ranging from healthcare to renewable energy. By developing advanced design and manufacturing processes, researchers are rapidly accelerating their ability to mimic natural systems. In this paper we show how micro-actuated forceps inspired by echinoderm pedicellarie have been produced using the rapid manufacturing technology of micro-stereolithography. The manufactured monolithic devices are composed of sets of jaws on the surface of thin polymer resin membranes, which serve as musculature for the jaws. The membranes are suspended above a pneumatic chamber with the jaws opened and closed through pneumatic pressure changes exerted by a simple syringe. The forceps can be used for tasks such as grasping of microparticles. Furthermore, when an object is placed in the centre of the membrane, the membrane flexes and the jaws of the device close and grasp the object in a responsive manner. When uncured liquid photopolymer is used to actuate the devices hydraulically instead of pneumatically, the devices exhibit self-healing behaviour, sealing the damaged regions and maintaining hydraulic integrity. The manufactured devices present exciting possibilities in fields such as micromanipulation and micro-robotics for healthcare. (communication)

Self-actuated rate of change of pressure scram device for nuclear reactors

International Nuclear Information System (INIS)

1980-01-01

A self-actuated scram system is described for dropping neutron absorbing poisons into the core of a nuclear reactor. The poison bundle release mechanism is activated in response to a predetermined rate of decrease in the pressure of the coolant. (UK)

LEAD-FREE BNKT PIEZOELECTRIC ACTUATOR

Directory of Open Access Journals (Sweden)

A. Moosavi

2016-03-01

Full Text Available An actuator is a device that converts input energy into mechanical energy. According to various types of input energy, various actuators have been advanced. Displacement in the electromagnetic, hydraulic and pneumatic actuators achieve by moving a piston via electromagnetic force or pressure, however the piezoelectric actuator (piezoceramic plates displace directly. Therefore, accuracy and speed in the piezoelectric device are higher than other types of actuators. In the present work, the high-field electromechanical response of high-quality (1−x(Bi 0.5Na0.5TiO3–x(Bi0.5K0.5TiO3 samples abbreviated to BNKTx with x = 0.18, 0.20, 0.22 and 0.24 ceramic materials across its MPB was investigated. The piezoelectrics and actuation characteristics were characterized. Ourresults indicate that x = 0.20, indeed, constitutes the best choice for the MPB composition in the system. Maximum of remanent polarization (37.5 μC cm−2 was obtained for x=0.20. High-field electromechanical responses were also obtained for BNKT0.20 samples. This material exhibited giant field induced strains of 0.13% under 1 kV mm -1 at room temperature.

Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

Directory of Open Access Journals (Sweden)

Han Songshan

2015-02-01

Full Text Available A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command, but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output (MISO fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators. Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.

Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning

Directory of Open Access Journals (Sweden)

Qiang Gao

2015-12-01

Full Text Available Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral–derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order proportional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–derivative and fractional order proportional–integral–derivative control systems with better control accuracy and higher system robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.

Energy-harvesting & self-actuated textiles for the home

DEFF Research Database (Denmark)

Mossé, Aurélie

2010-01-01

for smart textiles by questioning how they can be implemented within a domestic context to encourage more resilient environments. More specifically investigating the potential of energyharvesting & self-actuated textiles, the project hopes to highlight new ways for thinking the home as a more permeable...... the context of rising sustainable design agendas, the role and influence of new materials and technologies on the conceptualization and making of responsive textiles. Exploring the intersection between textiles, architecture and smart technologies, this on-going research aims to map out new design territories...

Design of The Test Stand for Hydraulic Active Heave Compensation System

Directory of Open Access Journals (Sweden)

Jakubowski Arkadiusz

2017-01-01

Full Text Available The article presented here described the design of a test stand for hydraulic active heave compensation system. The simulation of sea waves is realized by the use of hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic servo valves. For the measurements Authors used displacement sensor and incremental encoder. Control algorithm is implemented on the PLC. The performed tests included hydraulic actuator and hydraulic motor step responses.

Nonlinear analysis of thermally and electrically actuated functionally graded material microbeam.

Science.gov (United States)

Li, Yingli; Meguid, S A; Fu, Yiming; Xu, Daolin

2014-02-08

In this paper, we provide a unified and self-consistent treatment of a functionally graded material (FGM) microbeam with varying thermal conductivity subjected to non-uniform or uniform temperature field. Specifically, it is our objective to determine the effect of the microscopic size of the beam, the electrostatic gap, the temperature field and material property on the pull-in voltage of the microbeam under different boundary conditions. The non-uniform temperature field is obtained by integrating the steady-state heat conduction equation. The governing equations account for the microbeam size by introducing an internal material length-scale parameter that is based on the modified couple stress theory. Furthermore, it takes into account Casimir and van der Waals forces, and the associated electrostatic force with the first-order fringing field effects. The resulting nonlinear differential equations were converted to a coupled system of algebraic equations using the differential quadrature method. The outcome of our work shows the dramatic effect and dependence of the pull-in voltage of the FGM microbeam upon the temperature field, its gradient for a given boundary condition. Specifically, both uniform and non-uniform thermal loading can actuate the FGM microbeam even without an applied voltage. Our work also reveals that the non-uniform temperature field is more effective than the uniform temperature field in actuating a FGM cantilever-type microbeam. For the clamped-clamped case, care must be taken to account for the effective use of thermal loading in the design of microbeams. It is also observed that uniform thermal loading will lead to a reduction in the pull-in voltage of a FGM microbeam for all the three boundary conditions considered.

Assessment of a water hydraulics joint for RH operations in the divertor region

International Nuclear Information System (INIS)

Dubus, G.; David, O.; Measson, Y.; Friconneau, J.P.

2007-01-01

Due to the high level of radiations, all the nominal maintenance in the divertor region of ITER will be carried out with help of robotic means. In reduced volumes, hydraulic applications can provide powerful actuators. They become an interesting technology to build a heavy duty manipulator for operations in space constrained areas. Oil hydraulics can not ensure the cleanliness level required for all maintenance operations in the vacuum vessel. Therefore, pure water hydraulics proposes a good alternative to oil and developments are today focusing on that direction. Although basic hydraulic elements like pumps, on-off valves, filters running with pure water are already available on the market, actuators are not so many and generally limited to linear motions. Fine control of the joint is achieved with help of servovalves. Today's off the shelf products are only adaptations from standard oil servovalves and are not specifically designed for water use. Operational experience for these products shows short lifetime expectancy and could not last a complete shutdown. Starting from the oil hydraulic version CEA with help of Cybernetix redesigned for water applications the elbow vane actuator of a Maestro arm, a six-degrees-of-freedom hydraulic manipulator used in decommissioning activities. In parallel with help of In-LHC, CEA developed a servovalve for water hydraulic applications that fits the space constraints of a Maestro manipulator. This prototype is a pressure-control valve. To a current input this servovalve supplies a very accurate pressure difference output instead of a flow rate in the case of flow control servovalve that are generally used in that kind of applications. The advantage is the improvement of the performances and stability of the force control loop. This paper presents the performances of the modified vane actuator and its servovalve. Both static and dynamic responses of the servovalve prototype with and without actuator are presented. Position and

Joint inversion of hydraulic head and self-potential data associated with harmonic pumping tests

Science.gov (United States)

Soueid Ahmed, A.; Jardani, A.; Revil, A.; Dupont, J. P.

2016-09-01

Harmonic pumping tests consist in stimulating an aquifer by the means of hydraulic stimulations at some discrete frequencies. The inverse problem consisting in retrieving the hydraulic properties is inherently ill posed and is usually underdetermined when considering the number of well head data available in field conditions. To better constrain this inverse problem, we add self-potential data recorded at the ground surface to the head data. The self-potential method is a passive geophysical method. Its signals are generated by the groundwater flow through an electrokinetic coupling. We showed using a 3-D saturated unconfined synthetic aquifer that the self-potential method significantly improves the results of the harmonic hydraulic tomography. The hydroelectric forward problem is obtained by solving first the Richards equation, describing the groundwater flow, and then using the result in an electrical Poisson equation describing the self-potential problem. The joint inversion problem is solved using a reduction model based on the principal component geostatistical approach. In this method, the large prior covariance matrix is truncated and replaced by its low-rank approximation, allowing thus for notable computational time and storage savings. Three test cases are studied, to assess the validity of our approach. In the first test, we show that when the number of harmonic stimulations is low, combining the harmonic hydraulic and self-potential data does not improve the inversion results. In the second test where enough harmonic stimulations are performed, a significant improvement of the hydraulic parameters is observed. In the last synthetic test, we show that the electrical conductivity field required to invert the self-potential data can be determined with enough accuracy using an electrical resistivity tomography survey using the same electrodes configuration as used for the self-potential investigation.

Tubing Cutter is Activated Hydraulically

Science.gov (United States)

Mcsmith, D. G.; Richardson, J. I.

1983-01-01

Hydraulically-actuated tubing cutter severs tubing when operator squeezes handle grip. "Gooseneck" extension enables cutter to be used in areas where accessiblity is limited. Cutter has potential as flight-line tool and is useful in automobile and fire rescue work.

Photovoltaic panel clamp

Science.gov (United States)

Mittan, Margaret Birmingham [Oakland, CA; Miros, Robert H. J. [Fairfax, CA; Brown, Malcolm P [San Francisco, CA; Stancel, Robert [Loss Altos Hills, CA

2012-06-05

A photovoltaic panel clamp includes an upper and lower section. The interface between the assembled clamp halves and the module edge is filled by a flexible gasket material, such as EPDM rubber. The gasket preferably has small, finger like protrusions that allow for easy insertion onto the module edge while being reversed makes it more difficult to remove them from the module once installed. The clamp includes mounting posts or an integral axle to engage a bracket. The clamp also may include a locking tongue to secure the clamp to a bracket.

Selective Arterial Clamping Versus Hilar Clamping for Minimally Invasive Partial Nephrectomy.

Science.gov (United States)

Yezdani, Mona; Yu, Sue-Jean; Lee, David I

2016-05-01

Partial nephrectomy has become an accepted treatment of cT1 renal masses as it provides improved long-term renal function compared to radical nephrectomy (Campbell et al. J Urol. 182:1271-9, 2009). Hilar clamping is utilized to help reduce bleeding and improve visibility during tumor resection. However, concern over risk of kidney injury with hilar clamping has led to new techniques to reduce length of warm ischemia time (WIT) during partial nephrectomy. These techniques have progressed over the years starting with early hilar unclamping, controlled hypotension during tumor resection, selective arterial clamping, minimal margin techniques, and off-clamp procedures. Selective arterial clamping has progressed significantly over the years. The main question is what are the exact short- and long-term renal effects from increasing clamp time. Moreover, does it make sense to perform these more time-consuming or more complex procedures if there is no long-term preservation of kidney function? More recent studies have shown no difference in renal function 6 months from surgery when selective arterial clamping or even hilar clamping is employed, although there is short-term improved decline in estimated glomerular filtration rate (eGFR) with selective clamping and off-clamp techniques (Komninos et al. BJU Int. 115:921-8, 2015; Shah et al. 117:293-9, 2015; Kallingal et al. BJU Int. doi: 10.1111/bju.13192, 2015). This paper reviews the progression of total hilar clamping to selective arterial clamping (SAC) and the possible difference its use makes on long-term renal function. SAC may be attempted based on surgeon's decision-making, but may be best used for more complex, larger, more central or hilar tumors and in patients who have renal insufficiency at baseline or a solitary kidney.

Theoretical and experimental research on the influence of multiple piezoelectric effects on physical parameters of piezoelectric actuator

Directory of Open Access Journals (Sweden)

Liping Shi

2015-04-01

Full Text Available Compared with the traditional actuator of machinery and electricity, the piezoelectric actuator has the advantages of a compact structure, small volume, no mechanical friction, athermancy and no electromagnetic interference. Therefore, it has high application value in the fields of MEMS, bioengineering, medical science and so on. This article draws conclusions from the influence of multiple piezoelectric effects on the physical parameters (dielectric coefficient, equivalent capacity, energy conversion and piezoelectric coefficient of piezoelectric actuators. These data from theoretical and experimental research show the following: (1 The rate between the dielectric coefficient of piezoelectric in mechanical freedom and clamping is obtained from the secondary direct piezoelectric effect, which enhances the dielectric property, increases the dielectric coefficient and decreases the coefficient of dielectric isolation; (2 Under external field, E n ( ex = E 1 , exterior stress T = 0, that is to say, under the boundary condition of mechanical freedom, piezoelectric can store electric energy and elasticity, which obtains power density, elastic density and an electromechanical coupling factor; (3 According to the piezoelectric strain S i ( 1 , piezoelectric displacement D m ( 2 and piezoelectric strain S i ( 3 of multiple piezoelectric effects, when the dielectric coefficient of the first converse piezoelectric effect ε33 is 1326 and the dielectric coefficient of the secondary direct piezoelectric effect increases to 3336, the dielectric coefficient of the ceramic chip increases. When the piezoelectric coefficient of the first converse piezoelectric effect d33 is 595 and the piezoelectric coefficient of the secondary direct piezoelectric effect decreases to 240, the piezoelectric coefficient of the ceramic chip will decrease. It is of major significance both in the applications and in basic theory to research the influence of multiple piezoelectric

Aerodynamic Optimization for Distributed Electro Mechanical Actuators, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Traditional hydraulic actuation and control surface layout both limit span wise control of lift distribution, and require large volume within wing cross-section,...

Control of flexible robots with prismatic joints and hydraulic drives

International Nuclear Information System (INIS)

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

1997-01-01

The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanks require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot's first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot's flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

Interfacial durability and electrical properties of CNT or ITO/PVDF nanocomposites for self-sensor and micro actuator applications

International Nuclear Information System (INIS)

Park, Joung-Man; Gu, Ga-Young; Wang, Zuo-Jia; Kwon, Dong-Jun; DeVries, K. Lawrence

2013-01-01

Interfacial durability and electrical properties of CNT (carbon nanotube) or ITO (indium tin oxide) coated PVDF (poly(vinylidene fluoride)) nanocomposites were investigated for self-sensor and micro-actuator applications. The electrical resistivity of nanocomposites and the durability of interfacial adhesion were measured using a four points method during cyclic fatigue loading. Although the CNT/PVDF nanocomposites exhibited lower electrical resistivity due to the inherently low resistivity of CNT, both composite types showed good self-sensing performance. The durability of the adhesion at the interface was also good for both CNT and ITO/PVDF nanocomposites. Static contact angle, surface energy, work of adhesion, and spreading coefficient between either CNT or ITO and PVDF were determined as checks to verify the durability of the interfacial adhesion. The actuation performance of CNT or ITO coated PVDF specimens was determined through measurements of the induced displacement using a laser displacement sensor, while both the frequency and voltage were changed. The displacement of these actuated nanocomposites increased with increasing voltage and decreased with increasing frequency. CNT/PVDF nanocomposites exhibited better performance as self-sensors and micro-actuators than did ITO/PVDF nanocomposites.

Characterization of Piezoelectric Actuators for Flow Control over a Wing

Science.gov (United States)

Mossi, Karla M.; Bryant, Robert G.

2004-01-01

During the past decade, piezoelectric actuators as the active element in synthetic jets demonstrated that they could significantly enhance the overall lift on an airfoil. However, durability, system weight, size, and power have limited their use outside a laboratory. These problems are not trivial, since piezoelectric actuators are physically brittle and display limited displacement. The objective of this study is to characterize the relevant properties for the design of a synthetic jet utilizing three types of piezoelectric actuators as mechanical diaphragms, Radial Field Diaphragms, Thunders, and Bimorphs so that the shape cavity volume does not exceed 147.5 cubic centimeters on a 7centimeter x 7centimeter aerial coverage. These piezoelectric elements were selected because of their geometry, and overall free-displacement. Each actuator was affixed about its perimeter in a cavity, and relevant parameters such as clamped displacement variations with voltage and frequency, air velocities produced through an aperture, and sound pressure levels produced by the piezoelectric diaphragms were measured.

Towards Autonomous Control of Hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik; Conrad, Finn

1998-01-01

Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...

Failure of cargo aileron’s actuator

Directory of Open Access Journals (Sweden)

G. Zucca

2014-10-01

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

Note: Hybrid active/passive force feedback actuator using hydrostatic transmission

Science.gov (United States)

Park, Yea-Seok; Lee, Juwon; Kim, Kyung-Soo; Kim, Soohyun

2017-12-01

A hybrid actuator for haptic devices is proposed in this paper. The actuator is composed of a DC motor and a magneto-rheological (MR) brake to realize transparency and stable force control. Two piston cylinders are connected with a flexible tube to lighten the weight of the structures on the endpoint that interacts with an operator. Also, the MR brake is designed to be suitable for hydraulic transmission. For the proposed hybrid actuator, a cooperative force control method using a pressure sensor instead of a force sensor is proposed. To verify the proposed control algorithm, a virtual wall collision experiment was conducted using a developed prototype of the hybrid actuator.

Note: Hybrid active/passive force feedback actuator using hydrostatic transmission.

Science.gov (United States)

Park, Yea-Seok; Lee, Juwon; Kim, Kyung-Soo; Kim, Soohyun

2017-12-01

A hybrid actuator for haptic devices is proposed in this paper. The actuator is composed of a DC motor and a magneto-rheological (MR) brake to realize transparency and stable force control. Two piston cylinders are connected with a flexible tube to lighten the weight of the structures on the endpoint that interacts with an operator. Also, the MR brake is designed to be suitable for hydraulic transmission. For the proposed hybrid actuator, a cooperative force control method using a pressure sensor instead of a force sensor is proposed. To verify the proposed control algorithm, a virtual wall collision experiment was conducted using a developed prototype of the hybrid actuator.

On the Potential of Hydrogen-Powered Hydraulic Pumps for Soft Robotics.

Science.gov (United States)

Desbiens, Alexandre B; Bigué, Jean-Philippe Lucking; Véronneau, Catherine; Masson, Patrice; Iagnemma, Karl; Plante, Jean-Sébastien

2017-12-01

To perform untethered operations, soft robots require mesoscale power units (10-1000 W) with high energy densities. In this perspective, air-breathing combustion offers an interesting alternative to battery-powered systems, provided sufficient overall energy conversion efficiency can be reached. Implementing efficient air-breathing combustion in mesoscale soft robots is notoriously difficult, however, as it requires optimization of very small combustion actuators and simultaneous minimization of fluidic (e.g., hydraulic) losses, which are both inversely impacted by actuations speeds. To overcome such challenges, this article proposes and evaluates the potential of hydrogen-powered, hydraulic free-piston pump architecture. Experimental data, taken from two combustion-driven prototypes, reveal (1) the fundamental role of using hydrogen as the source of fuel to reduce heat losses, (2) the significant impact of compression ratio, equivalence ratio, and surface-to-volume ratio on energy conversion efficiency, and (3) the importance of load matching between combustion and fluidic transmission. In this work, a small-bore combustion actuator demonstrated a 20% efficiency and a net mean output power of 26 W, while a big-bore combustion actuator reached a substantially higher efficiency of 35% and a net mean output power of 197 W. Using the small-bore combustion actuator, the hydrogen-powered, hydraulic free-piston pump provided a 4.6% overall efficiency for a 2.34 W net mean output power, thus underlying the potential of the approach for mesoscale soft robotic applications.

Modified hydraulic braking system limits angular deceleration to safe values

Science.gov (United States)

Briggs, R. S.; Council, M.; Green, P. M.

1966-01-01

Conventional spring actuated, hydraulically released, fail-safe disk braking system is modified to control the angular deceleration of a massive antenna. The hydraulic system provides an immediate preset pressure to the spring-loaded brake shoes and holds it at this value to decelerate the antenna at the desired rate.

Characterization of high speed synthetic jet actuators

Science.gov (United States)

Pikcilingis, Lucia

, having a 160 mm cavity diameter, yielded jet velocities greater than 300 m/s. Altering the clamping conditions, at which the disks are clamped, showed that increasing the number of clamping points where the disks are clamped, improved the performance of the jet. Coupling this with a flexible clamping boundary condition yielded the best performing jets. Fatigue tests were conducted for both apparatuses using several different disk designs. These tests showed that there is a degradation of the disks that causes the jet performance to decay and eventually cause a fracture in the disk. It is apparent from this work that, though the conditions at which the disks are manufactured have a small effect on performance, the disks do exhibit a threshold where beyond it the performance decays. Though desired jet velocities and momentums are achievable, the abnormality of the disks needs to be addressed before applying the actuator to practical situations. As this research continues, the synthetic jet actuator will become more robust and reliable to be an effective and reliable source of active flow control.

Assessment of a water hydraulics joint for RH operations in the divertor region

Energy Technology Data Exchange (ETDEWEB)

Dubus, G.; David, O.; Measson, Y.; Friconneau, J.P. [CEA LIST, Interactive Robotics Unit (France)

2007-07-01

Due to the high level of radiations, all the nominal maintenance in the divertor region of ITER will be carried out with help of robotic means. In reduced volumes, hydraulic applications can provide powerful actuators. They become an interesting technology to build a heavy duty manipulator for operations in space constrained areas. Oil hydraulics can not ensure the cleanliness level required for all maintenance operations in the vacuum vessel. Therefore, pure water hydraulics proposes a good alternative to oil and developments are today focusing on that direction. Although basic hydraulic elements like pumps, on-off valves, filters running with pure water are already available on the market, actuators are not so many and generally limited to linear motions. Fine control of the joint is achieved with help of servovalves. Today's off the shelf products are only adaptations from standard oil servovalves and are not specifically designed for water use. Operational experience for these products shows short lifetime expectancy and could not last a complete shutdown. Starting from the oil hydraulic version CEA with help of Cybernetix redesigned for water applications the elbow vane actuator of a Maestro arm, a six-degrees-of-freedom hydraulic manipulator used in decommissioning activities. In parallel with help of In-LHC, CEA developed a servovalve for water hydraulic applications that fits the space constraints of a Maestro manipulator. This prototype is a pressure-control valve. To a current input this servovalve supplies a very accurate pressure difference output instead of a flow rate in the case of flow control servovalve that are generally used in that kind of applications. The advantage is the improvement of the performances and stability of the force control loop. This paper presents the performances of the modified vane actuator and its servovalve. Both static and dynamic responses of the servovalve prototype with and without actuator are presented. Position

Quasi-open loop hydraulic ram incremental actuator with power conserving properties

International Nuclear Information System (INIS)

Raymond, E.T.; Robinson, C.W.

1982-01-01

An electric stepping motor, operated by command signals from a computer or a microprocessor, rotates a rotary control member of a distributor valve, for sequencing hydraulic pressure and hence flow to the cylinders of an axial piston hydraulic machine. A group of the cylinders are subjected to pressure and flow and the remaining cylinders are vented to a return line. Rotation of the rotary control valve member sequences pressurization by progressively adding a cylinder to the forward edge to the pressurized group and removing a cylinder from the trailing edge of the pressurized group. The double ended pistons of each new pressurized group function to drive a wobble plate into a new position of equilibrium and then hold it in such position until another change in the makeup of the pressurized group. These pistons also displace hydraulic fluid from the opposite cylinder head which serves as the output of a pumping element. An increment of displacement of the wobble plate occurs in direct response to each command pulse that is received by the stepping motor. Wobble plate displacement drives the rotary valve of the hydraulic power transfer unit, causing it to transfer hydraulic fluid from a first expansible chamber on one side of a piston in a hydraulic ram to a second expansible chamber on the opposite side of the piston. Reverse drive of the hydraulic power transfer unit reverses the direction of transfer of hydraulic fluid between the two expansible chambers

Nonlinear Mechanics of MEMS Rectangular Microplates under Electrostatic Actuation

KAUST Repository

Saghir, Shahid

2016-12-01

The first objective of the dissertation is to develop a suitable reduced order model capable of investigating the nonlinear mechanical behavior of von-Karman plates under electrostatic actuation. The second objective is to investigate the nonlinear static and dynamic behavior of rectangular microplates under small and large actuating forces. In the first part, we present and compare various approaches to develop reduced order models for the nonlinear von-Karman rectangular microplates actuated by nonlinear electrostatic forces. The reduced-order models aim to investigate the static and dynamic behavior of the plate under small and large actuation forces. A fully clamped microplate is considered. Different types of basis functions are used in conjunction with the Galerkin method to discretize the governing equations. First we investigate the convergence with the number of modes retained in the model. Then for validation purpose, a comparison of the static results is made with the results calculated by a nonlinear finite element model. The linear eigenvalue problem for the plate under the electrostatic force is solved for a wide range of voltages up to pull-in. In the second part, we present an investigation of the static and dynamic behavior of a fully clamped microplate. We investigate the effect of different non-dimensional design parameters on the static response. The forced-vibration response of the plate is then investigated when the plate is excited by a harmonic AC load superimposed to a DC load. The dynamic behavior is examined near the primary and secondary (superharmonic and subharmonic) resonances. The microplate shows a strong hardening behavior due to the cubic nonlinearity of midplane stretching. However, the behavior switches to softening as the DC load is increased. Next, near-square plates are studied to understand the effect of geometric imperfections of microplates. In the final part of the dissertation, we investigate the mechanical behavior of

Power management in hydraulically actuated mobile equipment

DEFF Research Database (Denmark)

Pedersen, Henrik Clemmensen; Andersen, Torben Ole; Hansen, Michael Rygaard

2008-01-01

The focus of the current paper is on the control of hydraulic systems when utilizing the advances that electronic control may bring with regard to power management, prioritized flow sharing and anti-stall, arising from being able to control both pump, valves and engine electronically. A simple mo...

Metal muscles and nerves—a self-sensing SMA-actuated hand concept

Science.gov (United States)

Simone, F.; Rizzello, G.; Seelecke, S.

2017-09-01

Bio-inspired hand-like grippers actuated by Shape Memory Alloy (SMA) wires represent an emerging new technology with potential applications in many different fields, ranging from industrial assembly processes to biomedical systems. The inherently high energy density makes SMAs a natural choice for compact, lightweight, and silent actuator systems capable of producing a high amount of work, such as hand prostheses or robotic systems in industrial human/machine environments. In this work, a concept for a compact and versatile gripping system is developed, in which SMA wires are implemented as antagonistic muscles actuating an artificial hand with three fingers. In order to combine high gripping force with sufficient actuation speed, the muscle implementation pursues a multi-wire concept with several 0.1 mm diameter NiTi wires connected in parallel, in order to increase the surface-to-volume ratio for accelerated cooling. The paper starts with an illustration of the design concept of an individual 3-phalanx-finger, along with kinematic considerations for optimal placement of SMA wires. Three identical fingers are subsequently fabricated via 3D printing and assembled into a hand-like gripper. The maximum displacement of each finger phalanx is measured, and an average phalanxes dynamic responsiveness is evaluated. SMA self-sensing is documented by experiments relating the wires change in resistance to the finger motion. Several finger force measurements are also performed. The versatility of the gripper is finally documented by displaying a variety of achievable grasping configurations.

Development of a Wave Energy -Responsive Self-Actuated Blade Articulation Mechanism for an OWC Turbine

Energy Technology Data Exchange (ETDEWEB)

Francis A. Di Bella

2010-06-01

The Phase I SBIR effort completed the feasibility design, fabrication, and wind tunnel testing of a self-actuated blade articulation mechanism that uses a torsion bar and a lightweight airfoil to affect the articulation of the Wells airfoil. The articulation is affected only by the air stream incident on the airfoil. The self-actuating blade eliminates the complex and costly linkage mechanism that is now needed to perform this function on either a variable pitch Wells-type or Dennis-Auld air turbine. Using the results reported by independent researchers, the projected improvement in the Wells-type turbine efficiency is 20-40%, in addition to an increase in the operating air flow range by 50-100%, therefore enabling a smaller or slower single turbine to be used.

Review on signal-by-wire and power-by-wire actuation for more electric aircraft

Directory of Open Access Journals (Sweden)

Jean-Charles MARÉ

2017-06-01

Full Text Available The huge and rapid progress in electric drives offers new opportunities to improve the performances of aircraft at all levels: fuel burn, environmental footprint, safety, integration and production, serviceability, and maintainability. Actuation for safety-critical applications like flight-controls, landing gears, and even engines is one of the major consumers of non-propulsive power. Conventional actuation with centralized hydraulic power generation and distribution and control of power by throttling has been well established for decades, but offers a limited potential of evolution. In this context, electric drives become more and more attractive to remove the natural drawbacks of conventional actuation and to offer new opportunities for improving performance. This paper takes the stock, at both the signal and power levels, of the evolution of actuation for safety-critical applications in aerospace. It focuses on the recent advances and the remaining challenges to be taken toward full electrical actuation for commercial and military aircraft, helicopters, and launchers. It logically starts by emphasizing the specificity of safety-critical actuation for aerospace. The following section addresses in details the evolution of aerospace actuation from mechanically-signaled and hydraulically-supplied to all electric, with special emphasis on research and development programs and on solutions entered into service. Finally, the last section reviews the challenges to be taken to generalize the use of all-electric actuators for future aircraft programs.

Magnetic Actuation of Self-Assembled DNA Hinges

Science.gov (United States)

Lauback, S.; Mattioli, K.; Armstrong, M.; Miller, C.; Pease, C.; Castro, C.; Sooryakumar, R.

DNA nanotechnology offers a broad range of applications spanning from the creation of nanoscale devices, motors and nanoparticle templates to the development of precise drug delivery systems. Central to advancing this technology is the ability to actuate or reconfigure structures in real time, which is currently achieved primarily by DNA strand displacement yielding slow actuation times (about 1-10min). Here we exploit superparamagnetic beads to magnetically actuate DNA structures which also provides a system to measure forces associated with molecular interactions. DNA nanodevices are folded using DNA origami, whereby a long single-stranded DNA is folded into a precise compact geometry using hundreds of short oligonucleotides. Our DNA nanodevice is a nanohinge from which rod shaped DNA nanostructures are polymerized into micron-scale filaments forming handles for actuation. By functionalizing one arm of the hinge and the filament ends, the hinge can be attached to a surface while still allowing an arm to rotate and the filaments can be labeled with magnetic beads enabling the hinge to be actuated almost instantaneously by external magnetic fields. These results lay the groundwork to establish real-time manipulation and direct force application of DNA constructs.

Shape memory alloy actuated accumulator for ultra-deepwater oil and gas exploration

Science.gov (United States)

Patil, Devendra; Song, Gangbing

2016-04-01

As offshore oil and gas exploration moves further offshore and into deeper waters to reach hydrocarbon reserves, it is becoming essential for the industry to develop more reliable and efficient hydraulic accumulators to supply pressured hydraulic fluid for various control and actuation operations, such as closing rams of blowout preventers and controlling subsea valves on the seafloor. By utilizing the shape memory effect property of nitinol, which is a type of shape memory alloy (SMA), an innovative SMA actuated hydraulic accumulator prototype has been developed and successfully tested at Smart Materials and Structure Laboratory at the University of Houston. Absence of gas in the developed SMA accumulator prototype makes it immune to hydrostatic head loss caused by water depth and thus reduces the number of accumulators required in deep water operations. Experiments with a feedback control have demonstrated that the proposed SMA actuated accumulator can provide precisely regulated pressurized fluids. Furthermore the potential use of ultracapacitors along with an embedded system to control the electric power supplied to SMA allows this accumulator to be an autonomous device for deployment. The developed SMA accumulator will make deepwater oil extraction systems more compact and cost effective.

Nonlinear, Adaptive and Fault-tolerant Control for Electro-hydraulic Servo Systems

DEFF Research Database (Denmark)

Choux, Martin

is designed and implemented on the test bed that successfully diagnoses internal or external leakages, friction variations in the actuator or fault related to pressure sensors. The presented algorithm uses the position and pressure measurements to detect and isolate faults, avoiding missed detection and false...... numerous attractive properties, hydraulic systems are always subject to potential leakages in their components, friction variation in their hydraulic actuators and deciency in their sensors. These violations of normal behaviour reduce the system performances and can lead to system failure...... if they are not detected early and handled. Moreover, the task of controlling electro hydraulic systems for high performance operations is challenging due to the highly nonlinear behaviour of such systems and the large amount of uncertainties present in their models. This thesis focuses on nonlinear adaptive fault...

FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

DEFF Research Database (Denmark)

Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik C.

2005-01-01

is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.......Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus...

THUNDER Piezoelectric Actuators as a Method of Stretch-Tuning an Optical Fiber Grating

Science.gov (United States)

Allison, Sidney G.; Fox, Robert L.; Froggatt, Mark E.; Childers, Brooks A.

2000-01-01

A method of stretching optical fiber holds interest for measuring strain in smart structures where the physical displacement may be used to tune optical fiber lasers. A small, light weight, low power tunable fiber laser is ideal for demodulating strain in optical fiber Bragg gratings attached to smart structures such as the re-usable launch vehicle that is being developed by NASA. A method is presented for stretching optical fibers using the THUNDER piezoelectric actuators invented at NASA Langley Research Center. THUNDER actuators use a piezoelectric layer bonded to a metal backing to enable the actuators to produce displacements larger than the unbonded piezoelectric material. The shift in reflected optical wavelength resulting from stretching the fiber Bragg grating is presented. Means of adapting THUNDER actuators for stretching optical fibers is discussed, including ferrules, ferrule clamp blocks, and plastic hinges made with stereo lithography.

Design of a power-asymmetric actuator for a transtibial prosthesis.

Science.gov (United States)

Bartlett, Harrison L; Lawson, Brian E; Goldfarb, Michael

2017-07-01

This paper presents the design and characterization of a power-asymmetric actuator for a transtibial prosthesis. The device is designed to provide the combination of: 1) joint locking, 2) high power dissipation, and 3) low power generation. This actuator functionality allows for a prosthesis to be designed with minimal mass and power consumption relative to a fully-powered robotic prosthesis while maintaining much of the functionality necessary for activities of daily living. The actuator achieves these design characteristics while maintaining a small form factor by leveraging a combination of electromechanical and hydraulic components. The design of the actuator is described herein, and results of an experimental characterization are provided that indicate that the actuator is capable of providing the functional capabilities required of an ankle prosthesis in a compact and lightweight package.

The application of hydraulics in the 2,000 kW wind turbine generator

Science.gov (United States)

Onufreiczuk, S.

1978-01-01

A 2000 kW turbine generator using hydraulic power in two of its control systems is being built under the management of NASA Lewis Research Center. The hydraulic systems providing the control torques and forces for the yaw and blade pitch control systems are discussed. The yaw-drive-system hydraulic supply provides the power for positioning the nacelle so that the rotary axis is kept in line with the direction of the prevailing wind, as well as pressure to the yaw and high speed shaft brakes. The pitch-change-mechanism hydraulic system provides the actuation to the pitch change mechanism and permits feathering of the blades during an emergency situation. It operates in conjunction with the overall windmill computer system, with the feather control permitting slewing control flow to pass from the servo valve to the actuators without restriction.

Displacement characteristics of a piezoactuator-based prototype microactuator with a hydraulic displacement amplification system

Energy Technology Data Exchange (ETDEWEB)

Muralidhara [NMAMIT, Nitte (India); Rao, Rathnamala [NITK, Surathkal (India)

2015-11-15

In this study, a new piezoactuator-based prototype microactuator is proposed with a hydraulic displacement amplification system. A piezoactuator is used to deflect a diaphragm which displaces a certain volume of hydraulic fluid into a smaller-diameter piston chamber, thereby amplifying the displacement at the other end of the piston. An electro-mechanical model is implemented to estimate the displacement of a multilayer piezoelectric actuator for the applied input voltage considering the hysteresis behavior. The displacement characteristics of the proposed microactuator are studied for triangular actuation voltage signal. Results of the experiments and simulation of the displacement behavior of the stacked piezoactuator and the amplified displacement of the prototype actuator were compared. Experimental results suggest that the mathematical model developed for the new piezoactuator-based prototype actuator is capable of estimating its displacement behavior accurately, within an error of 1.2%.

Displacement characteristics of a piezoactuator-based prototype microactuator with a hydraulic displacement amplification system

International Nuclear Information System (INIS)

Muralidhara; Rao, Rathnamala

2015-01-01

In this study, a new piezoactuator-based prototype microactuator is proposed with a hydraulic displacement amplification system. A piezoactuator is used to deflect a diaphragm which displaces a certain volume of hydraulic fluid into a smaller-diameter piston chamber, thereby amplifying the displacement at the other end of the piston. An electro-mechanical model is implemented to estimate the displacement of a multilayer piezoelectric actuator for the applied input voltage considering the hysteresis behavior. The displacement characteristics of the proposed microactuator are studied for triangular actuation voltage signal. Results of the experiments and simulation of the displacement behavior of the stacked piezoactuator and the amplified displacement of the prototype actuator were compared. Experimental results suggest that the mathematical model developed for the new piezoactuator-based prototype actuator is capable of estimating its displacement behavior accurately, within an error of 1.2%.

Experimental evaluation of control strategies for hydraulic servo robot

DEFF Research Database (Denmark)

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....

A curved electrode electrostatic actuator designed for large displacement and force in an underwater environment

International Nuclear Information System (INIS)

Preetham, B S; Lake, Melinda A; Hoelzle, David J

2017-01-01

There is a need for the development of large displacement ( O (10 −6 ) m) and force ( O (10 −6 ) N) electrostatic actuators with low actuation voltages (<  ±8 V) for underwater bio- MEMS applications. In this paper, we present the design, fabrication, and characterization of a curved electrode electrostatic actuator in a clamped–clamped beam configuration meant to operate in an underwater environment. Our curved electrode actuator is unique in that it operates in a stable manner past the pull-in instability. Models based on the Rayleigh–Ritz method accurately predict the onset of static instability and the displacement versus voltage function, as validated by quasistatic experiments. We demonstrate that the actuator is capable of achieving a large peak-to-peak displacement of 19.5 µ m and force of 43 µ N for a low actuation voltage of less than  ±8 V and is thus appropriate for underwater bio -MEMS applications. (paper)

Towards holonomic electro-elastomer actuators with six degrees of freedom

Science.gov (United States)

Conn, A. T.; Rossiter, J.

2012-03-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator-sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators.

Insulated pipe clamp design

International Nuclear Information System (INIS)

Anderson, M.J.; Hyde, L.L.; Wagner, S.E.; Severud, L.K.

1980-01-01

Thin wall large diameter piping for breeder reactor plants can be subjected to significant thermal shocks during reactor scrams and other upset events. On the Fast Flux Test Facility, the addition of thick clamps directly on the piping was undesired because the differential metal temperatures between the pipe wall and the clamp could have significantly reduced the pipe thermal fatigue life cycle capabilities. Accordingly, an insulated pipe clamp design concept was developed. The design considerations and methods along with the development tests are presented. Special considerations to guard against adverse cracking of the insulation material, to maintain the clamp-pipe stiffness desired during a seismic event, to minimize clamp restraint on the pipe during normal pipe heatup, and to resist clamp rotation or spinning on the pipe are emphasized

Investigation of Self Yaw and its Potential using a Hydraulic Soft Yaw System for 5 MW Wind Turbine

DEFF Research Database (Denmark)

Stubkier, Søren; Pedersen, Henrik C.

2013-01-01

The focus of the current paper is on a hydraulic soft yaw system, designed to reduce the loading of the turbine structure, by absorbing wind guest via the hydraulic system, but which also enables the system to be used as a self-aligning yaw system. The system is analyzed with basis in the NREL 5-MW...... turbine, modeled in FAST, in which a new robust method for implementing Coulomb friction is utilized. Based on this model and a model of the hydraulic system, the influence of friction and wind speed is investigated in relation to the possibility to use the system as a self-aligning yaw system. Similarly...... the behavior of the hydraulic system is analyzed and it is concluded that the hydraulic yaw system allows selfyaw under normal operating conditions for the turbine. Self-yaw control is possible in wind speeds above 12 m/s when yaw friction is kept below 1 MNm....

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

Towards holonomic electro-elastomer actuators with six degrees of freedom

International Nuclear Information System (INIS)

Conn, A T; Rossiter, J

2012-01-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator–sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators. (paper)

An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology.

Science.gov (United States)

Liu, Guojun; Zhang, Yanyan; Liu, Jianfang; Li, Jianqiao; Tang, Chunxiu; Wang, Tengfei; Yang, Xuhao

2016-01-01

An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator.

An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

Directory of Open Access Journals (Sweden)

Guojun Liu

2016-01-01

Full Text Available An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT actuation and electrorheological fluids (ERFs control technology is presented. The actuator consists of actuation unit (PZT stack pump, fluid control unit (ERFs valve, and execution unit (hydraulic actuator. In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator.

Elastohydrodynamics of microfilament under distributed body actuation

Science.gov (United States)

Singh, T. Sonamani; Yadava, R. D. S.

2018-05-01

The dynamics of an active filament in low Reynolds (Re) number regime is analyzed under distributed body actuation represented by the sliding filament model. The governing elastohydrodynamic equations are formulated by assuming the resistive force theory (RFT). The effect of geometric nonlinearity in bending stiffness on the propulsive thrust has been analyzed where the former is introduced by cross-sectional tapering. Two types of boundary conditions (clamped-free and hinged-free) are analyzed. A comparison with the uniform filament dynamics reveals that the tapering enhances the thrust under both types of boundary conditions.

Optimum Operating Conditions for PZT Actuators for Vibrotactile Wearables

Science.gov (United States)

Logothetis, Irini; Matsouka, Dimitra; Vassiliadis, Savvas; Vossou, Clio; Siores, Elias

2018-04-01

Recently, vibrotactile wearables have received much attention in fields such as medicine, psychology, athletics and video gaming. The electrical components presently used to generate vibration are rigid; hence, the design and creation of ergonomical wearables are limited. Significant advances in piezoelectric components have led to the production of flexible actuators such as piezoceramic lead zirconate titanate (PZT) film. To verify the functionality of PZT actuators for use in vibrotactile wearables, the factors influencing the electromechanical conversion were analysed and tested. This was achieved through theoretical and experimental analyses of a monomorph clamped-free structure for the PZT actuator. The research performed for this article is a three-step process. First, a theoretical analysis presents the equations governing the actuator. In addition, the eigenfrequency of the film was analysed preceding the experimental section. For this stage, by applying an electric voltage and varying the stimulating electrical characteristics (i.e., voltage, electrical waveform and frequency), the optimum operating conditions for a PZT film were determined. The tip displacement was measured referring to the mechanical energy converted from electrical energy. From the results obtained, an equation for the mechanical behaviour of PZT films as actuators was deduced. It was observed that the square waveform generated larger tip displacements. In conjunction with large voltage inputs at the predetermined eigenfrequency, the optimum operating conditions for the actuator were achieved. To conclude, PZT films can be adapted to assist designers in creating comfortable vibrotactile wearables.

EMC design for actuators in the FAST reflector

Science.gov (United States)

Zhang, Hai-Yan; Wu, Ming-Chang; Yue, You-Ling; Gan, Heng-Qian; Hu, Hao; Huang, Shi-Jie

2018-04-01

An active reflector is one of the three main innovations incorporated in the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The deformation of such a huge spherically shaped reflector into different transient parabolic shapes is achieved by using 2225 hydraulic actuators which change the position of the 2225 nodes through the connected down tied cables. For each different tracking process of the telescope, more than 1/3 of these 2225 actuators must be in operation to tune the parabolic aperture accurately and meet the surface error restriction. This means that some of these actuators are inevitably located within the main beam of the receiver, and Electromagnetic Interference (EMI) from the actuators must be mitigated to ensure the scientific output of the telescope. Based on the threshold level of interference detrimental to radio astronomy described in ITU-R Recommendation RA.769 and EMI measurements, the shielding efficiency (SE) requirement for each actuator is set to be 80 dB in the frequency range from 70 MHz to 3 GHz. Therefore, Electromagnetic Compatibility (EMC) was taken into account in the actuator design by measures such as power line filters, optical fibers, shielding enclosures and other structural measures. In 2015, all the actuators had been installed at the FAST site. Till now, no apparent EMI from the actuators has been detected by the receiver, which demonstrates the effectiveness of these EMC measures.

Self-Sensing Control of Nafion-Based Ionic Polymer-Metal Composite (IPMC Actuator in the Extremely Low Humidity Environment

Directory of Open Access Journals (Sweden)

Minoru Sasaki

2013-10-01

Full Text Available This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We tried to replicate this controllability in Nafion-based IPMC. We found that the displacement of a Nafion-based IPMC was proportional to the total charge imposed, just as in the Selemion-CMV case. This property is the basis of self-sensing controllers for Nafion-based IPMC bending behavior: we perform bending curvature experiments on Nafion-based IPMCs, obtaining the actuator's dynamics and transfer function. From these, we implemented self-sensing controllers using feedforward, feedback and two-degree-of-freedom techniques. All three controllers performed very well with the Nafion-based IPMC actuator.

Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

DEFF Research Database (Denmark)

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...

Unbalance detection in rotor systems with active bearings using self-sensing piezoelectric actuators

Science.gov (United States)

Ambur, Ramakrishnan; Rinderknecht, Stephan

2018-03-01

Machines which are developed today are highly automated due to increased use of mechatronic systems. To ensure their reliable operation, fault detection and isolation (FDI) is an important feature along with a better control. This research work aims to achieve and integrate both these functions with minimum number of components in a mechatronic system. This article investigates a rotating machine with active bearings equipped with piezoelectric actuators. There is an inherent coupling between their electrical and mechanical properties because of which they can also be used as sensors. Mechanical deflection can be reconstructed from these self-sensing actuators from measured voltage and current signals. These virtual sensor signals are utilised to detect unbalance in a rotor system. Parameters of unbalance such as its magnitude and phase are detected by parametric estimation method in frequency domain. Unbalance location has been identified using hypothesis of localization of faults. Robustness of the estimates against outliers in measurements is improved using weighted least squares method. Unbalances are detected in a real test bench apart from simulation using its model. Experiments are performed in stationary as well as in transient case. As a further step unbalances are estimated during simultaneous actuation of actuators in closed loop with an adaptive algorithm for vibration minimisation. This strategy could be used in systems which aim for both fault detection and control action.

FRF based position controller design through system identification for A hydraulic cylinder

Energy Technology Data Exchange (ETDEWEB)

Seo, Hyoung Kyu; Kim, Dong Hwan [Dept. of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology, Seoul (Korea, Republic of); Park, Jong Won [Reliability Assessment Center, Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

2015-11-15

In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.

A linear actuator for precision positioning of dual objects

International Nuclear Information System (INIS)

Peng, Yuxin; Cao, Jie; Guo, Zhao; Yu, Haoyong

2015-01-01

In this paper, a linear actuator for precision positioning of dual objects is proposed based on a double friction drive principle using a single piezoelectric element (PZT). The linear actuator consists of an electromagnet and a permanent magnet, which are connected by the PZT. The electromagnet serves as an object 1, and another object (object 2) is attached on the permanent magnet by the magnetic force. For positioning the dual objects independently, two different friction drive modes can be alternated by an on–off control of the electromagnet. When the electromagnet releases from the guide way, it can be driven by impact friction force generated by the PZT. Otherwise, when the electromagnet clamps on the guide way and remains stationary, the object 2 can be driven based on the principle of smooth impact friction drive. A prototype was designed and constructed and experiments were carried out to test the basic performance of the actuator. It has been verified that with a compact size of 31 mm (L) × 12 mm (W) × 8 mm (H), the two objects can achieve long strokes on the order of several millimeters and high resolutions of several tens of nanometers. Since the proposed actuator allows independent movement of two objects by a single PZT, the actuator has the potential to be constructed compactly. (paper)

Use of the Satinsky clamp for hilar clamping during robotic partial nephrectomy: indications, technique, and multi-center outcomes.

Science.gov (United States)

Abdullah, Newaj; Rahbar, Haider; Barod, Ravi; Dalela, Deepansh; Larson, Jeff; Johnson, Michael; Mass, Alon; Zargar, Homayoun; Kaouk, Jihad; Allaf, Mohamad; Bhayani, Sam; Stifelman, Michael; Rogers, Craig

2017-03-01

A Satinsky clamp may be a backup option for hilar clamping during robotic partial nephrectomy (RPN) if there are challenges with application of bulldog clamps, but there are potential safety concerns. We evaluate outcomes of RPN using Satinsky vs. bulldog clamps, and provide tips for safe use of the Satinsky as a backup option. Using a multi-center database, we identified 1073 patients who underwent RPN between 2006 and 2013, and had information available about method of hilar clamping (bulldog clamp vs. Satinsky clamp). Patient baseline characteristics, tumor features, and perioperative outcomes were compared between the Satinsky and bulldog clamp groups. A Satinsky clamp was used for hilar clamping in 94 (8.8 %) RPN cases, and bulldog clamps were used in 979 (91.2 %) cases. The use of a Satinsky clamp was associated with greater operative time (198 vs. 175 min, p hilar clamping during challenging RPN cases, but requires careful technique, and was rarely necessary.

Bi-directional series-parallel elastic actuator and overlap of the actuation layers.

Science.gov (United States)

Furnémont, Raphaël; Mathijssen, Glenn; Verstraten, Tom; Lefeber, Dirk; Vanderborght, Bram

2016-01-27

Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to humans. To combine both advantages, the series parallel elastic actuator (SPEA) was developed. The principle is inspired from biological muscles. Muscles are composed of motor units, placed in parallel, which are variably recruited as the required effort increases. This biological principle is exploited in the SPEA, where springs (layers), placed in parallel, can be recruited one by one. This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power consumption. The variable recruitment of the parallel springs can also be tuned in order to further decrease the consumption of the actuator for a given task. First, an explanation of the concept and a brief description of the prior work done will be given. Next, the design and the model of one of the layers will be presented. The working principle of the full actuator will then be given. At the end of this paper, experiments showing the electric consumption of the actuator will display the advantage of the SPEA over an equivalent stiff actuator.

A novel magnetorheological actuator for micro-motion control: identification of actuating characteristics

International Nuclear Information System (INIS)

Kaluvan, Suresh; Kim, Soomin; Choi, Seung-Bok; Thirumavalavan, Vinopraba

2015-01-01

A novel actuator using magnetorheological (MR) fluid sandwiched between two electrode type coils is proposed in this research work. The key enabling concept of the proposed actuator is to enhance the force due to the magnetic field produced by the electrode coil using the magnetorheological fluid. The direction and amount of current input to the top and bottom electrode coils decide the characteristics such as contraction, extension and the force generated by the actuator, respectively. To obtain the required displacement and actuation force, the viscosity of the MR fluid sandwiched between the two electrode coils is precisely varied by the input current. In this work, the MR fluid is operated in one of the most powerful modes, called squeeze mode, and hence the designed magnetorheological actuator is more powerful and precise. The experimental results shown in this paper show that it has a great advantage in micron-level displacement and vibration control applications. The main contribution of this innovative magnetorheological actuator design is that it can also behave like a damper. This technology will lead to a new dimension in the design of self-actuation and damping devices. In addition, the proposed magnetorheological actuator has additional advantages such as cost effectiveness and easy implementation. (paper)

Radial wedge flange clamp

Science.gov (United States)

Smith, Karl H.

2002-01-01

A radial wedge flange clamp comprising a pair of flanges each comprising a plurality of peripheral flat wedge facets having flat wedge surfaces and opposed and mating flat surfaces attached to or otherwise engaged with two elements to be joined and including a series of generally U-shaped wedge clamps each having flat wedge interior surfaces and engaging one pair of said peripheral flat wedge facets. Each of said generally U-shaped wedge clamps has in its opposing extremities apertures for the tangential insertion of bolts to apply uniform radial force to said wedge clamps when assembled about said wedge segments.

Electromechanical actuation for thrust vector control applications

Science.gov (United States)

Roth, Mary Ellen

1990-01-01

At present, actuation systems for the Thrust Vector Control (TVC) for launch vehicles are hydraulic systems. The Advanced Launch System (ALS), a joint initiative between NASA and the Air Force, is a launch vehicle that is designed to be cost effective, highly reliable and operationally efficient with a goal of reducing the cost per pound to orbit. As part of this initiative, an electromechanical actuation system is being developed as an attractive alternative to the hydraulic systems used today. NASA-Lewis is developing and demonstrating an Induction Motor Controller Actuation System with a 40 hp peak rating. The controller will integrate 20 kHz resonant link Power Management and Distribution (PMAD) technology and Pulse Population Modulation (PPM) techniques to implement Field Oriented Vector Control (FOVC) of a new advanced induction motor. Through PPM, multiphase variable frequency, variable voltage waveforms can be synthesized from the 20 kHz source. FOVC shows that varying both the voltage and frequency and their ratio (V/F), permits independent control of both torque and speed while operating at maximum efficiency at any point on the torque-speed curve. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a Built-in Test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA TVC system. The design and fabrication of the motor controller is being done by General Dynamics Space Systems Division. The University of Wisconsin-Madison will assist in the design of the advanced induction motor and in the implementation of the FOVC theory. A 75 hp electronically controlled dynamometer will be used to test the motor controller in all four quadrants of operation using flight type

Relationship between self-priming and hydraulic behavior in Venturi Scrubber

International Nuclear Information System (INIS)

Horiguchi, Naoki; Kaneko, Akiko; Abe, Yutaka; Yoshida, Hiroyuki

2014-01-01

As revealed by Fukushima Daiichi nuclear disaster, countermeasures against severe accident in nuclear power plants are an urgent need. In particular, from the viewpoint of protecting a containment and suppressing the diffusion of radioactive materials, it is important to develop the device which allows a filtered venting of contaminated high pressure gas. In the filtered venting system that used in European reactors, so called Multi Venturi Scrubbers System is used to realize filtered venting without any power supply (Lindau, 1988) (Rust, et al., 1995). The system operates with any power supply and high pressure gas filled in the containment. This system is able to define to be composed of Venturi Scrubbers (VS) and a bubble column. In the VS, scrubbing of contaminated gas is promoted by both gas releases through a submerged VS and gas-liquid contact with splay flow formed by liquid suctioned through a hole provided by the pressure difference between inner and outer parts of a throat part of the VS. This type of the VS is called self-priming ones. However, the scrubbing mechanism of the self-priming VS including effects of gas mass flow rate and shape of the VS are understood insufficiently in the previous studies. In this study, to understand the VS operation characteristics for the filtered venting, we discussed the mechanisms of the self-priming phenomena and the hydraulic behavior in the VS. In this paper, we conducted a visualized observation of the hydraulic behavior in the VS and measured liquid flow rate of the self-priming. As a result, it is shown that there is the possibility that the VS decontamination performance falls low level with no self-priming. (author)

The plastic instability of clamped-clamped conical thin-walled pipe reducers

International Nuclear Information System (INIS)

Awad, Ibrahim; Saleh, Ch.A.R.; Ragab, A.R.

2016-01-01

The analytical study for plastic deformation of clamped–clamped conical reducer pipe under internal pressure does not deduce a closed form expression for the pressure at plastic instability. The presented study employs finite element analysis (FEA) to estimate the internal pressure at instability for conical reducers made of different materials and having different dimensional configurations. Forty dimensional configurations, classified as medium type, and five types of materials have been included in the analysis using ABAQUS package. A correlation expression is derived by nonlinear regression to predict the instability pressure. The proposed expression is verified for other dimensional configurations out of the above used forty models and for other materials. Experiments have been conducted by pressurizing conical clamped-clamped reducers until bursting in order to verify the finite element models. Comparison of instability pressures, strains and deflections at specific points along the conical surface shows satisfactory agreement between analysis and experiments. - Highlights: • This study offers a parametric study of the plastic instability pressure of clamped-clamped conical reducers. • A closed form analytical expression for the instability pressure is derived by using nonlinear regression. • The finite element analysis is validated by conducting bursting tests.

Virtual Design of a Controller for a Hydraulic Cam Phasing System

Science.gov (United States)

Schneider, Markus; Ulbrich, Heinz

2010-09-01

Hydraulic vane cam phasing systems are nowadays widely used for improving the performance of combustion engines. At stationary operation, these systems should achieve a constant phasing angle, which however is badly disturbed by the alternating torque generated by the valve actuation. As the hydraulic system shows a non-linear characteristic over the full operation range and the inductivity of the hydraulic pipes generates a significant time delay, a full model based control emerges very complex. Therefore a simple feed-forward controller is designed, bridging the time delay of the hydraulic system and improving the system behaviour significantly.

A study of low-cost reliable actuators for light aircraft. Part A: Chapters 1-8

Science.gov (United States)

Eijsink, H.; Rice, M.

1978-01-01

An analysis involving electro-mechanical, electro-pneumatic, and electro-hydraulic actuators was performed to study which are compatible for use in the primary and secondary flight controls of a single engine light aircraft. Actuator characteristics under investigation include cost, reliability, weight, force, volumetric requirements, power requirements, response characteristics and heat accumulation characteristics. The basic types of actuators were compared for performance characteristics in positioning a control surface model and then were mathematically evaluated in an aircraft to get the closed loop dynamic response characteristics. Conclusions were made as to the suitability of each actuator type for use in an aircraft.

Simulation model of an electrohydraulic-actuated double-clutch transmission vehicle: modelling and system design

Science.gov (United States)

Schoeftner, J.; Ebner, W.

2017-12-01

Automated and manual transmissions are the main link between engine and powertrain. The technical term when the transmission provides the desired torque during all possible driving conditions is denoted as powertrain matching. Recent developments in the last years show that double-clutch-transmissions (DCTs) are a reasonable compromise in terms of production costs, shifting quality, drivability and fuel efficiency. They have several advantages compared to other automatic transmissions (AT). Most DCTs nowadays consist of a hydraulic actuation control unit, which controls the clutches of the gearbox in order to induce a desired drivetrain torque into the driveline. The main functions of hydraulic systems are manifold: they initiate gear shifts, they provide sufficient oil for lubrication and they control the shift quality by suitably providing a desired oil flow or pressure for the clutch actuation. In this paper, a mathematical model of a passenger car equipped with a DCT is presented. The objective of this contribution is to get an increased understanding for the dynamics of the hydraulic circuit and its coupling to the vehicle drivetrain. The simulation model consists of a hydraulic and a mechanical domain: the hydraulic actuation circuit is described by nonlinear differential equations and includes the dynamics of the line pressure and the proportional valve, as well as the influence of the pressure reducing valve, pipe resistances and accumulator dynamics. The drivetrain with its gear ratios, moments of inertia, torsional stiffness of the rotating shafts and a simple longitudinal vehicle model represent the mechanical domain. The link between hydraulic and mechanical domain is given by the clutch, which combines hydraulic equations and Newton's laws. The presented mathematical model may not only be used as a simulation model for developing the transmission control software, it may also serve as a virtual layout for the design process phase. At the end of this

Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.

Science.gov (United States)

Li, Yanmin; Liu, Hao; Hao, Siwen; Li, Hongyi; Han, Jianda; Yang, Yunsheng

2017-03-01

Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analysed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out. The GIM realized an accuracy of 0.025 ± 0.2 mm and -0.03 ± 0.25° for push-pull and rotation without delivery resistance. Under polynomial could be used to describe the relationship between the CSF and pneumatic pressure. The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Education for hydraulics and pneumatics in Nara National College of Technology; Nara Kogyo Koto Senmon Gakko ni okeru yukuatsu kyoiku

Energy Technology Data Exchange (ETDEWEB)

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

2000-03-15

In the electronic control engineering course, basic knowledge is taught for mechanics, electronics/electricity, control, robotics, information processing, etc., with the purpose of bringing up practical mechatronics engineers, and then, training is conducted so that the students are able to deal with these subjects comprehensively. In the subject of hydraulics and pneumatics for the special course, a lecture on hydraulic and pneumatic control is given in the second year, where structures of hydraulic and pneumatic actuators are explained as well as the principle of operation and the control method. As the related experiment, measurement of liquid viscosity coefficient and flow measurement by a Venturi tube are carried out in the fourth year of the regular course. In addition, carried out in the fifth year are the measurement of stress by trailing velocity distribution of an object and the measurement of pressure distribution around a column. As a subject for graduation theses, a mobile carrier for welfare nursing is being developed using a pneumatic actuator. Development of a suitable actuator is also being developed simultaneously. In the education of electronic control engineering, it is essential to give the students understanding of hydraulic and pneumatic actuator control centering on the role of mechatronics. (NEDO)

Modeling and design of a high-performance hybrid actuator

Science.gov (United States)

Aloufi, Badr; Behdinan, Kamran; Zu, Jean

2016-12-01

This paper presents the model and design of a novel hybrid piezoelectric actuator which provides high active and passive performances for smart structural systems. The actuator is composed of a pair of curved pre-stressed piezoelectric actuators, so-called commercially THUNDER actuators, installed opposite each other using two clamping mechanisms constructed of in-plane fixable hinges, grippers and solid links. A fully mathematical model is developed to describe the active and passive dynamics of the actuator and investigate the effects of its geometrical parameters on the dynamic stiffness, free displacement and blocked force properties. Among the literature that deals with piezoelectric actuators in which THUNDER elements are used as a source of electromechanical power, the proposed study is unique in that it presents a mathematical model that has the ability to predict the actuator characteristics and achieve other phenomena, such as resonances, mode shapes, phase shifts, dips, etc. For model validation, the measurements of the free dynamic response per unit voltage and passive acceleration transmissibility of a particular actuator design are used to check the accuracy of the results predicted by the model. The results reveal that there is a good agreement between the model and experiment. Another experiment is performed to teste the linearity of the actuator system by examining the variation of the output dynamic responses with varying forces and voltages at different frequencies. From the results, it can be concluded that the actuator acts approximately as a linear system at frequencies up to 1000 Hz. A parametric study is achieved here by applying the developed model to analyze the influence of the geometrical parameters of the fixable hinges on the active and passive actuator properties. The model predictions in the frequency range of 0-1000 Hz show that the hinge thickness, radius, and opening angle parameters have great effects on the frequency dynamic

Insulated pipe clamp design

International Nuclear Information System (INIS)

Anderson, M.J.; Hyde, L.L.; Wagner, S.E.; Severud, L.K.

1980-01-01

Thin wall large diameter piping for breeder reactor plants can be subjected to significant thermal shocks during reactor scrams and other upset events. On the Fast Flux Test Facility, the addition of thick clamps directly on the piping was undesired because the differential metal temperatures between the pipe wall and the clamp could have significantly reduced the pipe thermal fatigue life cycle capabilities. Accordingly, an insulated pipe clamp design concept was developed. 5 refs

Theoretical and experimental nonlinear dynamics of a clamped-clamped beam MEMS resonator

NARCIS (Netherlands)

Mestrom, R.M.C.; Fey, R.H.B.; Nijmeijer, H.

2008-01-01

Microelectromechanical resonators feature nonlineardynamic responses. A first-principles based modeling approach is proposed for a clamped-clamped beam resonator. Starting from the partial differential equation for the beam including geometric and electrostatic nonlinear effects, a reduced-order

A self-adaption compensation control for hysteresis nonlinearity in piezo-actuated stages based on Pi-sigma fuzzy neural network

Science.gov (United States)

Xu, Rui; Zhou, Miaolei

2018-04-01

Piezo-actuated stages are widely applied in the high-precision positioning field nowadays. However, the inherent hysteresis nonlinearity in piezo-actuated stages greatly deteriorates the positioning accuracy of piezo-actuated stages. This paper first utilizes a nonlinear autoregressive moving average with exogenous inputs (NARMAX) model based on the Pi-sigma fuzzy neural network (PSFNN) to construct an online rate-dependent hysteresis model for describing the hysteresis nonlinearity in piezo-actuated stages. In order to improve the convergence rate of PSFNN and modeling precision, we adopt the gradient descent algorithm featuring three different learning factors to update the model parameters. The convergence of the NARMAX model based on the PSFNN is analyzed effectively. To ensure that the parameters can converge to the true values, the persistent excitation condition is considered. Then, a self-adaption compensation controller is designed for eliminating the hysteresis nonlinearity in piezo-actuated stages. A merit of the proposed controller is that it can directly eliminate the complex hysteresis nonlinearity in piezo-actuated stages without any inverse dynamic models. To demonstrate the effectiveness of the proposed model and control methods, a set of comparative experiments are performed on piezo-actuated stages. Experimental results show that the proposed modeling and control methods have excellent performance.

Recession in a linear stepper motor based on piezoelectric actuator and electrorheological clampers

International Nuclear Information System (INIS)

Li, Cuihong; Meng, Yonggang; Tian, Yu

2012-01-01

A linear inchworm-type stepper motor based on piezoelectric actuator and comb shape electrorheological (ER) clampers was developed and tested. A recession phenomenon in the movement of the motor was found and was significantly affected by the driving voltage of the piezoelectric actuator and ER fluids. A dynamic model to analyze the mechanism of the recession was established. The force ratio of the viscoelastic clamping force (applied high electric field) to the viscous damping force (zero field) of ER fluids is the critical factor which determines the recession. The ratio is also affected by the extension or contraction rate of the actuator during movement, which is affected by the charging and discharging processes. With a relatively large distance between the clamper electrodes and a small displacement activated by the extension of the piezoelectric actuator, the instantaneous shear rate might not be sufficiently high, preventing ER fluids from attaining a shear-thickened and high-strength state. The ratio of yield strength to the viscous strength of ER fluids during movement should be as large as possible to reduce the recession displacement. (paper)

Highly Tunable Electrothermally Actuated Arch Resonator

KAUST Repository

Hajjaj, Amal Z.

2016-12-05

This paper demonstrates experimentally, theoretically, and numerically a wide-range tunability of electrothermally actuated MEMS arch beams. The beams are made of silicon and are intentionally fabricated with some curvature as in-plane shallow arches. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared to the experimental data and results of a multi-physics finite-element model. A good agreement is found among all the results. The electrothermal voltage is applied between the anchors of the clamped-clamped MEMS arch beam, generating a current that passes through the MEMS arch beam and controls its axial stress caused by thermal expansion. When the electrothermal voltage increases, the compressive stress increases inside the arch beam. This leads to increase in its curvature, thereby increases the resonance frequencies of the structure. We show here that the first resonance frequency can increase up to twice its initial value. We show also that after some electro-thermal voltage load, the third resonance frequency starts to become more sensitive to the axial thermal stress, while the first resonance frequency becomes less sensitive. These results can be used as guidelines to utilize arches as wide-range tunable resonators.

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

Science.gov (United States)

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.

System Topology Optimization - An Approach to System Design of Electro-Hydraulic-Mechanical Systems

DEFF Research Database (Denmark)

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

2003-01-01

The current paper presents an approach to system design of combined electro-hydraulic-mechanical systems. The approach is based on the concurrent handling of the topology as well as the design parameters of the mechanical, hydraulic and controller sub- systems, respectively. Based on an initial...... design the procedure attempts to find the optimal topology and the related parameters. The topology considerations comprise the type of hydraulic pump, the employment of knee linkages or not as well as the type of hydraulic actuators. The design variables also include the signals to the proportional...... valve in a number of predefined load cases as well as the hydraulic and mechanical parameters....

Self-Lubricating Composite Bearing Materials - Part 2: Corrosion Preventive Solid Lubrication of the ASALM Missile Hydraulic Actuator Bearings

Science.gov (United States)

1979-12-01

HYD AULIC ACTUATOR F 97-1 _B~~~ E A RnGS -- CONTRACT OR GRANT NUMBER(#) I:: r~i/ F33615-76-C-5,082 9. PERFORMING ORGANIZATION NAME AND ADDRESS 10. P...Figure 2.0-1. 3.0 Description of Testing 3.1 Location All tests covered by this test plan will be conducted in the Climatic Test Laboratory of MMC located...conducted in the MMC Climatic Test Laboratory. 8.0 Data Reduction The data which is obtained in performing these tests will be analyzed to determine

Loading dynamics of a sliding DNA clamp.

KAUST Repository

Cho, Won-Ki

2014-05-22

Sliding DNA clamps are loaded at a ss/dsDNA junction by a clamp loader that depends on ATP binding for clamp opening. Sequential ATP hydrolysis results in closure of the clamp so that it completely encircles and diffuses on dsDNA. We followed events during loading of an E. coli β clamp in real time by using single-molecule FRET (smFRET). Three successive FRET states were retained for 0.3 s, 0.7 s, and 9 min: Hydrolysis of the first ATP molecule by the γ clamp loader resulted in closure of the clamp in 0.3 s, and after 0.7 s in the closed conformation, the clamp was released to diffuse on the dsDNA for at least 9 min. An additional single-molecule polarization study revealed that the interfacial domain of the clamp rotated in plane by approximately 8° during clamp closure. The single-molecule polarization and FRET studies thus revealed the real-time dynamics of the ATP-hydrolysis-dependent 3D conformational change of the β clamp during loading at a ss/dsDNA junction.

Application of Advanced Electromagnetic Arrays to High Efficiency, High Bandwidth, Redundant Linear Actuators, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — There is a need to develop electromechanical actuators to improve performance beyond that of hydraulic devices currently being used in numerous aerospace and...

A parametric study on hydraulic conductivity and self-healing properties of geotextile clay liners used in landfills.

Science.gov (United States)

Parastar, Fatemeh; Hejazi, Sayyed Mahdi; Sheikhzadeh, Mohammad; Alirezazadeh, Azam

2017-11-01

Nowadays, the raise of excessive generation of solid wastes is considered as a major environmental concern due to the fast global population growth. The contamination of groundwater from landfill leachate compromises every living creature. Geotextile clay liner (GCL) that has a sandwich structure with two fibrous sheets and a clay core can be considered as an engineered solution to prevent hazardous pollutants from entering into groundwater. The main objective of the present study is therefore to enhance the performance of GCL structures. By changing some structural factors such as clay type (sodium vs. calcium bentonite), areal density of clay, density of geotextile, geotextile thickness, texture type (woven vs. nonwoven), and needle punching density a series of GCL samples were fabricated. Water pressure, type of cover soil and overburden pressure were the environmental variables, while the response variables were hydraulic conductivity and self-healing rate of GCL. Rigid wall constant head permeability test was conducted on all the samples. The outlet water flow was measured and evaluated at a defined time period and the hydraulic conductivity was determined for each sample. In the final stage, self-healing properties of samples were investigated and an analytical model was used to explain the results. It was found that higher Montmorillonite content of clay, overburden pressure, needle punching density and areal density of clay poses better self-healing properties and less hydraulic conductivity, meanwhile, an increase in water pressure increases the hydraulic conductivity. Moreover, the observations were aligned with the analytical model and indicated that higher fiber inclusion as a result of higher needle-punching density produces closer contact between bentonite and fibers, reduces hydraulic conductivity and increases self-healing properties. Copyright © 2017 Elsevier Ltd. All rights reserved.

Actuator Location and Voltages Optimization for Shape Control of Smart Beams Using Genetic Algorithms

Directory of Open Access Journals (Sweden)

Georgios E. Stavroulakis

2013-10-01

Full Text Available This paper presents a numerical study on optimal voltages and optimal placement of piezoelectric actuators for shape control of beam structures. A finite element model, based on Timoshenko beam theory, is developed to characterize the behavior of the structure and the actuators. This model accounted for the electromechanical coupling in the entire beam structure, due to the fact that the piezoelectric layers are treated as constituent parts of the entire structural system. A hybrid scheme is presented based on great deluge and genetic algorithm. The hybrid algorithm is implemented to calculate the optimal locations and optimal values of voltages, applied to the piezoelectric actuators glued in the structure, which minimize the error between the achieved and the desired shape. Results from numerical simulations demonstrate the capabilities and efficiency of the developed optimization algorithm in both clamped−free and clamped−clamped beam problems are presented.

Scientific Research Program for Power, Energy, and Thermal Technologies. Task Order 0002: Power, Thermal and Control Technologies and Processes Experimental Research. Subtask: Laboratory Test Set-up to Evaluate Electromechanical Actuation Systems for Aircraft Flight Control

Science.gov (United States)

2015-08-01

hydraulic pumps generated hydraulic pressure which, in turn, powered the actuator which would move the flight control surface to the desired position...aircraft surface controls. Figure 2 - Electro- hydrostatic Actuator and an Electro-mechanical Actuator [7] In order to have a better...as to have a flat surface for the measurement device to measure position. This method was used in order to eliminate any displacement due to slop

Control rod driving hydraulic pressure device

International Nuclear Information System (INIS)

Ishida, Kazuo.

1990-01-01

Discharged water after actuating control rod drives in a BWR type reactor is once discharged to a discharging header, then returned to a master control unit and, subsequently, discharged to a reactor by way of a cooling water header. The radioactive level in the discharging header and the master control unit is increased by the reactor water to increase the operator's exposure. In view of the above, a riser is disposed for connecting a hydraulic pressure control unit incorporating a directional control valve and the cooling water head. When a certain control rod is inserted, the pressurized driving water is supplied through a hydraulic pressure control unit to the control rod drives. The discharged water from the control rod drives is entered by way of the hydraulic pressure control unit into the cooling water header and then returned to the reactor by way of other hydraulic pressure control unit and the control rod drives. Thus, the reactor water is no more recycled to the master control unit to reduce the radioactive exposure. (N.H.)

Hydraulic actuator for an electric circuit breaker

Science.gov (United States)

Imam, Imdad [Colonie, NY

1983-01-01

This actuator comprises a fluid motor having a piston, a breaker-opening space at one side of the piston, and a breaker-closing space at its opposite side. An accumulator freely communicates with the breaker-opening space for supplying pressurized fluid thereto during a circuit breaker opening operation. The breaker-opening space and the breaker-closing space are connected by an impeded flow passage. A pilot valve opens to allow the pressurized liquid in the breaker-closing space to flow to a back chamber of a normally closed main valve to cause the main valve to be opened during a circuit breaker opening operation to release the pressurized liquid from the breaker-closing space. An impeded passage affords communication between the back chamber and a sump located on the opposite side of the main valve from the back chamber. The pilot valve and impeded passage allow rapid opening of the main valve with pressurized liquid from the breaker closing side of the piston.

Tetherless thermobiochemically actuated microgrippers.

Science.gov (United States)

Leong, Timothy G; Randall, Christina L; Benson, Bryan R; Bassik, Noy; Stern, George M; Gracias, David H

2009-01-20

We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy).

Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

OpenAIRE

V. N. Pilgunov; K. D. Efremova

2016-01-01

A compressibility of the actuating fluid of a pneumatic drive (compressed air) leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the con...

Disposal machine using a hydraulic shovel loader for waste home electric appliances; Yuatsu shoberunado wo katsuyoshita haikaden shori kikai

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-09-25

This paper presents a disposal machine system developed by Hitachi Kenki Co. for waste home appliances. EX60 disposal machine and 2-axis shear shredder were developed as work machines for volume reduction and efficient disposal of waste home appliances. The shredder with rotary cutters is featured by superior crunch performance and efficient shredding of waste home appliances, and can crash not only waste home appliances but also various objects such as bulky waste, waste plastics and waste tire for passenger cars at crash torques from 7000 to 12000kgf{center_dot}m. The shredder is featured by superior mobility and easy operability by self-running and full-hydraulic driving, low- noise engine, and noise/vibration reduction by low-speed large torque hydraulic motor. EX60 disposal machine has clamp fixing waste home appliances, and a grapple for disassembling and classification, and can efficiently disassemble and classify 4 kinds of waste home appliances and other wastes only by itself. 12 figs., 3 tabs.

Temperature sensitive self-actuated scram mechanism

International Nuclear Information System (INIS)

1980-01-01

The apparatus, described in detail, accurately infers the average coolant temperature exiting from the reactor core in a liquid metal cooled reactor and rapidly and reliably actuates a safety rod release mechanism on the occurrence of a critical temperature. The output temperature is inferred from the cooperative effect of the flow rate through a coolant flow path within the safety assembly and the heat generated by sensor fuel pins. The inferred temperature is sensed by a confined fluid having a high expansion coefficient; the expansion is transferred to a linear force used to actuate the release mechanism. The system may be contained within the safety assembly and does not interfere with the operation of the plant protection system scram mode. It is resetable after a scram. The time interval between the overtemperature and the insertion of the safety rods is short enough to preclude fuel damage. (U.K.)

Three-electrode self-actuating self-sensing quartz cantilever: design, analysis, and experimental verification.

Science.gov (United States)

Chen, C Julian; Schwarz, Alex; Wiesendanger, Roland; Horn, Oliver; Müller, Jörg

2010-05-01

We present a novel quartz cantilever for frequency-modulation atomic force microscopy (FM-AFM) which has three electrodes: an actuating electrode, a sensing electrode, and a ground electrode. By applying an ac signal on the actuating electrode, the cantilever is set to vibrate. If the frequency of actuation voltage closely matches one of the characteristic frequencies of the cantilever, a sharp resonance should be observed. The vibration of the cantilever in turn generates a current on the sensing electrode. The arrangement of the electrodes is such that the cross-talk capacitance between the actuating electrode and the sensing electrode is less than 10(-16) F, thus the direct coupling is negligible. To verify the principle, a number of samples were made. Direct measurements with a Nanosurf easyPPL controller and detector showed that for each cantilever, one or more vibrational modes can be excited and detected. Using classical theory of elasticity, it is shown that such novel cantilevers with proper dimensions can provide optimized performance and sensitivity in FM-AFM with very simple electronics.

Modelling and Simulation of Mobile Hydraulic Crane with Telescopic Arm

DEFF Research Database (Denmark)

Nielsen, Brian; Pedersen, Henrik Clemmensen; Andersen, Torben Ole

2005-01-01

For loader crane applications resolved motion control is assumed to be one of the areas for development in the future. To develop and evaluate different control strategies for a resolved motion control system, information about the dynamic behaviour of these cranes is necessary. In the current...... paper a model of a loader crane with a flexible telescopic arm is presented, which may be used for evaluating control strategies. The telescopic arm is operated by four actuators connected hydraulically by a parallel circuit. The operating sequences of the individual actuators is therefore...

Dynamic modeling of brushless dc motors for aerospace actuation

Science.gov (United States)

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

1980-01-01

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

Model-based servo hydraulic control of a continuously variable transmission

NARCIS (Netherlands)

Cools, S.J.M.; Veenhuizen, P.A.; Pauwelussen, J.P.

2004-01-01

In order to reduce the power consumption of a transmission, maximum tracking accuracy should be achieved of both ratio and pressures in the variator. A control strategy is proposed to steer a variator, actuated with a newly developed hydraulic system, of a Continuously Variable Transmission (CVT).

Analysing the Hydraulic Actuator-based Knee Unit Kinematics and Correlating the Numerical Results and Walking Human Knee Joint Behavior

Directory of Open Access Journals (Sweden)

K. A. Trukhanov

2014-01-01

Full Text Available State-of-the-art machinery development enables people with lost lower limb to continue their previous life despite a loss. International companies dealing with this area pursue a minimization of human behaviour problems because of amputation. Researches to create an optimal design of the artificial knee joint are under way.The work task was to define analytical relationships of changing kinematic parameters of the human walking on the flat surface such as an angle of the knee joint, knee point (moment, definition of reduced knee actuator (A load, as well as to compare obtained results with experimental data.As an A in created design, the article proposes to use a controlled shock absorber based on the hydraulic cylinder.A knee unit is a kinematic two-tier mechanism. One of the mechanism links performs rotational motion, and the other is rotation-translational to provide a rotation of the first one.When studying the hydraulic actuator device dynamics, as a generalized coordinate a coordinate of the piston x (or ρ position is chosen while in the study of link movements an angle β is preferable.Experimental data are obtained for a human with the body weight of 57.6 kg walking on the flat surface to estimate a value of the knee joint angle, speed, acceleration, torque, and capacity in the knee joint and are taken from the published works of foreign authors.A trigonometric approximation was used for fitting the experimental data. The resulting dependence of the reduced load on the stock of A is necessary to perform the synthesis of A. The criterion for linear mechanisms mentioned in the D.N. Popov’s work is advisable to use as a possible criterion for optimization of A.The results obtained are as follows:1. Kinematics linkage mechanism is described using relationships for dependencies of its geometrical parameters, namely a cylinder piston stroke x (or ρ and a links angle β.2. Obtained polynomials of kinematic relationships allow a synthesis of

Pipe clamp effects on thin-walled pipe design

International Nuclear Information System (INIS)

Lindquist, M.R.

1980-01-01

Clamp induced stresses in FFTF piping are sufficiently large to require structural assessment. The basic principles and procedures used in analyzing FFTF piping at clamp support locations for compliance with ASME Code rules are given. Typical results from a three-dimensional shell finite element pipe model with clamp loads applied over the clamp/pipe contact area are shown. Analyses performed to categorize clamp induced piping loads as primary or secondary in nature are described. The ELCLAMP Computer Code, which performs analyses at clamp locations combining clamp induced stresses with stresses from overall piping system loads, is discussed. Grouping and enveloping methods to reduce the number of individual clamp locations requiring analysis are described

Large displacement spring-like electro-mechanical thermal actuators with insulator constraint beams

Science.gov (United States)

Luo, J. K.; Fu, Y. Q.; Flewitt, A. J.; Spearing, S. M.; Fleck, N. A.; Milne, W. I.

2005-07-01

A number of in-plane spring-like micro-electro-thermal-actuators with large displacements were proposed. The devices take the advantage of the large difference in the thermal expansion coefficients between the conductive arms and the insulator clamping beams. The constraint beams in one type (the spring) of these devices are horizontally positioned to restrict the expansion of the active arms in the x-direction, and to produce a displacement in the y-direction only. In other two types of actuators (the deflector and the contractor), the constraint beams are positioned parallel to the active arms. When the constraint beams are on the inside of the active arms, the actuator produces an outward deflection in the y-direction. When they are on the outside of the active arms, the actuator produces an inward contraction. Analytical model and finite element analysis were used to simulate the performances. It showed that at a constant temperature, analytical model is sufficient to predict the displacement of these devices. The displacements are all proportional to the temperature and the number of the chevron sections. A two-mask process is under development to fabricate these devices, using Si3N4 as the insulator beams, and electroplated Ni as the conductive beams.

Design criteria for a self-actuated shutdown system to ensure limitation of core damage

International Nuclear Information System (INIS)

Deane, N.A.; Atcheson, D.B.

1981-09-01

Safety-based functional requirements and design criteria for a self-actuated shutdown system (SASS) are derived in accordance with LOA-2 success criteria and reliability goals. The design basis transients have been defined and evaluated for the CDS Phase II design, which is a 2550 MWt mixed oxide heterogeneous core reactor. A partial set of reactor responses for selected transients is provided as a function of SASS characteristics such as reactivity worth, trip points, and insertion times

Dynamic Characteristics of Communication Lines with Distributed Parameters to Control the Throttle-controlled Hydraulic Actuators

Directory of Open Access Journals (Sweden)

D. N. Popov

2015-01-01

Full Text Available The article considers a mathematical model of the hydraulic line for remote control of electro-hydraulic servo drive (EHSD with throttle control. This type of hydraulic lines is designed as a backup to replace the electrical connections, which are used to control EHSD being remote from the site with devices located to form the control signals of any object. A disadvantage of electric connections is that they are sensitive to magnetic fields and thereby do not provide the required reliability of the remote control. Hydraulic lines have no this disadvantage and therefore are used in aircraft and other industrial systems. However, dynamic characteristics of hydraulic systems still have been investigated insufficiently in the case of transmitting control signals at a distance at which the signal may be distorted when emerging the wave processes.The article results of mathematical simulation, which are verified through physical experimentation, largely eliminate the shortcomings of said information.The mathematical model described in the paper is based on the theory of unsteady pressure compressible fluids. In the model there are formulas that provide calculation of frequency characteristics of the hydraulic lines under hydraulic oscillations of the laminar flow parameters of viscous fluid.A real mock-up of the system under consideration and an experimental ad hoc unit are used to verify the results of mathematically simulated hydraulic systems.Calculated logarithmic amplitude and phase frequency characteristics compared with those obtained experimentally prove, under certain conditions, the proposed theoretical method of calculation. These conditions have to ensure compliance with initial parameters of fluid defined under stationary conditions. The applied theory takes into consideration a non-stationary hydraulic resistance of the line when calculating frequency characteristics.The scientific novelty in the article material is presented in

Piezoelectric self-sensing actuator for active vibration control of motorized spindle based on adaptive signal separation

Science.gov (United States)

He, Ye; Chen, Xiaoan; Liu, Zhi; Qin, Yi

2018-06-01

The motorized spindle is the core component of CNC machine tools, and the vibration of it reduces the machining precision and service life of the machine tools. Owing to the fast response, large output force, and displacement of the piezoelectric stack, it is often used as the actuator in the active vibration control of the spindle. A piezoelectric self-sensing actuator (SSA) can reduce the cost of the active vibration control system and simplify the structure by eliminating the use of a sensor, because a SSA can have both actuating and sensing functions at the same time. The signal separation method of a SSA based on a bridge circuit is widely applied because of its simple principle and easy implementation. However, it is difficult to maintain dynamic balance of the circuit. Prior research has used adaptive algorithm to balance of the bridge circuit on the flexible beam dynamically, but those algorithms need no correlation between sensing and control voltage, which limit the applications of SSA in the vibration control of the rotor-bearing system. Here, the electromechanical coupling model of the piezoelectric stack is established, followed by establishment of the dynamic model of the spindle system. Next, a new adaptive signal separation method based on the bridge circuit is proposed, which can separate relative small sensing voltage from related mixed voltage adaptively. The experimental results show that when the self-sensing signal obtained from the proposed method is used as a displacement signal, the vibration of the motorized spindle can be suppressed effectively through a linear quadratic Gaussian (LQG) algorithm.

Self-actuated Polymeric Valve for Autonomous Sensing and Mixing

DEFF Research Database (Denmark)

Häfliger, Daniel; Marie, Rodolphe Charly Willy; Boisen, Anja

2005-01-01

We present an autonomously operated microvalve array for chemical sensing and mixing, which gains the actuation energy from a chemical reaction on the valve structure. An 8-μm-thick flapper valve made in SU-8 is coated with stress-loaded Al on one side and Ti on the other side. The metal films ke...... a reservoir. Calculations reveal that valve operation with stress originating from biochemical processes will require considerable enhancement of the actuation efficiency.......We present an autonomously operated microvalve array for chemical sensing and mixing, which gains the actuation energy from a chemical reaction on the valve structure. An 8-μm-thick flapper valve made in SU-8 is coated with stress-loaded Al on one side and Ti on the other side. The metal films keep...

Toward Self-Control Systems for Neurogenic Underactive Bladder: A Triboelectric Nanogenerator Sensor Integrated with a Bistable Micro-Actuator.

Science.gov (United States)

Arab Hassani, Faezeh; Mogan, Roshini P; Gammad, Gil G L; Wang, Hao; Yen, Shih-Cheng; Thakor, Nitish V; Lee, Chengkuo

2018-04-24

Aging, neurologic diseases, and diabetes are a few risk factors that may lead to underactive bladder (UAB) syndrome. Despite all of the serious consequences of UAB, current solutions, the most common being ureteric catheterization, are all accompanied by serious shortcomings. The necessity of multiple catheterizations per day for a physically able patient not only reduces the quality of life with constant discomfort and pain but also can end up causing serious complications. Here, we present a bistable actuator to empty the bladder by incorporating shape memory alloy components integrated on flexible polyvinyl chloride sheets. The introduction of two compression and restoration phases for the actuator allows for repeated actuation for a more complete voiding of the bladder. The proposed actuator exhibits one of the highest reported voiding percentages of up to 78% of the bladder volume in an anesthetized rat after only 20 s of actuation. This amount of voiding is comparable to the common catheterization method, and its one time implantation onto the bladder rectifies the drawbacks of multiple catheterizations per day. Furthermore, the scaling of the device for animal models larger than rats can be easily achieved by adjusting the number of nitinol springs. For neurogenic UAB patients with degraded nerve function as well as degenerated detrusor muscle, we integrate a flexible triboelectric nanogenerator sensor with the actuator to detect the fullness of the bladder. The sensitivity of this sensor to the filling status of the bladder shows its capability for defining a self-control system in the future that would allow autonomous micturition.

Approaches for Reduced Order Modeling of Electrically Actuated von Karman Microplates

KAUST Repository

Saghir, Shahid

2016-07-25

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

Demonstration of Vibrational Braille Code Display Using Large Displacement Micro-Electro-Mechanical Systems Actuators

Science.gov (United States)

Watanabe, Junpei; Ishikawa, Hiroaki; Arouette, Xavier; Matsumoto, Yasuaki; Miki, Norihisa

2012-06-01

In this paper, we present a vibrational Braille code display with large-displacement micro-electro-mechanical systems (MEMS) actuator arrays. Tactile receptors are more sensitive to vibrational stimuli than to static ones. Therefore, when each cell of the Braille code vibrates at optimal frequencies, subjects can recognize the codes more efficiently. We fabricated a vibrational Braille code display that used actuators consisting of piezoelectric actuators and a hydraulic displacement amplification mechanism (HDAM) as cells. The HDAM that encapsulated incompressible liquids in microchambers with two flexible polymer membranes could amplify the displacement of the MEMS actuator. We investigated the voltage required for subjects to recognize Braille codes when each cell, i.e., the large-displacement MEMS actuator, vibrated at various frequencies. Lower voltages were required at vibration frequencies higher than 50 Hz than at vibration frequencies lower than 50 Hz, which verified that the proposed vibrational Braille code display is efficient by successfully exploiting the characteristics of human tactile receptors.

a design to digitalize hydraulic cylinder control of a machine tool

African Journals Online (AJOL)

Dr Obe

1995-09-01

Sep 1, 1995 ... Department of Mechanical Engineering. FEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI,. P.M.B. 1526, OWERRI. ABSTRACT. Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC ...

Experimental-based Modelling and Simulation of Water Hydraulic Mechatronics Test Facilities for Motion Control and Operation in Environmental Sensitive Applications` Areas

DEFF Research Database (Denmark)

Conrad, Finn; Pobedza, J.; Sobczyk, A.

2003-01-01

The paper presents experimental-based modelling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The contributions includes results from on-going research projects on fluid power and mechatronics based on tap water hydraulic...

Self-actuating and locking control for nuclear reactor

International Nuclear Information System (INIS)

Chung, D.K.

1982-01-01

A self-actuating, self-locking flow cutoff valve particularly suited for use in a nuclear reactor of the type which utilizes a plurality of fluid support neutron absorber elements to provide for the safe shutdown of the reactor. The valve comprises a substantially vertical elongated housing and an aperture plate located in the housing for the flow of fluid therethrough, a substantially vertical elongated nozzle member located in the housing and affixed to the housing with an opening in the bottom for receiving fluid and apertures adjacent a top end for discharging fluid. The nozzle further includes two sealing means, one located above and the other below the apertures. Also located in the housing and having walls surrounding the nozzle is a flow cutoff sleeve having a fluid opening adjacent an upper end of the sleeve, the sleeve being moveable between an upper open position wherein the nozzle apertures are substantially unobstructed and a closed position wherein the sleeve and nozzle sealing surfaces are mated such that the flow of fluid through the apertures is obstructed. It is a particular feature of the present invention that the valve further includes a means for utilizing any increase in fluid pressure to maintain the cutoff sleeve in a closed position. It is another feature of the invention that there is provided a means for automatically closing the valve whenever the flow of fluid drops below a predetermined level

A CMOS-MEMS clamped–clamped beam displacement amplifier for resonant switch applications

Science.gov (United States)

Liu, Jia-Ren; Lu, Shih-Chuan; Tsai, Chun-Pu; Li, Wei-Chang

2018-06-01

This paper presents a micromechanical clamped–clamped beam (CC-beam) displacement amplifier based on a CMOS-MEMS fabrication process platform. In particular, a 2.0 MHz resonant displacement amplifier composed of two identical CC-beams coupled by a mechanical beam at locations where the two beams have mismatched velocities exhibits a larger displacement, up to 9.96×, on one beam than that of the other. The displacement amplification prevents unwanted input impacting—the structure switches only to the output but not the input—required by resonant switch-based mechanical circuits (Kim et al 2009 22nd IEEE Int. Conf. on Micro Electro Mechanical Systems; Lin et al 2009 15th Int. Conf. on Solid-State Sensors, Actuators, & Microsystems (TRANSDUCERS’09) Li et al 2013 17th Int. Conf. on Solid-State Sensors, Actuators, & Microsystems (TRANSDUCERS’13)). Compared to a single CC-beam displacement amplifier, theory predicts that the displacement amplifying CC-beam array yields a larger overall output displacement for displacement gain beyond 1.13 thanks to the preserved input driving force. A complete analytical model predicts the resultant stiffness and displacement gain of the coupled CC-beam displacement amplifier that match well with finite element analysis (FEA) prediction and measured results.

Position Control of an Over‐Actuated Direct Hydraulic Cylinder Drive

DEFF Research Database (Denmark)

Schmidt, Lasse; Grønkjær, Morten; Pedersen, Henrik Clemmensen

2017-01-01

, and various approaches have been proposed by research communities as well as the industry. Recently, a so-called Speed-variable Switched Differential Pump was proposed for direct drive of hydraulic differential cylinders. The main idea with this drive is to utilize an electric rotary drive with the shaft...

Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

Directory of Open Access Journals (Sweden)

Syed Najib Syed Salim

2014-01-01

Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.

Closed-form solution for static pull-in voltage of electrostatically actuated clamped-clamped micro/nano beams under the effect of fringing field and van der Waals force

Science.gov (United States)

Bhojawala, V. M.; Vakharia, D. P.

2017-12-01

This investigation provides an accurate prediction of static pull-in voltage for clamped-clamped micro/nano beams based on distributed model. The Euler-Bernoulli beam theory is used adapting geometric non-linearity of beam, internal (residual) stress, van der Waals force, distributed electrostatic force and fringing field effects for deriving governing differential equation. The Galerkin discretisation method is used to make reduced-order model of the governing differential equation. A regime plot is presented in the current work for determining the number of modes required in reduced-order model to obtain completely converged pull-in voltage for micro/nano beams. A closed-form relation is developed based on the relationship obtained from curve fitting of pull-in instability plots and subsequent non-linear regression for the proposed relation. The output of regression analysis provides Chi-square (χ 2) tolerance value equals to 1  ×  10-9, adjusted R-square value equals to 0.999 29 and P-value equals to zero, these statistical parameters indicate the convergence of non-linear fit, accuracy of fitted data and significance of the proposed model respectively. The closed-form equation is validated using available data of experimental and numerical results. The relative maximum error of 4.08% in comparison to several available experimental and numerical data proves the reliability of the proposed closed-form equation.

Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

Directory of Open Access Journals (Sweden)

Yongling FU

2018-03-01

Full Text Available Electrohydrostatic actuator (EHA is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test. Keywords: Actuation system, Aerospace, Electrohydrostatic actuator, Force control, Nonlinear dynamics, Particle swarm optimization, Position control

Analysis list: Clamp [Chip-atlas[Archive

Lifescience Database Archive (English)

Full Text Available Clamp Cell line + dm3 http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/target/Clamp.1.tsv http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/target/Clam...p.5.tsv http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/target/Clam...p.10.tsv http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/colo/Clamp.Cell_line.tsv http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/colo/Cell_line.gml ...

Turbulent Motion of Liquids in Hydraulic Resistances with a Linear Cylindrical Slide-Valve

Directory of Open Access Journals (Sweden)

C. Velescu

2015-01-01

Full Text Available We analyze the motion of viscous and incompressible liquids in the annular space of controllable hydraulic resistances with a cylindrical linear slide-valve. This theoretical study focuses on the turbulent and steady-state motion regimes. The hydraulic resistances mentioned above are the most frequent type of hydraulic resistances used in hydraulic actuators and automation systems. To study the liquids’ motion in the controllable hydraulic resistances with a linear cylindrical slide-valve, the report proposes an original analytic method. This study can similarly be applied to any other type of hydraulic resistance. Another purpose of this study is to determine certain mathematical relationships useful to approach the theoretical functionality of hydraulic resistances with magnetic controllable fluids as incompressible fluids in the presence of a controllable magnetic field. In this report, we established general analytic equations to calculate (i velocity and pressure distributions, (ii average velocity, (iii volume flow rate of the liquid, (iv pressures difference, and (v radial clearance.

LES-based characterization of a suction and oscillatory blowing fluidic actuator

Science.gov (United States)

Kim, Jeonglae; Moin, Parviz

2015-11-01

Recently, a novel fluidic actuator using steady suction and oscillatory blowing was developed for control of turbulent flows. The suction and oscillatory blowing (SaOB) actuator combines steady suction and pulsed oscillatory blowing into a single device. The actuation is based upon a self-sustained mechanism of confined jets and does not require any moving parts. The control output is determined by a pressure source and the geometric details, and no additional input is needed. While its basic mechanisms have been investigated to some extent, detailed characteristics of internal turbulent flows are not well understood. In this study, internal flows of the SaOB actuator are simulated using large-eddy simulation (LES). Flow characteristics within the actuator are described in detail for a better understanding of the physical mechanisms and improving the actuator design. LES predicts the self-sustained oscillations of the turbulent jet. Switching frequency, maximum velocity at the actuator outlets, and wall pressure distribution are in good agreement with the experimental measurements. The computational results are used to develop simplified boundary conditions for numerical experiments of active flow control. Supported by the Boeing company.

3D Hydraulic tomography from joint inversion of the hydraulic heads and self-potential data. (Invited)

Science.gov (United States)

Jardani, A.; Soueid Ahmed, A.; Revil, A.; Dupont, J.

2013-12-01

Pumping tests are usually employed to predict the hydraulic conductivity filed from the inversion of the head measurements. Nevertheless, the inverse problem is strongly underdetermined and a reliable imaging requires a considerable number of wells. We propose to add more information to the inversion of the heads by adding (non-intrusive) streaming potentials (SP) data. The SP corresponds to perturbations in the local electrical field caused directly by the fow of the ground water. These SP are obtained with a set of the non-polarising electrodes installed at the ground surface. We developed a geostatistical method for the estimation of the hydraulic conductivity field from measurements of hydraulic heads and SP during pumping and injection experiments. We use the adjoint state method and a recent petrophysical formulation of the streaming potential problem in which the streaming coupling coefficient is derived from the hydraulic conductivity allowed reducing of the unknown parameters. The geostatistical inverse framework is applied to three synthetic case studies with different number of the wells and electrodes used to measure the hydraulic heads and the streaming potentials. To evaluate the benefits of the incorporating of the streaming potential to the hydraulic data, we compared the cases in which the data are coupled or not to map the hydraulic conductivity. The results of the inversion revealed that a dense distribution of electrodes can be used to infer the heterogeneities in the hydraulic conductivity field. Incorporating the streaming potential information to the hydraulic head data improves the estimate of hydraulic conductivity field especially when the number of piezometers is limited.

Scheduling policies of intelligent sensors and sensor/actuators in flexible structures

Science.gov (United States)

Demetriou, Michael A.; Potami, Raffaele

2006-03-01

In this note, we revisit the problem of actuator/sensor placement in large civil infrastructures and flexible space structures within the context of spatial robustness. The positioning of these devices becomes more important in systems employing wireless sensor and actuator networks (WSAN) for improved control performance and for rapid failure detection. The ability of the sensing and actuating devices to possess the property of spatial robustness results in reduced control energy and therefore the spatial distribution of disturbances is integrated into the location optimization measures. In our studies, the structure under consideration is a flexible plate clamped at all sides. First, we consider the case of sensor placement and the optimization scheme attempts to produce those locations that minimize the effects of the spatial distribution of disturbances on the state estimation error; thus the sensor locations produce state estimators with minimized disturbance-to-error transfer function norms. A two-stage optimization procedure is employed whereby one first considers the open loop system and the spatial distribution of disturbances is found that produces the maximal effects on the entire open loop state. Once this "worst" spatial distribution of disturbances is found, the optimization scheme subsequently finds the locations that produce state estimators with minimum transfer function norms. In the second part, we consider the collocated actuator/sensor pairs and the optimization scheme produces those locations that result in compensators with the smallest norms of the disturbance-to-state transfer functions. Going a step further, an intelligent control scheme is presented which, at each time interval, activates a subset of the actuator/sensor pairs in order provide robustness against spatiotemporally moving disturbances and minimize power consumption by keeping some sensor/actuators in sleep mode.

Cell-Detection Technique for Automated Patch Clamping

Science.gov (United States)

McDowell, Mark; Gray, Elizabeth

2008-01-01

A unique and customizable machinevision and image-data-processing technique has been developed for use in automated identification of cells that are optimal for patch clamping. [Patch clamping (in which patch electrodes are pressed against cell membranes) is an electrophysiological technique widely applied for the study of ion channels, and of membrane proteins that regulate the flow of ions across the membranes. Patch clamping is used in many biological research fields such as neurobiology, pharmacology, and molecular biology.] While there exist several hardware techniques for automated patch clamping of cells, very few of those techniques incorporate machine vision for locating cells that are ideal subjects for patch clamping. In contrast, the present technique is embodied in a machine-vision algorithm that, in practical application, enables the user to identify good and bad cells for patch clamping in an image captured by a charge-coupled-device (CCD) camera attached to a microscope, within a processing time of one second. Hence, the present technique can save time, thereby increasing efficiency and reducing cost. The present technique involves the utilization of cell-feature metrics to accurately make decisions on the degree to which individual cells are "good" or "bad" candidates for patch clamping. These metrics include position coordinates (x,y) in the image plane, major-axis length, minor-axis length, area, elongation, roundness, smoothness, angle of orientation, and degree of inclusion in the field of view. The present technique does not require any special hardware beyond commercially available, off-the-shelf patch-clamping hardware: A standard patchclamping microscope system with an attached CCD camera, a personal computer with an imagedata- processing board, and some experience in utilizing imagedata- processing software are all that are needed. A cell image is first captured by the microscope CCD camera and image-data-processing board, then the image

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

African Journals Online (AJOL)

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 ...

Multilevel-clamped multilevel converters (MLC²)

DEFF Research Database (Denmark)

Rodriguez, Pedro; Bellar, Maria Dias; Muñoz-Aguliar, Raúl Santiago

2012-01-01

clamping scheme is the ML clamping cell, which is composed of a pair of dc sources associated with one single-pole/triple-throw type of switch arrangement. The number of series-connected ML-clamping cells will set the number of levels of the synthesized waveform. By depending on the MCU arrangements......, different converter configurations can be derived, namely, the common clamping and the modular types. Both approaches can be accomplished by employing classical three-level neutral-point-clamped (NPC) technology. Thus, the overall structure of the resultant converter is kept simple, wherein the number...

Analysis of inadvertent containment spray actuation for NPP Krsko

International Nuclear Information System (INIS)

Grgic, D.; Spalj, S.; Fancev, T.

2000-01-01

Refueling Water Storage Tank (RWST) supplies borated water to the Chemical and Volume Control System, Emergency Core Cooling System and Containment Spray System. In the analyses of the containment external pressure the spray temperature is assumed to be equal to the RWST lower temperature limit. This value ensures that the design negative containment pressure will not be exceeded in the event of inadvertent actuation of the Containment Spray. For NPP Kriko the negative containment pressure has to be kept below 0.1 kp/cm2 to avoid the loss of containment integrity. This paper pursuents the analysis of Inadvertent Containment Spray Actuation in order to check the influence of change in RWST water temperature on containment negative pressure. GOTHIC computer code was used for calculation of containment thermal hydraulic behavior during this accident. (author)

Nonlinear Modeling and Coordinate Optimization of a Semi-Active Energy Regenerative Suspension with an Electro-Hydraulic Actuator

Directory of Open Access Journals (Sweden)

Farong Kou

2018-01-01

Full Text Available In order to coordinate the damping performance and energy regenerative performance of energy regenerative suspension, this paper proposes a structure of a vehicle semi-active energy regenerative suspension with an electro-hydraulic actuator (EHA. In light of the proposed concept, a specific energy regenerative scheme is designed and a mechanical properties test is carried out. Based on the test results, the parameter identification for the system model is conducted using a recursive least squares algorithm. On the basis of the system principle, the nonlinear model of the semi-active energy regenerative suspension with an EHA is built. Meanwhile, linear-quadratic-Gaussian control strategy of the system is designed. Then, the influence of the main parameters of the EHA on the damping performance and energy regenerative performance of the suspension is analyzed. Finally, the main parameters of the EHA are optimized via the genetic algorithm. The test results show that when a sinusoidal is input at the frequency of 2 Hz and the amplitude of 30 mm, the spring mass acceleration root meam square value of the optimized EHA semi-active energy regenerative suspension is reduced by 22.23% and the energy regenerative power RMS value is increased by 40.51%, which means that while meeting the requirements of vehicle ride comfort and driving safety, the energy regenerative performance is improved significantly.

Analysis of the Pallet Clamping Conditions in Work Positioning

Directory of Open Access Journals (Sweden)

L. A. Kolesnikov

2016-01-01

Full Text Available Pallets of automatic transfer lines serve as the technological and work-transfer equipment. However, their design is based on the general principles of designing machine accessories. Calculation of the basic design parameters of work based on their functioning features is fairly relevant.In pallet transfer movement over work positioning there is a mismatch between axes of the basic bushing of a pallet and the clamping locks of positioning. The paper identifies the factors influencing it, and defines the conditions to ensure the trouble-free clamping lock. The circular and rhombic clamping of pallet is simultaneous. Further, a clamping load is calculated from the pallet mass (together with the work-piece and the geometric parameters of the pallet clamping.The paper reveals three movement stages of the clamping lock in a vertical plane when setting the pallet in work positioning:- a clamping lock free play till it encounters with the location bushing;- a clamping lock play length when the lead-in chamfer contacts the bushing chamfer;- a clamping lock play length over the circular surface of bushing.The study of this process has allowed us to calculate the time of pallet clamping and dynamic loads acting on the clamping lock. These calculations made it possible to calculate the required diameter of the clamping lock. The presented calculations allow a reasonable assigning the main design parameters of work positioning for the pallet automatic lines.

Tracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation

Directory of Open Access Journals (Sweden)

Shu-Hung Liu

2009-12-01

Full Text Available Shape memory alloys (SMAs offer a high power-to-weight ratio, large recovery strain, and low driving voltages, and have thus attracted considerable research attention. The difficulty of controlling SMA actuators arises from their highly nonlinear hysteresis and temperature dependence. This paper describes a combination of self-sensing and model-based control, where the model includes both the major and minor hysteresis loops as well as the thermodynamics effects. The self-sensing algorithm uses only the power width modulation (PWM signal and requires no heavy equipment. The method can achieve high-accuracy servo control and is especially suitable for miniaturized applications.

Italy: Analysis of Solutions for Passively Actuated Safety Shutdown Devices

International Nuclear Information System (INIS)

Burgazzi, L.

2015-01-01

This article looks at different special shutdown systems specifically engineered for prevention of severe accidents, to be implemented on Fast Reactors, with main focus on the investigation of the performance of the self-actuated shutdown systems in Sodium Fast Reactors. The passive shut-down systems are designed to shut-down system only by inherent passive reactivity feedback mechanism, under unprotected accident conditions, implying failure of reactor protection system. They are conceived to be self-actuated without any signal elaboration, since the actuation of the system is triggered by the effects induced by the transient like material dilatation, in case of overheating of the coolant for instance, according to Fast Reactor design to meet the safety requirements

Design and Development of Autonomous High Voltage Driving System for DEAP Actuator in Radiator Thermostat

DEFF Research Database (Denmark)

Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

2014-01-01

In radiator thermostat applications, DEAP (Dielectric Electro Active Polymer) actuator tends to be a good candidate to replace the conventional self-actuating or step motor based actuator due to its intrinsic advantages. The capacitive property and high voltage (HV) driving demand of DEAP actuator...

Ventilation onset prior to umbilical cord clamping (physiological-based cord clamping improves systemic and cerebral oxygenation in preterm lambs.

Directory of Open Access Journals (Sweden)

Graeme R Polglase

Full Text Available As measurement of arterial oxygen saturation (SpO2 is common in the delivery room, target SpO2 ranges allow clinicians to titrate oxygen therapy for preterm infants in order to achieve saturation levels similar to those seen in normal term infants in the first minutes of life. However, the influence of the onset of ventilation and the timing of cord clamping on systemic and cerebral oxygenation is not known.We investigated whether the initiation of ventilation, prior to, or after umbilical cord clamping, altered systemic and cerebral oxygenation in preterm lambs.Systemic and cerebral blood-flows, pressures and peripheral SpO2 and regional cerebral tissue oxygenation (SctO2 were measured continuously in apnoeic preterm lambs (126±1 day gestation. Positive pressure ventilation was initiated either 1 prior to umbilical cord clamping, or 2 after umbilical cord clamping. Lambs were monitored intensively prior to intervention, and for 10 minutes following umbilical cord clamping.Clamping the umbilical cord prior to ventilation resulted in a rapid decrease in SpO2 and SctO2, and an increase in arterial pressure, cerebral blood flow and cerebral oxygen extraction. Ventilation restored oxygenation and haemodynamics by 5-6 minutes. No such disturbances in peripheral or cerebral oxygenation and haemodynamics were observed when ventilation was initiated prior to cord clamping.The establishment of ventilation prior to umbilical cord clamping facilitated a smooth transition to systemic and cerebral oxygenation following birth. SpO2 nomograms may need to be re-evaluated to reflect physiological management of preterm infants in the delivery room.

Magnetostrictive actuator-based micropositioner and its application in turning

Science.gov (United States)

Kanizar, William L.; Liu, Dongming; Moon, Kee S.; Sutherland, John W.

1996-05-01

The surface finish of a turned part is primarily generated from process parameters such as feed, tool geometry, and cutting speed. A micropositioner system utilizing a magnetostrictive material, Terfenol-D, as a linear motor is presented as a means to actively control the process. The system has an actuator clamped in a flexor that is rigid in the feed and main cutting force directions, yet is flexible in the radial direction. Using control algorithms implemented on a digital computer, the system can provide a means to compensate for deleterious vibrations. The system has also been used to manipulate the tool position in the radial direction so that non-circular turning can be accomplished.

The cardiovascular effects of aortic clamping and unclamping

African Journals Online (AJOL)

aortic clamping is that afterload and blood pressure increase, and ... individually, albeit they interact with each other. The degree of ... position of the aortic clamp, the greater the increase ... the increase in preload in response to aortic clamping.

Design and performance characteristic analysis of servo valve-type water hydraulic poppet valve

International Nuclear Information System (INIS)

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

Resonant frequency analysis on an electrostatically actuated microplate under uniform hydrostatic pressure

International Nuclear Information System (INIS)

Li Zhikang; Zhao Libo; Ye Zhiying; Zhao Yulong; Jiang Zhuangde; Wang Hongyan

2013-01-01

The resonant frequency of a microplate is influenced by various physical parameters such as mass, surface stress, hydrostatic pressure and electrostatic force. In this paper, the effects of both electrostatic force and uniform hydrostatic pressure on the resonant frequency of a clamped circular microplate are investigated. An approximate solution is derived for the fundamental resonance frequency of the mciroplate under both types of loads using an energy equivalent method. It is found that both electrostatic force and uniform hydrostatic pressure decrease the resonant frequency of the microplate under small deflections. Additionally, the linearized expression of this solution shows that the resonant frequency varies linearly with pressure in the low and ultra-low range, and the corresponding pressure sensitivity depends on the voltage applied to the microplate. The analytical results are well validated by the finite element method. This study may be helpful for the design and optimization of electrostatically actuated resonance devices based on microplates, especially electrostatically actuated low- or ultra-low-pressure sensors. (paper)

Microhydraulic transducer technology for actuation and power generation

Science.gov (United States)

Hagood, Nesbitt W.; Roberts, David C.; Saggere, Laxminarayana; Breuer, Kenneth S.; Chen, Kuo-Shen; Carretero, Jorge A.; Li, Hanqing; Mlcak, Richard; Pulitzer, Seward W.; Schmidt, Martin A.; Spearing, S. Mark; Su, Yu-Hsuan

2000-06-01

The paper introduces a novel transducer technology, called the solid-state micro-hydraulic transducer, currently under development at MIT. The new technology is enabled through integration of micromachining technology, piezoelectrics, and microhydraulic concepts. These micro-hydraulic transducers are capable of bi-directional electromechanical energy conversion, i.e., they can operate as both an actuator that supplies high mechanical force in response to electrical input and an energy generator that transduces electrical energy from mechanical energy in the environment. These transducers are capable of transducing energy at very high specific power output in the order of 1 kW/kg, and thus, they have the potential to enable many novel applications. The concept, the design, and the potential applications of the transducers are presented. Present efforts towards the development of these transducers, and the challenges involved therein, are also discussed.

Dynamic modeling of brushless dc motor-power conditioner unit for electromechanical actuator application

Science.gov (United States)

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

1979-01-01

A comprehensive digital model for the analysis of the dynamic-instantaneous performance of a power conditioner fed samarium-cobalt permanent magnet brushless DC motor is presented. The particular power conditioner-machine system at hand, for which this model was developed, is a component of an actual prototype electromechanical actuator built for NASA-JSC as a possible alternative to hydraulic actuators as part of feasibility studies for the shuttle orbiter applications. Excellent correlation between digital simulated and experimentally obtained performance data was achieved for this specific prototype. This is reported on in this paper. Details of one component of the model, its applications and the corresponding results are given in this paper.

High Voltage Bi-directional Flyback Converter for Capacitive Actuator

DEFF Research Database (Denmark)

Thummala, Prasanth; Zhang, Zhe; Andersen, Michael A. E.

2013-01-01

in the converter, including the most dominating parameters of the high voltage transformer viz., self-capacitance and leakage inductance. The specific capacitive load for this converter is a dielectric electro active polymer (DEAP) actuator, which can be used as an effective replacement for conventional actuators...... in a number of applications. In this paper, the discharging energy efficiency definition is introduced. The proposed converter has been experimentally tested with the film capacitive load and the DEAP actuator, and the experimental results are shown together with the efficiency measurements....

21 CFR 882.4460 - Neurosurgical head holder (skull clamp).

Science.gov (United States)

2010-04-01

... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Neurosurgical head holder (skull clamp). 882.4460... holder (skull clamp). (a) Identification. A neurosurgical head holder (skull clamp) is a device used to clamp the patient's skull to hold head and neck in a particular position during surgical procedures. (b...

Flexible and stretchable electrodes for dielectric elastomer actuators

Science.gov (United States)

Rosset, Samuel; Shea, Herbert R.

2013-02-01

Dielectric elastomer actuators (DEAs) are flexible lightweight actuators that can generate strains of over 100 %. They are used in applications ranging from haptic feedback (mm-sized devices), to cm-scale soft robots, to meter-long blimps. DEAs consist of an electrode-elastomer-electrode stack, placed on a frame. Applying a voltage between the electrodes electrostatically compresses the elastomer, which deforms in-plane or out-of plane depending on design. Since the electrodes are bonded to the elastomer, they must reliably sustain repeated very large deformations while remaining conductive, and without significantly adding to the stiffness of the soft elastomer. The electrodes are required for electrostatic actuation, but also enable resistive and capacitive sensing of the strain, leading to self-sensing actuators. This review compares the different technologies used to make compliant electrodes for DEAs in terms of: impact on DEA device performance (speed, efficiency, maximum strain), manufacturability, miniaturization, the integration of self-sensing and self-switching, and compatibility with low-voltage operation. While graphite and carbon black have been the most widely used technique in research environments, alternative methods are emerging which combine compliance, conduction at over 100 % strain with better conductivity and/or ease of patternability, including microfabrication-based approaches for compliant metal thin-films, metal-polymer nano-composites, nanoparticle implantation, and reel-to-reel production of μm-scale patterned thin films on elastomers. Such electrodes are key to miniaturization, low-voltage operation, and widespread commercialization of DEAs.

Tough nanocomposite ionogel-based actuator exhibits robust performance.

Science.gov (United States)

Liu, Xinhua; He, Bin; Wang, Zhipeng; Tang, Haifeng; Su, Teng; Wang, Qigang

2014-10-20

Ionogel electrolytes can be fabricated for electrochemical actuators with many desirable advantages, including direct low-voltage control in air, high electrochemical and thermal stability, and complete silence during actuation. However, the demands for active actuators with above features and load-driving ability remain a challenge; much work is necessary to enhance the mechanical strength of electrolyte materials. Herein, we describe a cross-linked supramolecular approach to prepare tough nanocomposite gel electrolytes from HEMA, BMIMBF4, and TiO2 via self-initiated UV polymerization. The tough and stable ionogels are emerging to fabricate electric double-layer capacitor-like soft actuators, which can be driven by electrically induced ion migration. The ionogel-based actuator shows a displacement response of 5.6 mm to the driving voltage of 3.5 V. After adding the additional mass weight of the same as the actuator, it still shows a large displacement response of 3.9 mm. Furthermore, the actuator can not only work in harsh temperature environments (100°C and -10°C) but also realize the goal of grabbing an object by adjusting the applied voltage.

Aircraft Hydraulic System Leakage Detection and Servicing Recommendations Method

Science.gov (United States)

2014-10-02

ITA), Brazil. He is with Empresa Brasileira de Aeronáutica S.A (EMBRAER), São José dos Campos, SP, Brazil, since 2007. He works as a Development...degree in Control Engineering from Universidade Estadual de Campinas (Unicamp, 2004), Brazil, and a Master Degree in Aeronautical Engineering from...accumulators, filters, and consumers, that include all the actuators connected to the hydraulic power such as flight controls , brake and landing

Active vibration control of clamped beams using positive position feedback controllers with moment pair

International Nuclear Information System (INIS)

Shin, Chang Joo; Jeong, Weui Bong; Hong, Chin Suk

2012-01-01

This paper investigates the active vibration control of clamp beams using positive position feedback (PPF) controllers with a sensor/ moment pair actuator. The sensor/moment pair actuator which is the non-collocated configuration leads to instability of the control system when using the direct velocity feedback (DVFB) control. To alleviate the instability problem, a PPF controller is considered in this paper. A parametric study of the control system with PPF controller is first conducted to characterize the effects of the design parameters (gain and damping ratio in this paper) on the stability and performance. The gain of the controller is found to affect only the relative stability. Increasing the damping ratio of the controller slightly improves the stability condition while the performance gets worse. In addition, the higher mode tuned PPF controller affects the system response at the lower modes significantly. Based on the characteristics of PPF controllers, a multi-mode controllable SISO PPF controller is then considered and tuned to different modes (in this case, three lowest modes) numerically and experimentally. The multi-mode PPF controller can be achieved to have a high gain margin. Moreover, it reduces the vibration of the beam significantly. The vibration levels at the tuned modes are reduced by about 11 dB

Analytical model for an electrostatically actuated miniature diaphragm compressor

International Nuclear Information System (INIS)

Sathe, Abhijit A; Groll, Eckhard A; Garimella, Suresh V

2008-01-01

This paper presents a new analytical approach for quasi-static modeling of an electrostatically actuated diaphragm compressor that could be employed in a miniature scale refrigeration system. The compressor consists of a flexible circular diaphragm clamped at its circumference. A conformal chamber encloses the diaphragm completely. The membrane and the chamber surfaces are coated with metallic electrodes. A potential difference applied between the diaphragm and the chamber pulls the diaphragm toward the chamber surface progressively from the outer circumference toward the center. This zipping actuation reduces the volume available to the refrigerant gas, thereby increasing its pressure. A segmentation technique is proposed for analysis of the compressor by which the domain is divided into multiple segments for each of which the forces acting on the diaphragm are estimated. The pull-down voltage to completely zip each individual segment is thus obtained. The required voltage for obtaining a specific pressure rise in the chamber can thus be determined. Predictions from the model compare well with other simulation results from the literature, as well as to experimental measurements of the diaphragm displacement and chamber pressure rise in a custom-built setup

Comparison between gradient-dependent hydraulic conductivities of roots using the root pressure probe: the role of pressure propagations and implications for the relative roles of parallel radial pathways.

Science.gov (United States)

Bramley, Helen; Turner, Neil C; Turner, David W; Tyerman, Stephen D

2007-07-01

Hydrostatic pressure relaxations with the root pressure probe are commonly used for measuring the hydraulic conductivity (Lp(r)) of roots. We compared the Lp(r) of roots from species with different root hydraulic properties (Lupinus angustifolius L. 'Merrit', Lupinus luteus L. 'Wodjil', Triticum aestivum L. 'Kulin' and Zea mays L. 'Pacific DK 477') using pressure relaxations, a pressure clamp and osmotic gradients to induce water flow across the root. Only the pressure clamp measures water flow under steady-state conditions. Lp(r) determined by pressure relaxations was two- to threefold greater than Lp(r) from pressure clamps and was independent of the direction of water flow. Lp(r) (pressure clamp) was two- to fourfold higher than for Lp(r) (osmotic) for all species except Triticum aestivum where Lp(r) (pressure clamp) and Lp(r) (osmotic) were not significantly different. A novel technique was developed to measure the propagation of pressure through roots to investigate the cause of the differences in Lp(r). Root segments were connected between two pressure probes so that when root pressure (P(r)) was manipulated by one probe, the other probe recorded changes in P(r). Pressure relaxations did not induce the expected kinetics in pressure in the probe at the other end of the root when axial hydraulic conductance, and probe and root capacitances were accounted for. An electric circuit model of the root was constructed that included an additional capacitance in the root loaded by a series of resistances. This accounted for the double exponential kinetics for intact roots in pressure relaxation experiments as well as the reduced response observed with the double probe experiments. Although there were potential errors with all the techniques, we considered that the measurement of Lp(r) using the pressure clamp was the most unambiguous for small pressure changes, and provided that sufficient time was allowed for pressure propagation through the root. The differences in

Dielectric barrier discharge plasma actuator for flow control

Science.gov (United States)

Opaits, Dmitry Florievich

Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low

A CSMP communication model for design study of a brushless DC motor power conditioner for a cruise missile fin control actuator.

OpenAIRE

MacMillan, Peter Norman

1985-01-01

Approved for public release; distribution is unlimited Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower DC motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless DC motor fed by a trans...

Mechanics of wafer bonding: Effect of clamping

Science.gov (United States)

Turner, K. T.; Thouless, M. D.; Spearing, S. M.

2004-01-01

A mechanics-based model is developed to examine the effects of clamping during wafer bonding processes. The model provides closed-form expressions that relate the initial geometry and elastic properties of the wafers to the final shape of the bonded pair and the strain energy release rate at the interface for two different clamping configurations. The results demonstrate that the curvature of bonded pairs may be controlled through the use of specific clamping arrangements during the bonding process. Furthermore, it is demonstrated that the strain energy release rate depends on the clamping configuration and that using applied loads usually leads to an undesirable increase in the strain energy release rate. The results are discussed in detail and implications for process development and bonding tool design are highlighted.

Evaluation of clamp effects on LMFBR piping systems

International Nuclear Information System (INIS)

Jones, G.L.

1980-01-01

Loop-type liquid metal breeder reactor plants utilize thin-wall piping to mitigate through-wall thermal gradients due to rapid thermal transients. These piping loops require a support system to carry the combined weight of the pipe, coolant and insulation and to provide attachments for seismic restraints. The support system examined here utilizes an insulated pipe clamp designed to minimize the stresses induced in the piping. To determine the effect of these clamps on the pipe wall a non-linear, two-dimensional, finite element model of the clamp, insulation and pipe wall was used to determine the clamp/pipe interface load distributions which were then applied to a three-dimensional, finite element model of the pipe. The two-dimensional interaction model was also utilized to estimate the combined clamp/pipe stiffness

Load-deflection characteristics of small-bore insulated-pipe clamps

International Nuclear Information System (INIS)

Severud, L.K.; Clark, G.L.

1981-12-01

The special insulated clamps used on both FFTF and CRBR piping utilize a Belleville spring arrangement to compensate for pipe thermal expansion. Analysis indicates that this produces a non-linear, directionally sensitive clamp spring rate. Since these spring rates influence the seismic response of a supported piping system, it was deemed necessary to evaluate them further by test. This has been accomplished for the FFTF clamps. A more standard insulated pipe clamp, which does not incorporate Belleville springs to accommodate thermal expansion, was also tested. This type clamp is simple in design, and economically attractive. It may have wide application prospects for use in LMFBR small bore auxiliary piping operating at temperatures below 427 0 C. Load deflection tests were conducted on 2.54 CM and 7.62 CM diameter samples of these commercial clamps

Effect of shear strain on the deflection of a clamped magnetostrictive film-substrate system

International Nuclear Information System (INIS)

Ming Zhenghui; Ming Li; Bo Zou; Xia Luo

2011-01-01

The effect of in-plane shear strain of a clamped bimorph on the deflection produced by magnetization of the film is investigated. The deflection is found by minimizing the Gibbs free energy with respect to four parameters, strains and curvatures along x and y directions at the interface, by assuming that the curvature in the y direction varies as a function of aspect ratio w/l along x. A set of standard linear equations of four parameters are obtained and the deflection is expressed in terms of the four parameters by solving the equations using Cramer rules. The inconsistencies pointed out by previous authors are also reviewed. For actuators made of thick and short clamped film-substrate system, the in-plane shear deformation should not be omitted. The present calculation model can give a relatively simple and accurate prediction of deflection for thick and short specimens of aspect ratio w/l<10, which supports the results obtained by finite element modeling. - Highlights: → We model the deflection of a thick magnetostrictive film-substrate cantilever plate. → Total stress along z from magnetic field is not zero without external force. → Effect of in-plane shear strain in calculating deflection examined. → Analytical solution of deflection obtained by assuming a curvature function. → Shear strain for short cantilever film-substrate plate considered.

Influence of squeeze film damping on the higher-order modes of clamped–clamped microbeams

KAUST Repository

Alcheikh, Nouha

2016-05-06

This paper presents an experimental study and a finite-element analysis of the effect of squeeze film damping on the resonance frequency and quality factor of the higher-order flexure vibrations modes of clamped-clamped microbeams. Viscoelastic and silicon nitride microbeams are fabricated and are electrostatically actuated by various electrode configurations to trigger the first, second, and third modes. The damping characteristic and the resonance frequency of these modes are examined for a wide range of gas pressure and electrostatic voltage loads. The results of the silicon nitride beams and viscoelastic beams are compared. It is found that the intrinsic material loss is the major dissipation mechanism at low pressure for the viscoelastic microbeams, significantly limiting their quality factor. It is also found that while the silicon nitride beams show higher quality factors at the intrinsic and molecular regimes of pressure, due to their low intrinsic loss, their quality factors near atmospheric pressure are lower than those of the viscoelastic microbeams. Further, the higher-order modes of all the beams show much higher quality factors at atmospheric pressure compared to the first mode, which could be promising for operating such resonators in air. Experimental results and finite element model simulations show good agreement for resonance frequency and quality factor for the three studied modes. © 2016 IOP Publishing Ltd.

Experimental Validation of Modelled Fluid Forces in Fast Switching Hydraulic On/Off Valves

DEFF Research Database (Denmark)

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

2015-01-01

A prototype of a fast switching valve for a digital hydraulic machine has been designed and manufactured. The valve is composed of an annular seat plunger connected with a moving coil actuator as the force producing element. The valve prototype is designed for flow rates of 600 l/min with less th...

Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

Science.gov (United States)

Zhang, Zengmeng; Hou, Jiaoyi; Ning, Dayong; Gong, Xiaofeng; Gong, Yongjun

2017-05-01

Fluidic artificial muscles are popular in robotics and function as biomimetic actuators. Their pneumatic version has been widely investigated. A novel water hydraulic artificial muscle (WHAM) with high strength is developed in this study. WHAMs can be applied to underwater manipulators widely used in ocean development because of their environment-friendly characteristics, high force-to-weight ratio, and good bio-imitability. Therefore, the strength of WHAMs has been improved to fit the requirements of underwater environments and the work pressure of water hydraulic components. However, understanding the mechanical behaviors of WHAMs is necessary because WHAMs use work media and pressure control that are different from those used by pneumatic artificial muscles. This paper presents the static and dynamic characteristics of the WHAM system, including the water hydraulic pressure control circuit. A test system is designed and built to analyze the drive characteristics of the developed WHAM. The theoretical relationships among the amount of contraction, pressure, and output drawing force of the WHAM are tested and verified. A linearized transfer function is proposed, and the dynamic characteristics of the WHAM are investigated through simulation and inertia load experiments. Simulation results agree with the experimental results and show that the proposed model can be applied to the control of WHAM actuators.

Method for driving an actuator, actuator drive, and apparatus comprising an actuator

OpenAIRE

2010-01-01

An actuator driver circuit includes a drive signal source and an electrical damping element having a negative resistance connected in series with the drive signal source. A controllable switch is provided for selectively switching the electrical damping element into or put of a signal path from a drive signal source output to a driver circuit output, in order to selectively change the electrical damping of an actuator. For example, the electrical damping of a radial actuator or a focus actuat...

Stirling/hydraulic artificial heart power source

International Nuclear Information System (INIS)

Johnston, R.P.; Bennett, A.; Emigh, S.G.; Griffith, W.R.; Noble, J.E.; Perrone, R.E.; White, M.A.; Martini, W.R.; Alexander, J.E.

1977-01-01

The REL power source combines the high efficiency of Stirling engines with the reliability, efficiency, and flexibility of hydraulic power transfer and control to ensure long system life and physiological effectiveness. Extended life testing has been achieved with an engine (2.6 years) and hydraulic actuator/controller (1.6 years). Peak power source efficiency is 15.5 percent on 5 to 10 watts delivered to the blood pump push plate with 33 watts steady thermal input. Planned incorporation of power source output control is expected to reduce daily average thermal input to 18 watts. Animal in-vivo tests with an assist heart have consistently demonstrated required performance by biological synchronization and effective ventricle relief. Volume and weight are 0.93 liter and 2.4 kg (excluding blood pump) with an additional 0.4 liter of low temperature foam insulation required to preclude tissue thermal damage. Carefully planned development of System 7 is expected to produce major reductions in size

Load-deflection characteristics of small bore insulated pipe clamps

International Nuclear Information System (INIS)

Severud, L.K.; Clark, G.L.

1982-01-01

High temperature LMFBR piping is subject to rapid temperature changes during transient events. Typically, this pipe is supported by specially designed insulated pipe clamps to prevent excessive thermal stress from developing during these transients. The special insulated clamps used on both FFTF and CRBR piping utilize a Belleville spring arrangement to compensate for pipe thermal expansion. Analysis indicates that this produces a non-linear, directionally sensitive clamp spring rate. Since these spring rates influence the seismic response of a supported piping system, it was deemed necessary to evaluate them further by test. This has been accomplished for the FFTF clamps. A more standard insulated pipe clamp, which does not incorporate Belleville springs to accommodate thermal expansion, was also tested. This type clamp is simple in design, and economically attractive. It may have wide application prospects for use in LMFBR small bore auxiliary piping operating at temperatures below 427 0 C. Load deflection tests were conducted on 2.54 CM and 7.62 CM diameter samples of these commercial clamps

Self-actuation type electromagnet for control rod retaining mechanism

International Nuclear Information System (INIS)

Saito, Makoto; Gunji, Minoru.

1989-01-01

The present invention concerns a self-actuation type electromagnet for automatically inserting a control rod into a reactor core for the reactor scram upon occurrence of abnormality in FBR type reactors, etc. That is, a mechanism for preventing scorching is disposed to an attracting portion of a split type core thereby enabling reliable detachment of a control rod. For this purpose, less scorching material is embedded to the attracting portion between each of the core portions, with the surface being slightly protruded. In such an attracting portion, a fine gap is formed between each of the core portions by the contact of less scorching materials. Further, the scorching material is embedded into a metal ring, which is screw-coupled to one of the core portions such that the position is adjustable in the direction of the control rod. Further, the less scorching material is made of alumina. As a result, the attracting portion is neither scorched or fused even when it is used for a long period of time in liquid sodium at high temperature. Therefore, when the electromagnet loses the attracting force, the control rod drops surely. (I.S.)

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

International Nuclear Information System (INIS)

Kofod, Guggi

2008-01-01

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

Hydraulically actuated hexapod robots design, implementation and control

CERN Document Server

Nonami, Kenzo; Irawan, Addie; Daud, Mohd Razali

2014-01-01

Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likel...

Large amplitude dynamics of micro-/nanomechanical resonators actuated with electrostatic pulses

International Nuclear Information System (INIS)

Juillard, J.; Bonnoit, A.; Avignon, E.; Hentz, S.; Colinet, E.

2010-01-01

In the field of resonant nano-electro-mechanical system (NEMS) design, it is a common misconception that large-amplitude motion, and thus large signal-to-noise ratio, can only be achieved at the risk of oscillator instability. In the present paper, we show that very simple closed-loop control schemes can be used to achieve stable large-amplitude motion of a resonant structure even when jump resonance (caused by electrostatic softening or Duffing hardening) is present in its frequency response. We focus on the case of a resonant accelerometer sensing cell, consisting of a nonlinear clamped-clamped beam with electrostatic actuation and detection, maintained in an oscillation state with pulses of electrostatic force that are delivered whenever the detected signal (the position of the beam) crosses zero. We show that the proposed feedback scheme ensures the stability of the motion of the beam much beyond the critical Duffing amplitude and that, if the parameters of the beam are correctly chosen, one can achieve almost full-gap travel range without incurring electrostatic pull-in. These results are illustrated and validated with transient simulations of the nonlinear closed-loop system.

Loading dynamics of a sliding DNA clamp.

KAUST Repository

Cho, Won-Ki; Jergic, Slobodan; Kim, Daehyung; Dixon, Nicholas E; Lee, Jong-Bong

2014-01-01

8° during clamp closure. The single-molecule polarization and FRET studies thus revealed the real-time dynamics of the ATP-hydrolysis-dependent 3D conformational change of the β clamp during loading at a ss/dsDNA junction.

Payload Launch Lock Mechanism

Science.gov (United States)

Young, Ken (Inventor); Hindle, Timothy (Inventor)

2014-01-01

A payload launch lock mechanism includes a base, a preload clamp, a fastener, and a shape memory alloy (SMA) actuator. The preload clamp is configured to releasibly restrain a payload. The fastener extends, along an axis, through the preload clamp and into the base, and supplies a force to the preload clamp sufficient to restrain the payload. The SMA actuator is disposed between the base and the clamp. The SMA actuator is adapted to receive electrical current and is configured, upon receipt of the electrical current, to supply a force that causes the fastener to elongate without fracturing. The preload clamp, in response to the fastener elongation, either rotates or pivots to thereby release the payload.

Technology and control for hydraulic manipulators

International Nuclear Information System (INIS)

Measson, Y.; David, O.; Louveau, F.; Friconneau, J.P.

2003-01-01

Hydraulic manipulators are candidate for fusion reactor maintenance. Their main advantages are their large payload with respect to volume and mass, their reliability and their robustness. However, due to their force control limitations, they are disqualified for precise manipulation and are dangerous for the environment and themselves in case of unexpected collision. CEA, in collaboration with CYBERNETIX and IFREMER has developed the advanced hydraulic robot MAESTRO. Force and hybrid control has been developed in order to avoid the previous problems. Using 'pressure' control servo-valve instead of the standard 'flow' control servo-valve (standard configuration of the MAESTRO) makes a real simplification of the control loop. No more pressure sensors are needed for monitoring the hydraulic joint in force control mode and using this kind of valves makes big safety improvements. The French company IN-LHC, designed and manufactured a prototype of servo-valve that fits the performances and space constraints of the Maestro arm. A characterisation of this new product was made on a mock-up and a set of these prototypes integrated in the Maestro slave-arm. A comparison between the two actuating technologies was made and showed that the performances of the pressure servo-valves make it applicable to general application

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

Directory of Open Access Journals (Sweden)

Jian Fu

2017-02-01

Full Text Available In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.

Reliability analysis of self-actuated shutdown system

International Nuclear Information System (INIS)

Itooka, S.; Kumasaka, K.; Okabe, A.; Satoh, K.; Tsukui, Y.

1991-01-01

An analytical study was performed for the reliability of a self-actuated shutdown system (SASS) under the unprotected loss of flow (ULOF) event in a typical loop-type liquid metal fast breeder reactor (LMFBR) by the use of the response surface Monte Carlo analysis method. Dominant parameters for the SASS, such as Curie point characteristics, subassembly outlet coolant temperature, electromagnetic surface condition, etc., were selected and their probability density functions (PDFs) were determined by the design study information and experimental data. To get the response surface function (RSF) for the maximum coolant temperature, transient analyses of ULOF were performed by utilizing the experimental design method in the determination of analytical cases. Then, the RSF was derived by the multi-variable regression analysis. The unreliability of the SASS was evaluated as a probability that the maximum coolant temperature exceeded an acceptable level, employing the Monte Carlo calculation using the above PDFs and RSF. In this study, sensitivities to the dominant parameter were compared. The dispersion of subassembly outlet coolant temperature near the SASS-was found to be one of the most sensitive parameters. Fault tree analysis was performed using this value for the SASS in order to evaluate the shutdown system reliability. As a result of this study, the effectiveness of the SASS on the reliability improvement in the LMFBR shutdown system was analytically confirmed. This study has been performed as a part of joint research and development projects for DFBR under the sponsorship of the nine Japanese electric power companies, Electric Power Development Company and the Japan Atomic Power Company. (author)

Force-controlled patch clamp of beating cardiac cells.

Science.gov (United States)

Ossola, Dario; Amarouch, Mohamed-Yassine; Behr, Pascal; Vörös, János; Abriel, Hugues; Zambelli, Tomaso

2015-03-11

From its invention in the 1970s, the patch clamp technique is the gold standard in electrophysiology research and drug screening because it is the only tool enabling accurate investigation of voltage-gated ion channels, which are responsible for action potentials. Because of its key role in drug screening, innovation efforts are being made to reduce its complexity toward more automated systems. While some of these new approaches are being adopted in pharmaceutical companies, conventional patch-clamp remains unmatched in fundamental research due to its versatility. Here, we merged the patch clamp and atomic force microscope (AFM) techniques, thus equipping the patch-clamp with the sensitive AFM force control. This was possible using the FluidFM, a force-controlled nanopipette based on microchanneled AFM cantilevers. First, the compatibility of the system with patch-clamp electronics and its ability to record the activity of voltage-gated ion channels in whole-cell configuration was demonstrated with sodium (NaV1.5) channels. Second, we showed the feasibility of simultaneous recording of membrane current and force development during contraction of isolated cardiomyocytes. Force feedback allowed for a gentle and stable contact between AFM tip and cell membrane enabling serial patch clamping and injection without apparent cell damage.

Electromechanical actuation of buckypaper actuator: Material properties and performance relationships

International Nuclear Information System (INIS)

Cottinet, P.-J.; Souders, C.; Tsai, S.-Y.; Liang, R.; Wang, B.; Zhang, C.

2012-01-01

Carbon nanotubes can be assembled into macroscopic thin film materials called buckypapers. To incorporate buckypaper actuators into engineering systems, it is of high importance to understand their material property-actuation performance relationships in order to model and predict the behavior of these actuators. The electromechanical actuation of macroscopic buckypaper structures and their actuators, including single and multi-walled carbon nanotube buckypapers and aligned single-walled nanotube buckypapers, were analyzed and compared. From the experimental evidence, this Letter discusses the effects of the fundamental material properties, including Young modulus and electrical double layer properties, on actuation performance of the resultant actuators. -- Highlights: ► In this study we identified the figure of merit of the electromechanical conversion. ► Different type of buckypaper was realized and characterized for actuation properties. ► The results demonstrated the potential of Buckypapers/Nafion for actuation

The reduction of noise from hydraulic equipments; La reduction du bruit provenant des equipements hydrauliques

Energy Technology Data Exchange (ETDEWEB)

Gential, R.

1996-09-01

Noise pollution from hydraulic equipments (bath filling, toilets taps, waste waters flow, vibrations, knocks in water pipes, dilatation clattering in heating pipes, hissing of heater taps etc..) are one of the principal causes of nuisance inside residential buildings. Solutions exist and consist in the replacement of old cocks and fittings, the use of soundproof clamps for pipes and noise absorbing supports for baths etc.. This paper summarizes the available modern equipments with a low-noise warranty (cocks and fittings, noise dampers, anti-backflow valves, pressure reducers) and the practical solutions for the modification of existing installations (increase of pipe diameters, reduction of pipe lengths, use of flexible fittings, hydraulic counterbalancing of water flows in heaters etc..). (J.S.)

Actuator with Multi Degrees of Freedom(Actuator)

OpenAIRE

矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所

2006-01-01

The advantages, problems and the recent developments of the actuator with multi degrees of freedom are presented. At first, the advantages of the actuator with multi degrees of freedom are described. Next, the problems needed to solve for practical use are presented. The recent applications of the actuator with multi degrees of freedom are also reviewed.

Lotus birth, a holistic approach on physiological cord clamping.

Science.gov (United States)

Zinsser, Laura A

2018-04-01

The positive effects of delayed cord clamping (DCC) has been extensively researched. DCC means: waiting at least one minute after birth before clamping and cutting the cord or till the pulsation has stopped. With physiological clamping and cutting (PCC) the clamping and cutting can happen at the earliest after the pulsation has stopped. With a Lotus birth, no clamping and cutting of the cord is done. A woman called Clair Lotus Day imitated the holistic approach of PCC from an anthropoid ape in 1974. The chimpanzee did not separate the placenta from the newborn. The aim of this case report is to discuss and learn a different approach in the third stage of labour. Three cases of Lotus birth by human beings were observed. All three women gave birth in an out-of-hospital setting and had ambulant postnatal care. The placenta was washed, salted and herbs were put on 2-3h post partum. The placenta was wrapped in something that absorbs the moisture. The salting was repeated with a degreasing frequency depending on moistness of the placenta. On life day six all three Lotus babies experiences a natural separation of the cord. All three Lotus birth cases were unproblematic, no special incidence occurred. One should differentiate between early cord clamping (ECC), delayed cord clamping (DCC) and physiological cord clamping (PCC). Lotus birth might lead to an optimisation of the bonding and attachment. Research is needed in the areas of both PCC and Lotus birth. Copyright © 2017 Australian College of Midwives. Published by Elsevier Ltd. All rights reserved.

Compact, planar, translational piezoelectric bimorph actuator with Archimedes’ spiral actuating tethers

International Nuclear Information System (INIS)

Yang, Chenye; Liu, Sanwei; Livermore, Carol; Xie, Xin

2016-01-01

The design, analytical modelling, finite element analysis (FEA), and experimental characterization of a microelectromechanical system (MEMS) out-of-plane (vertical) translational piezoelectric lead–zirconate–titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Three types of bimorph actuators with different electrode patterns (with spiral tethers half actuated, fully actuated with uniform polarity, or fully actuated with reversed polarity) are designed and modelled. The two actuators with the highest predicted performance (half actuated and fully actuated with uniform polarity) are implemented and characterized. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Analytical modelling and FEA are used to analyze and predict the actuators’ displacements and blocking forces. Experimental measurements of the deflections and blocking forces of actuators with full uniform actuation and half actuation validate the design. At an applied voltage of 110 V, the out-of-plane deflections of the actuators with half actuation and full uniform actuation are measured at about 17 µ m and 29 µ m respectively, in good agreement with analytical predictions of 17.3 µ m and 34.2 µ m and FEA predictions of 17.1 µ m and 25.8 µ m. The blocking force for devices with half-actuated tethers is predicted to be 12 mN (analytical) and 10 mN (FEA), close to the experimental value of 9 mN. The blocking force for devices with full uniform actuation is predicted to be 23 mN (analytical) and 17 mN (FEA), as compared with 15 mN in experiments. (paper)

π-Clamp-mediated cysteine conjugation

Science.gov (United States)

Zhang, Chi; Welborn, Matthew; Zhu, Tianyu; Yang, Nicole J.; Santos, Michael S.; van Voorhis, Troy; Pentelute, Bradley L.

2016-02-01

Site-selective functionalization of complex molecules is one of the most significant challenges in chemistry. Typically, protecting groups or catalysts must be used to enable the selective modification of one site among many that are similarly reactive, and general strategies that selectively tune the local chemical environment around a target site are rare. Here, we show a four-amino-acid sequence (Phe-Cys-Pro-Phe), which we call the ‘π-clamp’, that tunes the reactivity of its cysteine thiol for site-selective conjugation with perfluoroaromatic reagents. We use the π-clamp to selectively modify one cysteine site in proteins containing multiple endogenous cysteine residues. These examples include antibodies and cysteine-based enzymes that would be difficult to modify selectively using standard cysteine-based methods. Antibodies modified using the π-clamp retained binding affinity to their targets, enabling the synthesis of site-specific antibody-drug conjugates for selective killing of HER2-positive breast cancer cells. The π-clamp is an unexpected approach to mediate site-selective chemistry and provides new avenues to modify biomolecules for research and therapeutics.

Self-actuated rate of change of pressure scram device for nuclear reactors

International Nuclear Information System (INIS)

Noyes, R.C.; Zaman, S.U.; Stuteville, D.W.

1979-01-01

A sensor chamber having one cavity containing coolant separated by a diaphragm from another cavity containing a fixed mass of inert gas is located within a safety assembly of a liquid metal-cooled nuclear reactor. The liquid cavity is in fluid communication with the coolant outside the chamber through a flow limiting orifice. An actuating bellows in fluid communication with the gas cavity is in contact with coolant outside the chamber and is connected to a push rod, which serves as a trigger for a poison bundle relase mechanism. During slow changes in reactor coolant pressure experienced under normal operation, the diaphragm moves to equalize the gas cavity and liquid cavity pressures with the coolant pressure outside the chamber. The actuating bellows does not move because it is biased so that a threshold pressure difference is required before it will expand. Under a more rapid drop in coolant pressure, such as is associated with a loss of forced flow, the threshold is overcome and the actuating bellows will also move, thereby triggering the release mechanism to shut down the reactor. The actuating bellows may be connected to the liquid cavity rather than to the gas cavity

Improvement of the low-speed friction characteristics of a hydraulic piston pump by PVD-coating of TiN

International Nuclear Information System (INIS)

Hong, Yeh Sun; Lee, Sang Yul; Kim, Sung Hun; Lim, Hyun Sik

2006-01-01

The hydraulic pump of an Electro-hydrostatic Actuator should be able to quickly feed large volume of oil into hydraulic cylinder in order to reduce the response time. On the other hand, it should be also able to precisely dispense small amount of oil through low-speed operation so that the steady state position control error of the actuator can be accurately compensated. Within the scope of axial piston type hydraulic pumps, this paper is focused on the investigation how the surface treatment of their cylinder barrel with TiN plasma coating can contribute to the reduction of the friction and wear rate of valve plate in the low-speed range with mixed lubrication. The results showed that the friction torque of the valve plate mated with a TiN-coated cylinder barrel could be reduced to 22% of that with an uncoated original one when load pressure was 300 bar and rotational speed 100 rpm. It means that the torque efficiency of the test pump was expected to increase more than 1.3% under the same working condition. At the same time, the wear rate of the valve plate could be reduced to 40∼50%

Vibration control for precision manufacturing using piezoelectric actuators

Energy Technology Data Exchange (ETDEWEB)

Martinez, D.R.; Hinnerichs, T.D.; Redmond, J.M.

1995-12-31

Piezoelectric actuators provide high frequency, force, and stiffness capabilities along with reasonable Stroke limits, all of which can be used to increase performance levels in precision manufacturing systems. This paper describes two examples of embedding piezoelectric actuators in structural components for vibration control. One example involves suppressing the self excited chatter phenomenon in the metal cutting process of a milling machine and the other involves damping vibrations induced by rigid body stepping of a photolithography platen. Finite element modeling and analyses are essential for locating and sizing the actuators and permit further simulation studies of the response of the dynamic system. Experimental results are given for embedding piezoelectric actuators in a cantilevered bar configuration, which was used as a surrogate machine tool structure. These results are incorporated into a previously developed milling process simulation and the effect of the control on the cutting process stability diagram is quantified. Experimental results are also given for embedding three piezoelectric actuators in a surrogate photolithography platen to suppress vibrations. These results demonstrate the potential benefit that can be realized by applying advances from the field of adaptive structures to problems in precision manufacturing.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Directory of Open Access Journals (Sweden)

Xingjian Wang

2017-10-01

Full Text Available Moving towards the more electric aircraft (MEA, a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA into primary flight control. In the hybrid actuation system (HAS, an electro-hydraulic servo actuator (EHSA and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Science.gov (United States)

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

Control of an innovative super-capacitor-powered shape-memory-alloy actuated accumulator for blowout preventer

Science.gov (United States)

Chen, Jian; Li, Peng; Song, Gangbing; Ren, Zhang

2017-01-01

The design of a super-capacitor-powered shape-memory-alloy (SMA) actuated accumulator for blowout preventer (BOP) presented in this paper featured several advantages over conventional hydraulic accumulators including instant large current drive, quick system response and elimination of need for the pressure conduits. However, the mechanical design introduced two challenges, the nonlinear nature of SMA actuators and the varying voltage provided by a super capacitor, for control system design. A cerebellar model articulation controller (CMAC) feedforward plus PID controller was developed with the aim of compensation for these adverse effects. Experiments were conducted on a scaled down model and experimental results show that precision control can be achieved with the proposed configurations and algorithms.

Dynamics of a clamped–clamped microbeam resonator considering fabrication imperfections

KAUST Repository

Bataineh, Ahmad M.

2014-10-18

We present an investigation into the static and dynamic behavior of an electrostatically actuated clamped–clamped polysilicon microbeam resonator accounting for its fabrication imperfections, which are commonly encountered in similar microstructures. These are mainly because of the initial deformation of the beam due to stress gradient and its flexible anchors. First, we show experimental data of the microbeam when driven electrically by varying the amplitude and frequency of the voltage loads. The results reveal several interesting nonlinear phenomena of jumps, hysteresis, and softening behaviors. Theoretical investigation is then conducted to model the microbeam, and hence, interpret the experimental data. We solve the Eigen value problem governing the natural frequencies analytically. We then utilize a Galerkin-based procedure to derive a reduced order model, which is then used to simulate both the static and dynamic responses. To achieve good matching between theory and experiment, we show that the exact profile of the deformed beam needs to be utilized in the reduced order model, as measured from the optical profiler, combined with a shooting technique simulation, which is capable of tracing the resonant frequency branches under very-low damping conditions.

A new clamp method for firing bricks | Obeng | Journal of Applied ...

African Journals Online (AJOL)

A new clamp method for firing bricks. ... Journal of Applied Science and Technology ... To overcome this operational deficiencies, a new method of firing bricks that uses brick clamp technique that incorporates a clamp wall of 60 cm thickness, a six tier approach of sealing the top of the clamp (by combination of green bricks) ...

IT-Tools Concept for Simulation and Design of Water Hydraulic Mechatronic Test Facilities for Motion Control and Operation in Environmentally Sensitive Application Areas

DEFF Research Database (Denmark)

Conrad, Finn; Pobedza, J.; Sobczyk, A.

2004-01-01

This paper presents a proposed IT-Tools concept for modeling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The designed test rigs have tap water hydraulic components of the Danfoss Nessie® product family and equipped...... with a measurement and data acquisition system. Results of the mathematical modeling, simulation and design of the motion control test rigs are presented. Furthermore, the paper presents selected experimental and identifying test results for the water hydraulic test rigs....

IMPORTANT: Fluke is recalling Digital Clamp Meters

CERN Multimedia

2013-01-01

Fluke is voluntarily recalling four models of Digital Clamp Meters: Fluke 373, 374, 375 and 376. If you own one of these clamp meters, please stop using it and send it back to Fluke for repair even if you have not experienced problems.   Description of the problem: "The printed circuit assembly may not be properly fastened to the test lead input jack. This may result in inaccurate voltage readings, including a low or no-voltage reading on a circuit energised with a hazardous voltage, presenting a shock, electrocution or thermal burn hazard." To determine if your clamp meter is affected by this recall notice, and for more information, click here.

Is "Delayed Umbilical Cord Clamping" Beneficial for Premature Newborns?

Directory of Open Access Journals (Sweden)

Amir-Mohammad Armanian

2017-05-01

Full Text Available Background: The appropriate moment for clamping the umbilical cord is controversial. Immediate cord clamping (ICC is an item of active management of the third stage of labor (AMTSL. Unclamped umbilical cord may cause inconvenience in preterm neonates because they commonly need some levels of emergent services. Some studies revealed delayed cord clamping (DCC of preterm neonates results in better health conditions like lower rates of respiratory distress syndrome (RDS, less morbidities in labor room and lower risk of postpartum hemorrhage. The aim of the present study was to determine the effect of delayed umbilical cord clamping on premature neonatal outcomes. Materials and Methods: In this single‑center randomized control trial study, sixty premature neonates (gestational age ≤ 34 weeks were randomly assigned to ICC (cord clamped at 5–10 seconds or DCC (30–45 seconds groups and followed up in neonatal intensive care unit (NICU. Primary outcomes were 1st and 5th minute Apgar score, average of level of hematocrit after birth, intra ventricle hemorrhage and need some levels of resuscitation. Results: Differences in demographic characteristics were not statistically significant. After birth, neonates who had delayed clamping had significantly higher mean hematocrit after at 4-hour of birth (49.58+5.15gr/dl vs. 46.58+5.40gr/dlin DCC vs. ICC groups, respectively (P=0.031. Delayed cord clamping reduced the duration of need to nasal continues positive airway pressure (NCPAP (86.7% and 60.0% in ICC and DCC groups, respectively, P= 0.039. Attractively, the results showed lower incidence of clinical sepsis in delayed cord clamping neonates (53.3% vs. 23.3% in ICC and DCC groups, respectively, P=0.033. Conclusion: Prematurity complications might decrease by delay umbilical cord clamping which improve the hematocrit, duration of need to NCPAP and incidence of clinical sepsis. Furthermore, DCC may have no negative impact on neonatal resuscitation.

Parameter identification of an electrically actuated imperfect microbeam

KAUST Repository

Ruzziconi, Laura

2013-12-01

In this study we consider a microelectromechanical system (MEMS) and focus on extracting analytically the model parameters that describe its non-linear dynamic features accurately. The device consists of a clamped-clamped polysilicon microbeam electrostatically and electrodynamically actuated. The microbeam has imperfections in the geometry, which are related to the microfabrication process, resulting in many unknown and uncertain parameters of the device. The objective of the present paper is to introduce a simple but appropriate model which, despite the inevitable approximations, is able to describe and predict the most relevant aspects of the experimental response in a neighborhood of the first symmetric resonance. The modeling includes the main imperfections in the microstructure. The unknown parameters are settled via parametric identification. The approach is developed in the frequency domain and is based on matching both the frequency values and, remarkably, the frequency response curves, which are considered as the most salient features of the device response. Non-linearities and imperfections considerably complicate the identification process. Via the combined use of linear analysis and non-linear dynamic simulations, a single first symmetric mode reduced-order model is derived. Extensive numerical simulations are performed at increasing values of electrodynamic excitation. Comparison with experimental data shows a satisfactory concurrence of results not only at low electrodynamic voltage, but also at higher ones. This validates the proposed theoretical approach. We highlight its applicability, both in similar case-studies and, more in general, in systems. © 2013 Elsevier Ltd.

A missing factor in chip-based patch clamp assay: gigaseal

International Nuclear Information System (INIS)

Ong, W-L; Yobas, L; Ong, W-Y

2006-01-01

The 'gold' standard in the study of ionic currents across biological membranes is the Patch Clamp method. However, this is a slow, labor and skill intensive process. High throughput patch clamp devices are mainly chip-based. A major challenge in these miniaturized devices is the low rate of 'Gigaseal' formation which is critical in the study of Single Channel effect. In a conventional patch clamp, a pipette moves and patches a fixed cell (cell-adhered patch) which is grown on the bottom of a Petri dish. In the chip-based case, the cells are in suspension and move towards the fixed patch clamp sites (cell-suspended patch). In this study, using the proven conventional patch clamp setup, we investigated the effect of the differences in the cell configurations between the convention patch clamp and cell-based patch clamp. It is shown that adhered cells (as used in the conventional setup) have a much higher rate of gigaseal formation as compared to the cells in suspension (as used in chip-based devices). We postulate that the arrangement of the cytoskeleton within the cell plays a major part in the formation of the gigaseal

Effects of floating electrodes on the reliability of electrostrictive ceramic multilayer actuators

International Nuclear Information System (INIS)

Kim, Y H; Beom, H G

2010-01-01

To investigate the toughness enhancing effect of a floating electrode on an actuator, a conventional actuator and an actuator with a floating electrode are numerically analyzed using the finite element method. Electrostatic analysis is performed for both types of actuators based on an assumption of the mathematical equivalence between out-of-plane deformation and electrostatics. The electric behavior of a ceramic is idealized by the electric displacement saturation model. The numerical results of electric fields and electric displacement fields are obtained from the electrostatic analysis. For both types of actuators, the self-equilibrating stress fields induced by a non-uniform distribution of the electric displacement fields are computed using the finite element method. The stress intensity factors for a flaw-like crack nucleated from the edge of an internal electrode are evaluated for each case. We found that the stress intensity factor for the actuator with a floating electrode is smaller than the factor for the conventional actuator when the length of the flaw-like crack is approximately equal to the grain size. Thus, we conclude that actuators with floating electrodes have higher reliability than conventional actuators

Patch-Clamp Recording from Human Induced Pluripotent Stem Cell-Derived Cardiomyocytes: Improving Action Potential Characteristics through Dynamic Clamp

Science.gov (United States)

Veerman, Christiaan C.; Zegers, Jan G.; Mengarelli, Isabella; Bezzina, Connie R.

2017-01-01

Human induced pluripotent stem cell-derived cardiomyocytes (hiPSC-CMs) hold great promise for studying inherited cardiac arrhythmias and developing drug therapies to treat such arrhythmias. Unfortunately, until now, action potential (AP) measurements in hiPSC-CMs have been hampered by the virtual absence of the inward rectifier potassium current (IK1) in hiPSC-CMs, resulting in spontaneous activity and altered function of various depolarising and repolarising membrane currents. We assessed whether AP measurements in “ventricular-like” and “atrial-like” hiPSC-CMs could be improved through a simple, highly reproducible dynamic clamp approach to provide these cells with a substantial IK1 (computed in real time according to the actual membrane potential and injected through the patch-clamp pipette). APs were measured at 1 Hz using perforated patch-clamp methodology, both in control cells and in cells treated with all-trans retinoic acid (RA) during the differentiation process to increase the number of cells with atrial-like APs. RA-treated hiPSC-CMs displayed shorter APs than control hiPSC-CMs and this phenotype became more prominent upon addition of synthetic IK1 through dynamic clamp. Furthermore, the variability of several AP parameters decreased upon IK1 injection. Computer simulations with models of ventricular-like and atrial-like hiPSC-CMs demonstrated the importance of selecting an appropriate synthetic IK1. In conclusion, the dynamic clamp-based approach of IK1 injection has broad applicability for detailed AP measurements in hiPSC-CMs. PMID:28867785

Self-aligning fixture used in lathe chuck jaw refacing

Science.gov (United States)

Linn, C. C.

1965-01-01

Self-aligning tool positions and rigidly holds lathe chuck jaws for refacing and truing of the clamping surface. The jaws clamp the fixture in the manner of clamping a workpiece. The fixture can be modified to accommodate four-jawed checks.

Note: A novel rotary actuator driven by only one piezoelectric actuator.

Science.gov (United States)

Huang, Hu; Fu, Lu; Zhao, Hongwei; Shi, Chengli; Ren, Luquan; Li, Jianping; Qu, Han

2013-09-01

This paper presents a novel piezo-driven rotary actuator based on the parasitic motion principle. Output performances of the rotary actuator were tested and discussed. Experiment results indicate that using only one piezoelectric actuator and simple sawtooth wave control, the rotary actuator reaches the rotation velocity of about 20,097 μrad/s when the driving voltage is 100 V and the driving frequency is 90 Hz. The actuator can rotate stably with the minimum resolution of 0.7 μrad. This paper verifies feasibility of the parasitic motion principle for applications of rotary actuators, providing new design ideas for precision piezoelectric rotary actuators.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Self-actuated shutdown system for a commercial size LMFBR. Final report

Energy Technology Data Exchange (ETDEWEB)

Dupen, C.F.G.

1978-08-01

A Self-Actuated Shutdown System (SASS) is defined as a reactor shutdown system in which sensors, release mechanisms and neutron absorbers are contained entirely within the reactor core structure, where they respond inherently to abnormal local process conditions, by shutting down the reactor, independently of the plant protection system (PPS). It is argued that a SASS, having a response time similar to that of the PPS, would so reduce the already very low probability of a failure-to-scram event that costly design features, derived from core disruptive accident analysis, could be eliminated. However, the thrust of the report is the feasibility and reliability of the in-core SASS hardware to achieve sufficiently rapid shutdown. A number of transient overpower and transient undercooling-responsive systems were investigated leading to the selection of a primary candidate and a backup concept. During a transient undercooling event, the recommended device is triggered by the associated rate of change of pressure, whereas the alternate concept responds to the reduction in core pressure drop and requires calibration and adjustment by the operators to accommodate changes in reactor power.

Self-actuated shutdown system for a commercial size LMFBR. Final report

International Nuclear Information System (INIS)

Dupen, C.F.G.

1978-08-01

A Self-Actuated Shutdown System (SASS) is defined as a reactor shutdown system in which sensors, release mechanisms and neutron absorbers are contained entirely within the reactor core structure, where they respond inherently to abnormal local process conditions, by shutting down the reactor, independently of the plant protection system (PPS). It is argued that a SASS, having a response time similar to that of the PPS, would so reduce the already very low probability of a failure-to-scram event that costly design features, derived from core disruptive accident analysis, could be eliminated. However, the thrust of the report is the feasibility and reliability of the in-core SASS hardware to achieve sufficiently rapid shutdown. A number of transient overpower and transient undercooling-responsive systems were investigated leading to the selection of a primary candidate and a backup concept. During a transient undercooling event, the recommended device is triggered by the associated rate of change of pressure, whereas the alternate concept responds to the reduction in core pressure drop and requires calibration and adjustment by the operators to accommodate changes in reactor power

Structural Integrity Assessment for SSDM Hydraulic Cylinder of JRTR

International Nuclear Information System (INIS)

Kim, Sanghaun; Lee, Jin Haeng; Cho, Yeonggarp; Yoo, Yeonsik

2014-01-01

In HANARO, there are four Control Rod Drive Mechanisms (CRDMs) with an individual step motor and four Shutoff (SO) Units with an individual hydraulic system located at the top of reactor pool. The absorber rods in SO units are poised at the top of the core by the hydraulic force during normal operation. The rods of SO units drop by gravity as the first reactor showdown mechanism when a trip is commended by the reactor protection system (RPS). The CRDMs act as the first reactor shutdown mechanism and reactor regulating as well. The top-mounted SSDM driven by the hydraulic system for the JRTR is under design in KAERI. The SSDM provides an alternate and independent means of reactor shutdown. The second shutdown rods (SSRs) of the SSDM are poised at the top of the core by the hydraulic system during the normal operation and drop by gravity for the reactor trip. Based on the proven technology of the design, operation and maintenance for HANARO, the SSDM for the JRTR has been optimized by the design improvement from the experience and test. This paper aims for the structural integrity assessment for SSDM hydraulic cylinder which is designed on the basis of the SO unit of HANARO but optimized with the new core environment (i. e., geometrical, physical, etc.) of JRTR. A stress analysis of the hydraulic cylinder for the SSDM used in JRTR has been performed through the conservative approach with the uncertainties in the system design step. The crank's pinch load with no slip between the bearing (stiffener) plate of hydraulic cylinder and base plate of mount bracket during SSE has been calculated by considering the design and seismic load combination. The stress by the load combination satisfies the Class 3 criteria given Table NG-3325 of Section III of the ASME Code. The maximum stresses are at the clamp contact region in the cylinder

The kinematics of the rigid feedback linkage, the impedance of the hydraulic servomechanism and the flutter occurrence

Directory of Open Access Journals (Sweden)

Ioan URSU

2012-09-01

Full Text Available The paper brought to light a previous result of the author, used in the design of hydraulicservos actuating flight controls of the airplanes IAR 93 and IAR 99. The results highlights theimportance of the the kinematics of the rigid feedback linkage of the hydraulic servo in anaeroservoelastic frame.

Flight control actuation system

Science.gov (United States)

Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)

2006-01-01

A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.

Reducing blood loss during laparoscopic myomectomy by temporary uterine artery clamping using bulldog clamp

Directory of Open Access Journals (Sweden)

Kai-Jo Chiang

2014-01-01

Full Text Available Uterine myoma is the most common benign gynecologic tumor worldwide. Mini-invasive surgery has become popular for myomectomy, with advantages over laparotomy. However, reducing blood loss during laparoscopic myomectomy is a major concern for the surgeon because of the limitation in making a quick control bleeding during the operation. Several methods have proved to decrease blood flow, but are not always effective or available. We present a case of uterine myoma with the uterine arteries clamped by bulldog clamps during laparoscopic myomectomy. The myoma was removed successfully with minimal blood loss (<50 ml during the operation. This is an effective, safe, and reliable method for reducing bleeding during laparoscopic myomectomy that does not require ligation of the uterine artery.

Initial Design and Experimental Evaluation of a Pneumatic Interference Actuator.

Science.gov (United States)

Nesler, Christopher R; Swift, Tim A; Rouse, Elliott J

2018-04-01

Substantial device mass and control complexity can hinder the impact of wearable robotic technologies, such as exoskeletons. Thus, despite promising previous research, the development of a simple, lightweight actuator for these systems has not yet been fully realized. The purpose of this study was to derive and demonstrate a proof-of-concept for a pneumatic interference actuator (PIA)-a lightweight, soft actuator able to produce torque by the self-intersection of a fabric balloon that arises from changes in physical geometry. General closed-form equations are derived to express the expected actuator torque and mechanical work as functions of the balloon geometry, pressure, and deflection angle. Hard and soft cylindrical physical prototypes were constructed to assess the accuracy of the mathematical models. The proposed mathematical model was found to agree with the pressure-volume relationship and successfully predict the maximum torque as a function of geometry, pressure, and deflection at nonzero deflection angles. Peak powers up to 122.1 ± 10.0 W (mean ± standard deviation), with a resting internal pressure of 158.0 ± 0.2 kPa, were observed from the hard actuator prototype. For the soft actuator prototype, peak powers of 97.9 ± 21.1 W were observed at a resting pressure of 166.8 kPa. The work performed was within 3.2% ± 3.4% and 14.4% ± 8.2% of theoretical values across all trials, and within 19.1% ± 4.4% of theoretical values when compared to the torque-angle relationship. This study highlights the promise of utilizing the self-intersection of a PIA to perform human-scale mechanical work, and future research will focus on implementations for wearable robotic systems.

Planar patch clamp: advances in electrophysiology.

Science.gov (United States)

Brüggemann, Andrea; Farre, Cecilia; Haarmann, Claudia; Haythornthwaite, Ali; Kreir, Mohamed; Stoelzle, Sonja; George, Michael; Fertig, Niels

2008-01-01

Ion channels have gained increased interest as therapeutic targets over recent years, since a growing number of human and animal diseases have been attributed to defects in ion channel function. Potassium channels are the largest and most diverse family of ion channels. Pharmaceutical agents such as Glibenclamide, an inhibitor of K(ATP) channel activity which promotes insulin release, have been successfully sold on the market for many years. So far, only a small group of the known ion channels have been addressed as potential drug targets. The functional testing of drugs on these ion channels has always been the bottleneck in the development of these types of pharmaceutical compounds.New generations of automated patch clamp screening platforms allow a higher throughput for drug testing and widen this bottleneck. Due to their planar chip design not only is a higher throughput achieved, but new applications have also become possible. One of the advantages of planar patch clamp is the possibility of perfusing the intracellular side of the membrane during a patch clamp experiment in the whole-cell configuration. Furthermore, the extracellular membrane remains accessible for compound application during the experiment.Internal perfusion can be used not only for patch clamp experiments with cell membranes, but also for those with artificial lipid bilayers. In this chapter we describe how internal perfusion can be applied to potassium channels expressed in Jurkat cells, and to Gramicidin channels reconstituted in a lipid bilayer.

Soft Robotic Actuators

Science.gov (United States)

Godfrey, Juleon Taylor

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

Experimental analysis and simulation of the dynamic response of a propeller pitch change actuator

OpenAIRE

LECLERCQ, Maxime; MALBURET, François; VERON, Philippe

2012-01-01

This paper focuses specifically on the control of the propeller pitch change mechanisms and their associated dynamics. The subject of this article is restricted to the mechanisms using a hydraulic single acting actuator. They function asymmetrically and are subject to important varying external loads under the full flight envelope. This phenomenon has an impact on their dynamic response.The question of the dynamics of these systems is rarely dealt with because, usually for aircraft applicatio...

Experimental analysis and simulation of the dynamix response of a propeller pitch change actuator

OpenAIRE

LECLERCQ, Maxime; MALBURET, François; VERON, Philippe

2012-01-01

This paper focuses specifically on the control of the propeller pitch change mechanisms and their associated dynamics. The subject of this article is restricted to the mechanisms using a hydraulic single acting actuator. They function asymmetrically and are subject to important varying external loads under the full flight envelope. This phenomenon has an impact on their dynamic response. The question of the dynamics of these systems is rarely dealt with because, usually for aircraft applic...

Analysis of the role of PCNA-DNA contacts during clamp loading

Directory of Open Access Journals (Sweden)

Goedken Eric R

2010-01-01

Full Text Available Abstract Background Sliding clamps, such as Proliferating Cell Nuclear Antigen (PCNA in eukaryotes, are ring-shaped protein complexes that encircle DNA and enable highly processive DNA replication by serving as docking sites for DNA polymerases. In an ATP-dependent reaction, clamp loader complexes, such as the Replication Factor-C (RFC complex in eukaryotes, open the clamp and load it around primer-template DNA. Results We built a model of RFC bound to PCNA and DNA based on existing crystal structures of clamp loaders. This model suggests that DNA would enter the clamp at an angle during clamp loading, thereby interacting with positively charged residues in the center of PCNA. We show that simultaneous mutation of Lys 20, Lys 77, Arg 80, and Arg 149, which interact with DNA in the RFC-PCNA-DNA model, compromises the ability of yeast PCNA to stimulate the DNA-dependent ATPase activity of RFC when the DNA is long enough to extend through the clamp. Fluorescence anisotropy binding experiments show that the inability of the mutant clamp proteins to stimulate RFC ATPase activity is likely caused by reduction in the affinity of the RFC-PCNA complex for DNA. We obtained several crystal forms of yeast PCNA-DNA complexes, measuring X-ray diffraction data to 3.0 Å resolution for one such complex. The resulting electron density maps show that DNA is bound in a tilted orientation relative to PCNA, but makes different contacts than those implicated in clamp loading. Because of apparent partial disorder in the DNA, we restricted refinement of the DNA to a rigid body model. This result contrasts with previous analysis of a bacterial clamp bound to DNA, where the DNA was well resolved. Conclusion Mutational analysis of PCNA suggests that positively charged residues in the center of the clamp create a binding surface that makes contact with DNA. Disruption of this positive surface, which had not previously been implicated in clamp loading function, reduces RFC

Design and testing of a novel piezoelectric micro-motor actuated by asymmetrical inertial impact driving principle.

Science.gov (United States)

Zeng, Ping; Sun, Shujie; Li, Li'an; Xu, Feng; Cheng, Guangming

2014-03-01

In this paper, an asymmetrical inertial impact driving principle is first proposed, and accordingly a novel piezoelectrically actuated linear micro-motor is developed. It is driven by the inertial impact force generated by piezoelectric smart cantilever (PSC) with asymmetrical clamping locations during a driving cycle. When the PSC is excited by typical harmonic voltage signals, different equivalent stiffness will be induced due to its asymmetrical clamping locations when it is vibrating back and forth, leading to a tiny displacement difference on the two opposite directions in a cycle, and then the accumulation of tiny displacement difference will allow directional movements. A prototype of the proposed motor has been developed and investigated by means of experimental tests. The motion and dynamics characteristics of the prototype are well studied. The experimental results demonstrate that the resolution of the micro-motor is 0.02 μm, the maximum velocity is 16.87 mm/s, and the maximum loading capacity can reach up to 1 kg with a voltage of 100 V and 35 Hz.

File list: Oth.ALL.50.Clamp.AllCell [Chip-atlas[Archive

Lifescience Database Archive (English)

Full Text Available Oth.ALL.50.Clamp.AllCell dm3 TFs and others Clamp All cell types SRX159172,SRX15917...0,SRX159174,SRX159166,SRX159173 http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/assembled/Oth.ALL.50.Clamp.AllCell.bed ...

Analysis and experimental study on hydraulic balance characteristics in density lock

International Nuclear Information System (INIS)

Gu Haifeng; Yan Changqi; Sun Furong

2009-01-01

Through the simplified theoretical model, the hydraulic balance condition which should be met in the density lock is obtained, when reactor operates normally and density lock is closed. The main parameters influencing this condition are analyzed, and the results show that the hydraulic balance in the density lock is characterized with self-stability in a certain range. Meantime, a simulating experimental loop is built and experimental verification on the self-stability characteristic is done. Moreover, experimental study is done on the conditions of flow change of work fluids in the primary circuit in the process of stable operations. The experimental results show that the hydraulic balance in the density lock can recovered quickly, depending on the self-stability characteristic without influences on the sealing performance of density lock and normal operation of reactor, after the change of operation parameters breaks the hydraulic balance. (authors)

Optimization and performance characteristics of servo-piston hydraulic control rod drive mechanism

International Nuclear Information System (INIS)

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)

MEMS fluidic actuator

Science.gov (United States)

Kholwadwala, Deepesh K [Albuquerque, NM; Johnston, Gabriel A [Trophy Club, TX; Rohrer, Brandon R [Albuquerque, NM; Galambos, Paul C [Albuquerque, NM; Okandan, Murat [Albuquerque, NM

2007-07-24

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

Experimental and Simulation-Based Investigation of Polycentric Motion of an Inherent Compliant Pneumatic Bending Actuator with Skewed Rotary Elastic Chambers

Directory of Open Access Journals (Sweden)

André Wilkening

2017-01-01

Full Text Available To offer a functionality that could not be found in traditional rigid robots, compliant actuators are in development worldwide for a variety of applications and especially for human–robot interaction. Pneumatic bending actuators are a special kind of such actuators. Due to the absence of fixed mechanical axes and their soft behavior, these actuators generally possess a polycentric motion ability. This can be very useful to provide an implicit self-alignment to human joint axes in exoskeleton-like rehabilitation devices. As a possible realization, a novel bending actuator (BA was developed using patented pneumatic skewed rotary elastic chambers (sREC. To analyze the actuator self-alignment properties, knowledge about the motion of this bending actuator type, the so-called skewed rotary elastic chambers bending actuator (sRECBA, is of high interest and this paper presents experimental and simulation-based kinematic investigations. First, to describe actuator motion, the finite helical axes (FHA of basic actuator elements are determined using a three-dimensional (3D camera system. Afterwards, a simplified two-dimensional (2D kinematic simulation model based on a four-bar linkage was developed and the motion was compared to the experimental data by calculating the instantaneous center of rotation (ICR. The equivalent kinematic model of the sRECBA was realized using a series of four-bar linkages and the resulting ICR was analyzed in simulation. Finally, the FHA of the sRECBA were determined and analyzed for three different specific motions. The results show that the actuator’s FHA adapt to different motions performed and it can be assumed that implicit self-alignment to the polycentric motion of the human joint axis will be provided.

Soft, Rotating Pneumatic Actuator.

Science.gov (United States)

Ainla, Alar; Verma, Mohit S; Yang, Dian; Whitesides, George M

2017-09-01

This article describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle) and for locomotion that mimics a reptilian gait (by combining four actuators together).

Prediction of dry ice mass for firefighting robot actuation

Science.gov (United States)

Ajala, M. T.; Khan, Md R.; Shafie, A. A.; Salami, MJE; Mohamad Nor, M. I.

2017-11-01

The limitation in the performance of electric actuated firefighting robots in high-temperature fire environment has led to research on the alternative propulsion system for the mobility of firefighting robots in such environment. Capitalizing on the limitations of these electric actuators we suggested a gas-actuated propulsion system in our earlier study. The propulsion system is made up of a pneumatic motor as the actuator (for the robot) and carbon dioxide gas (self-generated from dry ice) as the power source. To satisfy the consumption requirement (9cfm) of the motor for efficient actuation of the robot in the fire environment, the volume of carbon dioxide gas, as well as the corresponding mass of the dry ice that will produce the required volume for powering and actuation of the robot, must be determined. This article, therefore, presents the computational analysis to predict the volumetric requirement and the dry ice mass sufficient to power a carbon dioxide gas propelled autonomous firefighting robot in a high-temperature environment. The governing equation of the sublimation of dry ice to carbon dioxide is established. An operating time of 2105.53s and operating pressure ranges from 137.9kPa to 482.65kPa were achieved following the consumption rate of the motor. Thus, 8.85m3 is computed as the volume requirement of the CAFFR while the corresponding dry ice mass for the CAFFR actuation ranges from 21.67kg to 75.83kg depending on the operating pressure.

Soft buckling actuators

Energy Technology Data Exchange (ETDEWEB)

Yang, Dian; Whitesides, George M.

2017-12-26

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

A novel in situ device based on a bionic piezoelectric actuator to study tensile and fatigue properties of bulk materials.

Science.gov (United States)

Wang, Shupeng; Zhang, Zhihui; Ren, Luquan; Zhao, Hongwei; Liang, Yunhong; Zhu, Bing

2014-06-01

In this work, a miniaturized device based on a bionic piezoelectric actuator was developed to investigate the static tensile and dynamic fatigue properties of bulk materials. The device mainly consists of a bionic stepping piezoelectric actuator based on wedge block clamping, a pair of grippers, and a set of precise signal test system. Tensile and fatigue examinations share a set of driving system and a set of signal test system. In situ tensile and fatigue examinations under scanning electron microscope or metallographic microscope could be carried out due to the miniaturized dimensions of the device. The structure and working principle of the device were discussed and the effects of output difference between two piezoelectric stacks on the device were theoretically analyzed. The tensile and fatigue examinations on ordinary copper were carried out using this device and its feasibility was verified through the comparison tests with a commercial tensile examination instrument.

Modeling of SVM Diode Clamping Three-Level Inverter Connected to Grid

DEFF Research Database (Denmark)

Guo, Yougui; Zeng, Ping; Zhu, Jieqiong

2011-01-01

PLECS is used to model the diode clamping three-level inverter connected to grid and good results are obtained. First the output voltage SVM is described for diode clamping three-level inverter with loads connected to Y. Then the output voltage SVM of diode clamping three-level inverter is simply...... analyzed with loads connected to △. But it will be further researched in the future. Third, PLECS is briefly introduced. Fourth, the modeling of diode clamping three-level inverter is briefly presented with PLECS. Finally, a series of simulations are carried out. The simulation results tell us PLECS...... is very powerful tool to real power circuits and it is very easy to simulate them. They have also verified that SVM control strategy is feasible to control the diode clamping three-level inverter....

Flow characterization and patch clamp dose responses using jet microfluidics in a tubeless microfluidic device.

Science.gov (United States)

Resto, Pedro J; Bhat, Abhishek; Stava, Eric; Lor, Chong; Merriam, Elliot; Diaz-Rivera, Ruben E; Pearce, Robert; Blick, Robert; Williams, Justin C

2017-11-01

Surface tension passive pumping is a way to actuate flow without the need for pumps, tubing or valves by using the pressure inside small drop to move liquid via a microfluidic channel. These types of tubeless devices have typically been used in cell biology. Herein we present the use of tubeless devices as a fluid exchange platform for patch clamp electrophysiology. Inertia from high-speed droplets and jets is used to create flow and perform on-the-fly mixing of solutions. These are then flowed over GABA transfected HEK cells under patch in order to perform a dose response analysis. TIRF imaging and electrical recordings are used to study the fluid exchange properties of the microfluidic device, resulting in 0-90% fluid exchange times of hundreds of milliseconds. COMSOL is used to model flow and fluid exchange within the device. Patch-clamping experiments show the ability to use high-speed passive pumping and its derivatives for studying peak dose responses, but not for studying ion channel kinetics. Our system results in fluid exchange times slower than when using a standard 12-barrel application system and is not as stable as traditional methods, but it offers a new platform with added functionality. Surface tension passive pumping and tubeless devices can be used in a limited fashion for electrophysiology. Users may obtain peak dose responses but the system, in its current form, is not capable of fluid exchange fast enough to study the kinetics of most ion channels. Copyright © 2017 Elsevier B.V. All rights reserved.

Molecular-channel driven actuator with considerations for multiple configurations and color switching.

Science.gov (United States)

Mu, Jiuke; Wang, Gang; Yan, Hongping; Li, Huayu; Wang, Xuemin; Gao, Enlai; Hou, Chengyi; Pham, Anh Thi Cam; Wu, Lianjun; Zhang, Qinghong; Li, Yaogang; Xu, Zhiping; Guo, Yang; Reichmanis, Elsa; Wang, Hongzhi; Zhu, Meifang

2018-02-09

The ability to achieve simultaneous intrinsic deformation with fast response in commercially available materials that can safely contact skin continues to be an unresolved challenge for artificial actuating materials. Rather than using a microporous structure, here we show an ambient-driven actuator that takes advantage of inherent nanoscale molecular channels within a commercial perfluorosulfonic acid ionomer (PFSA) film, fabricated by simple solution processing to realize a rapid response, self-adaptive, and exceptionally stable actuation. Selective patterning of PFSA films on an inert soft substrate (polyethylene terephthalate film) facilitates the formation of a range of different geometries, including a 2D (two-dimensional) roll or 3D (three-dimensional) helical structure in response to vapor stimuli. Chemical modification of the surface allowed the development of a kirigami-inspired single-layer actuator for personal humidity and heat management through macroscale geometric design features, to afford a bilayer stimuli-responsive actuator with multicolor switching capability.

Control of spool position of on/off solenoid operated hydraulic valve by sliding-mode controller

Energy Technology Data Exchange (ETDEWEB)

Lee, Jae Hak; Hong, Hyun Wook; Park, Myeong Kwan [Pusan National University, Busan (Korea, Republic of); Yun, Young Won [KHPS, Busan (Korea, Republic of)

2015-11-15

The use of on/off solenoid operated hydraulic valves instead of proportional valves has been attracting the interest of many researchers and engineers. However, there exist difficulties in controlling the on/off valve because of highly nonlinear characteristics including hysteresis and saturation. This paper considers the application of on/off solenoid operated hydraulic valves to control position of a hydraulic cylinder with the aim of evaluating, feasibility and practicability of their implementation and understanding the potential benefits when they are used in existing hydraulic systems. Assuming that only the current is measured, a sliding mode observer is designed to estimate the spool position and velocity. To alleviate the aforementioned difficulties in controlling the spool position, a nonlinear observer-based controller of an on/off solenoid valve is designed, taking into account the estimated values, based on a nonlinear model including hysteresis and saturation. The control objective is to track a desired spool trajectory. Simulation and experimental results illustrate the efficiency of the designed controller. The proposed controller is validated again in a single-rod hydraulic actuator. Experimental results show that the fluid flow through the valve orifice by controlling the spool position was successfully controlled.

Crystal structure of DNA polymerase III β sliding clamp from Mycobacterium tuberculosis.

Science.gov (United States)

Gui, Wen-Jun; Lin, Shi-Qiang; Chen, Yuan-Yuan; Zhang, Xian-En; Bi, Li-Jun; Jiang, Tao

2011-02-11

The sliding clamp is a key component of DNA polymerase III (Pol III) required for genome replication. It is known to function with diverse DNA repair proteins and cell cycle-control proteins, making it a potential drug target. To extend our understanding of the structure/function relationship of the sliding clamp, we solved the crystal structure of the sliding clamp from Mycobacterium tuberculosis (M. tuberculosis), a human pathogen that causes most cases of tuberculosis (TB). The sliding clamp from M. tuberculosis forms a ring-shaped head-to-tail dimer with three domains per subunit. Each domain contains two α helices in the inner ring that lie against two β sheets in the outer ring. Previous studies have indicated that many Escherichia coli clamp-binding proteins have a conserved LF sequence, which is critical for binding to the hydrophobic region of the sliding clamp. Here, we analyzed the binding affinities of the M. tuberculosis sliding clamp and peptides derived from the α and δ subunits of Pol III, which indicated that the LF motif also plays an important role in the binding of the α and δ subunits to the sliding clamp of M. tuberculosis. Copyright © 2011 Elsevier Inc. All rights reserved.

Tuning permanent magnets with adjustable field clamps

International Nuclear Information System (INIS)

Schermer, R.I.

1987-01-01

The effective length of a permanent-magnet assembly can be varied by adjusting the geometrical parameters of a field clamp. This paper presents measurements on a representative dipole and quadrupole as the field clamp is withdrawn axially or radially. The detailed behavior depends upon the magnet multipolarity and geometry. As a rule-of-thumb, a 3-mm-thick iron plate placed at one end plane of the magnet will shorten the length by one-third of the magnet bore radius

Analysis and Experiments on Sea Load and Fastened Mechanics on Pipe Clamps

Directory of Open Access Journals (Sweden)

Wang Zhuo

2017-08-01

Full Text Available When an offshore oil field completed and put into production, new subsea pipelines and the new cable need to be established. Cable protection pipe clamp is used to fix cable protection pipe on the jacket. In order to avoid the problem of traditional steel structure clamp splice, counterpoint, fastening difficulty when installed cable protection pipe under water, reduce the risk and workload of under water, This paper develop a new type of portable connecting riser clamp -“backpack clamp” which solve the riser cable protection pipe difficult underwater installation problem. The main structure of backpack clamp used three valves type structure. The load characteristic of a clamping device was determined by the Morison equation which was a classical theory. Clamp device underwater mechanics analysis model was established. The minimum tension pre-tightening force was determined. The results show that the strength of the base meets the requirements after strength analysis with finite element analysis method, stability and strength experiments, which means the clamp based on resin matrix composite is feasible.

Fabrication of a New Electrostatic Linear Actuator

Science.gov (United States)

Matsunaga, Takashi; Kondoh, Kazuya; Kumagae, Michihiro; Kawata, Hiroaki; Yasuda, Masaaki; Murata, Kenji; Yoshitake, Masaaki

2000-12-01

We propose a new electrostatic linear actuator with a large stroke and a new process for fabricating the actuator. A moving slider with many teeth on both sides is suspended above lower electrodes on a substrate by two bearings. A photoresist is used as a sacrificial layer. Both the slider and the bearings are fabricated by Ni electroplating. The bearings are fabricated by the self-alignment technique. Bearings with 0.6 μm clearance can be easily fabricated. All processes are performed at low temperatures up to 110°C. It is confirmed that the slider can be moved mechanically, and also can be moved by about 10 μm when a voltage pulse of 50 V is applied between the slider and the lower electrodes when the slider is upside down. However, the slider cannot move continuously because of friction. We also calculate the electrostatic force acting on one slider tooth. The simulation result shows that the reduction of the electrostatic force to the vertical direction is very important for mechanical movement of the actuator.

Active energy recovery clamping circuit to improve the performance of power converters

Science.gov (United States)

Whitaker, Bret; Barkley, Adam

2017-05-09

A regenerative clamping circuit for a power converter using clamping diodes to transfer charge to a clamping capacitor and a regenerative converter to transfer charge out of the clamping capacitor back to the power supply input connection. The regenerative converter uses a switch connected to the midpoint of a series connected inductor and capacitor. The ends of the inductor and capacitor series are connected across the terminals of the power supply to be in parallel with the power supply.

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

1999-05-15

Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

File list: Oth.CeL.50.Clamp.AllCell [Chip-atlas[Archive

Lifescience Database Archive (English)

Full Text Available Oth.CeL.50.Clamp.AllCell dm3 TFs and others Clamp Cell line SRX159172,SRX159170,SRX...159174,SRX159166,SRX159173 http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/assembled/Oth.CeL.50.Clamp.AllCell.bed ...

File list: Oth.CeL.05.Clamp.AllCell [Chip-atlas[Archive

Lifescience Database Archive (English)

Full Text Available Oth.CeL.05.Clamp.AllCell dm3 TFs and others Clamp Cell line SRX159172,SRX159170,SRX...159174,SRX159166,SRX159173 http://dbarchive.biosciencedbc.jp/kyushu-u/dm3/assembled/Oth.CeL.05.Clamp.AllCell.bed ...

[Analysis of brain hemometabolism behavior during carotid endarterectomy with temporary clamping.].

Science.gov (United States)

Duval Neto, Gastão Fernandes; Niencheski, Augusto H

2004-04-01

Carotid endarterectomy with temporary clamping changes cerebral blood flow and cerebral metabolic oxygen demand ratio with consequent oligemic hypoxia or hemometabolic uncoupling. This study aimed at identifying changes in brain hemometabolism, evaluated through changes in oxyhemoglobin saturation in internal jugular vein bulb (SvjO2) during carotid endarterectomy with clamping, and at correlating these changes with potentially interfering factors, mainly end tidal CO2 pressure (P ET CO2) and cerebral perfusion pressure (CPP). Sixteen patients with unilateral carotid stenotic disease scheduled to carotid endarterectomy with carotid arterial clamping were enrolled in this study. Parameters including internal jugular bulb oxyhemoglobin saturation, stump pressure and end tidal CO2 pressure were measured at the following moments: M1 - pre-clamping; M2 - 3 minutes after clamping; M3 - pre-unclamping; M4 - post-unclamping). The comparison among SvjO2 (%, mean +/- SD) in all studied periods has shown differences between those recorded in moments M1 (52.25 +/- 7.87) and M2 (47.43 +/- 9.19). This initial decrease stabilized during temporary clamping, showing decrease in the comparison between M2 and M3 (46.56 +/- 9.25), without statistical significance (p = ns). At post-unclamping, M4 (47.68 +/- 9.12), SvjO2 was increased as compared to M2 and M3 clamping stages, however it was still lower than that of pre-clamping stage M1.(M4 x M1 - p brain hemometabolic uncoupling trend were correlated to P ET CO2. The comparison between CPP and SvjO2 showed weak correlation devoid of statistical significance. In the conditions of our study, SvjO2 measurement is a fast and effective way of clinically monitoring changes in CBF/CMRO2 ratio. Temporary carotid clamping implies in a trend towards brain hemometabolic uncoupling and, as a consequence, to oligemic ischemia; cerebral perfusion pressure does not assesses brain hemometabolic status (CBF and CMRO2 ratio); hypocapnia, may lead to

High-pressure microhydraulic actuator

Science.gov (United States)

Mosier, Bruce P [San Francisco, CA; Crocker, Robert W [Fremont, CA; Patel, Kamlesh D [Dublin, CA

2008-06-10

Electrokinetic ("EK") pumps convert electric to mechanical work when an electric field exerts a body force on ions in the Debye layer of a fluid in a packed bed, which then viscously drags the fluid. Porous silica and polymer monoliths (2.5-mm O.D., and 6-mm to 10-mm length) having a narrow pore size distribution have been developed that are capable of large pressure gradients (250-500 psi/mm) when large electric fields (1000-1500 V/cm) are applied. Flowrates up to 200 .mu.L/min and delivery pressures up to 1200 psi have been demonstrated. Forces up to 5 lb-force at 0.5 mm/s (12 mW) have been demonstrated with a battery-powered DC-DC converter. Hydraulic power of 17 mW (900 psi@ 180 uL/min) has been demonstrated with wall-powered high voltage supplies. The force and stroke delivered by an actuator utilizing an EK pump are shown to exceed the output of solenoids, stepper motors, and DC motors of similar size, despite the low thermodynamic efficiency.

Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control

NARCIS (Netherlands)

Wey, T.; Lemmen, M.; Bernzen, W.; Wey, T.

1999-01-01

This paper deals with an application of the differential algebraic flatness approach to hydraulic drives. Here, an elastic robot arm driven by a differential cylinder is investigated. The task is to design a suitable control law which not only tracks a given trajectory but also allows the damping of

Wireless Displacement Sensing of Micromachined Spiral-Coil Actuator Using Resonant Frequency Tracking

Directory of Open Access Journals (Sweden)

Mohamed Sultan Mohamed Ali

2014-07-01

Full Text Available This paper reports a method that enables real-time displacement monitoring and control of micromachined resonant-type actuators using wireless radiofrequency (RF. The method is applied to an out-of-plane, spiral-coil microactuator based on shape-memory-alloy (SMA. The SMA spiral coil forms an inductor-capacitor resonant circuit that is excited using external RF magnetic fields to thermally actuate the coil. The actuation causes a shift in the circuit’s resonance as the coil is displaced vertically, which is wirelessly monitored through an external antenna to track the displacements. Controlled actuation and displacement monitoring using the developed method is demonstrated with the microfabricated device. The device exhibits a frequency sensitivity to displacement of 10 kHz/µm or more for a full out-of-plane travel range of 466 µm and an average actuation velocity of up to 155 µm/s. The method described permits the actuator to have a self-sensing function that is passively operated, thereby eliminating the need for separate sensors and batteries on the device, thus realizing precise control while attaining a high level of miniaturization in the device.

Characterization of kink actuators as compared to traditional chevron shaped Bent-Beam electrothermal actuators

KAUST Repository

Rawashdeh, E.; Karam, A.; Foulds, Ian G.

2012-01-01

This paper compares the design and performance of kink actuators, a modified version of the bent-beam thermal actuator, to the standard chevron-shaped designs. A variety of kink and chevron actuator designs were fabricated from polysilicon. While the actuators were electrically probed, these designs were tested using a probe station connected to a National Instruments (NI) controller that uses LabVIEW to extract the displacement results via image processing. The displacement results were then used to validate the thermal-electric-structural simulations produced by COMSOL. These results, in turn, were used to extract the stiffness for both actuator types. The data extracted show that chevron actuators can have larger stiffness values with increasing offsets, but at the cost of lower amplification factors. In contrast, kink actuators showed a constant stiffness value equivalent to the chevron actuator with the highest amplification factor. The kink actuator also had larger amplification factors than chevrons at all designs tested. Therefore, kink actuators are capable of longer throws at lower power levels than the standard chevron designs.

Characterization of kink actuators as compared to traditional chevron shaped Bent-Beam electrothermal actuators

KAUST Repository

Rawashdeh, E.

2012-07-06

This paper compares the design and performance of kink actuators, a modified version of the bent-beam thermal actuator, to the standard chevron-shaped designs. A variety of kink and chevron actuator designs were fabricated from polysilicon. While the actuators were electrically probed, these designs were tested using a probe station connected to a National Instruments (NI) controller that uses LabVIEW to extract the displacement results via image processing. The displacement results were then used to validate the thermal-electric-structural simulations produced by COMSOL. These results, in turn, were used to extract the stiffness for both actuator types. The data extracted show that chevron actuators can have larger stiffness values with increasing offsets, but at the cost of lower amplification factors. In contrast, kink actuators showed a constant stiffness value equivalent to the chevron actuator with the highest amplification factor. The kink actuator also had larger amplification factors than chevrons at all designs tested. Therefore, kink actuators are capable of longer throws at lower power levels than the standard chevron designs.

Grinding efficiency improvement of hydraulic cylinders parts for mining equipment

Directory of Open Access Journals (Sweden)

Korotkov Aleksandr

2017-01-01

Full Text Available The aim of the article is to find out ways to improve parts treatment and components of mining equipment on the example of hydraulic cylinders parts, used as pillars for mine roof supports, and other actuator mechanisms. In the course of the research work methods of machine retaining devices design were used, the scientific approaches for the selection of progressive grinding schemes were applied; theoretical and practical experience in the design and production of new constructions of grinding tools was used. As a result of this work it became possible to create a progressive construction of a machine retaining device for grinding of large parts of hydraulic cylinders, to apply an effective scheme of rotary abrasive treatment, to create and implement new design of grinding tools by means of grains with controllable shape and orientation. Implementation of the results obtained in practice will improve the quality and performance of repairing and manufacturing of mining equipment.

Computer Simulation Model to Train Medical Personnel on Glucose Clamp Procedures.

Science.gov (United States)

Maghoul, Pooya; Boulet, Benoit; Tardif, Annie; Haidar, Ahmad

2017-10-01

A glucose clamp procedure is the most reliable way to quantify insulin pharmacokinetics and pharmacodynamics, but skilled and trained research personnel are required to frequently adjust the glucose infusion rate. A computer environment that simulates glucose clamp experiments can be used for efficient personnel training and development and testing of algorithms for automated glucose clamps. We built 17 virtual healthy subjects (mean age, 25±6 years; mean body mass index, 22.2±3 kg/m 2 ), each comprising a mathematical model of glucose regulation and a unique set of parameters. Each virtual subject simulates plasma glucose and insulin concentrations in response to intravenous insulin and glucose infusions. Each virtual subject provides a unique response, and its parameters were estimated from combined intravenous glucose tolerance test-hyperinsulinemic-euglycemic clamp data using the Bayesian approach. The virtual subjects were validated by comparing their simulated predictions against data from 12 healthy individuals who underwent a hyperglycemic glucose clamp procedure. Plasma glucose and insulin concentrations were predicted by the virtual subjects in response to glucose infusions determined by a trained research staff performing a simulated hyperglycemic clamp experiment. The total amount of glucose infusion was indifferent between the simulated and the real subjects (85±18 g vs. 83±23 g; p=NS) as well as plasma insulin levels (63±20 mU/L vs. 58±16 mU/L; p=NS). The virtual subjects can reliably predict glucose needs and plasma insulin profiles during hyperglycemic glucose clamp conditions. These virtual subjects can be used to train personnel to make glucose infusion adjustments during clamp experiments. Copyright © 2017 Diabetes Canada. Published by Elsevier Inc. All rights reserved.

Structural consideration for hot and cold pipe clamps in LMFBR applications

International Nuclear Information System (INIS)

Anderson, M.J.; Huang, S.N.; Kappauf, H.; Wagner, S.E.; Wirtz, K.H.

1983-01-01

A series of analytical studies are described which evaluate stress levels induced in a 600 mm high temperature, thin-wall sodium pipeline by two alternate clamp designs. The first design consists of a band mounted directly on the pipe and is called the hot clamp. The second design consists of a band mounted using insulation standoffs and is called the cold clamp. Pipe stress levels induced by transient thermal dead weight and seismic loads are discussed. Pipe stress levels and system dynamic spring rates are presented. Procedures utilized to combine clamp induced pipe stress with other short and long term pipe system stresses are detailed. Recommendations for practical application in LMFBR pipe systems are made

Structural considerations for hot and cold pipe clamps in LMFBR applications

International Nuclear Information System (INIS)

Anderson, M.J.; Huang, S.N.; Wagner, S.E.; Kappauf, H.; Wirtz, K.H.

1983-01-01

A series of analytical studies are described which evaluate stress levels induced in a 600 mm high temperature, thin-wall sodium pipeline by two alternate clamp designs. The first design consists of a band mounted directly on the pipe and is called the hot clamp. The second design consists of a band mounted using insulation standoffs and is called the cold clamp. Pipe stress levels induced by transient thermal dead weight and seismic loads are discussed. Pipe stress levels and system dynamic spring rates are presented. Procedures utilized to combine clamp induced pipe stress with other short and long term pipe system stresses are detailed. Recommendations for practical application in LMFBR pipe systems are made

Investigation of the Dynamics of a Clamped-Clamped Microbeam Near the Third Mode Using a Partial Electrode

KAUST Repository

Masri, Karim M.

2014-08-17

We present an investigation of the dynamics of a clamped-clamped microbeam excited electrostatically near its third mode. To maximize the response at the third mode, a partial electrode configuration is utilized. A multi-mode Galerkin method is used to develop a reduced order model (ROM) of the beam. A shooting method to find the periodic motion is utilized to generate frequency response curves. The curves show hardenining behavior and dynamic pull-in. We show that the dynamic amplitude of the partial configuration is higher than that of a full electrode configuration. These results are promising for the use of higher-order modes for mass detection and for ultra sensitive resonant sensors.

Investigation of the Dynamics of a Clamped-Clamped Microbeam Near the Third Mode Using a Partial Electrode

KAUST Repository

Masri, Karim M.; Younis, Mohammad I.

2014-01-01

We present an investigation of the dynamics of a clamped-clamped microbeam excited electrostatically near its third mode. To maximize the response at the third mode, a partial electrode configuration is utilized. A multi-mode Galerkin method is used to develop a reduced order model (ROM) of the beam. A shooting method to find the periodic motion is utilized to generate frequency response curves. The curves show hardenining behavior and dynamic pull-in. We show that the dynamic amplitude of the partial configuration is higher than that of a full electrode configuration. These results are promising for the use of higher-order modes for mass detection and for ultra sensitive resonant sensors.

Nanoscale Assembly of Actuating Cilia-Mimetic

Science.gov (United States)

Baird, Lance; Breidenich, Jennifer; Land, Bruce; Hayes, Allen; Benkoski, Jason; Keng, Pei; Pyun, Jeffrey

2009-03-01

The cilium is among the smallest mechanical actuators found in nature. We have taken inspiration from this design to create magnetic nanochains, measuring approximately 1-5 μm long and 25 nm in diameter. Fabricated from the self-assembly of cobalt nanoparticles, these flexible filaments actuate in an oscillating magnetic field. The cobalt nanoparticles were functionalized with a polystyrene/benzaldehyde surface coating, thus allowing the particles to form imine bonds with one another in the presence of a diamine terminated polyethylene glycol. These imine bonds effectively cross-linked the particles and held the nanochains together in the absence of a magnetic field. Using design of experiments (DOE) to efficiently screen the effects of cobalt nanoparticle concentration, crosslinker concentration, and surface chemistry, we determined that the morphology of the final structures could be explained primarily by physical interactions (i.e. magnetic forces) rather than chemistry.

Synthesis of Servo Pneumatic/Hydraulic Drive

Directory of Open Access Journals (Sweden)

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

An Electrically Actuated Microbeam-Based MEMS Device: Experimental and Theoretical Investigation

KAUST Repository

Ruzziconi, Laura

2017-11-03

The present paper deals with the dynamic behavior of a microelectromechanical systems (MEMS). The device consists of a clamped-clamped microbeam electrostatically and electrodynamically actuated. Our objective is to develop a theoretical analysis, which is able to describe and predict all the main relevant aspects of the experimental response. In the first part of the paper an extensive experimental investigation is conducted. The microbeam is perfectly straight. The first three experimental natural frequencies are identified and the nonlinear dynamics are explored at increasing values of electrodynamic excitation. Several backward and forward frequency sweeps are acquired. The nonlinear behavior is highlighted. The experimental data show the coexistence of the nonresonant and the resonant branch, which perform a bending toward higher frequencies values before undergoing jump or pull-in dynamics. This kind of bending is not particularly common in MEMS. In the second part of the paper, a theoretical single degree-of-freedom model is derived. The unknown parameters are extracted and settled via parametric identification. A single mode reduced-order model is considered, which is obtained via the Galerkin technique. To enhance the computational efficiency, the contribution of the electric force term is computed in advance and stored in a table. Extensive numerical simulations are performed at increasing values of electrodynamic excitation. They are observed to properly predict all the main nonlinear features arising in the device response. This occurs not only at low values of electrodynamic excitation, but also at higher ones

Safety of 5 MW district heating reactor (DHR) and hydraulic dynamic pressure drive control rods

International Nuclear Information System (INIS)

Wu Yuanqiang; Wang Dazhong

1991-11-01

The principles and movement characteristic of the hydraulic dynamic pressure drive for control rods in 5 MW district heating reactor are described with stress on analysis of its effects on reactor safety features. The drive is different from electric-magnetic drive for PWR or hydraulic drive for BWR. The drive cylinder is driven by dynamic pressure. In the new drive system, the reactor coolant (water) used as actuating medium is pressed by pump, then injected into a step cylinder which is set in the reactor core. The cylinder will move step by step by controlling flow, then the cylinder drives the neutron absorber and controls nuclear reaction. The drive is characterized by simplicity in structure, high reliability, inherent safety, reduction in reactor height, economy, etc

Scientific Research Program for Power, Energy, and Thermal Technologies. Task Order 0001: Energy, Power, and Thermal Technologies and Processes Experimental Research. Subtask: Thermal Management of Electromechanical Actuation System for Aircraft Primary Flight Control Surfaces

Science.gov (United States)

2014-05-01

Computer FHPCP Flexible Heat Pipe Cold Plate HPEAS High Performance Electric Actuation System HPU Hydraulic Power Unit HSM Hydraulic Service...provide improved thermal paths and phase change materials offer energy storage. Loop heat pipes (LHP’s) and Flexible Heat Pipe Cold Plates (FHPCP’s...flows upward due to density difference through centrally located vapor channels called risers and then condenses on the colder surface associated

COMPARISON OF EARLY AND DELAYED UMBILICAL CORD CLAMPING IN THE THIRD STAGE OF LABOUR

Directory of Open Access Journals (Sweden)

Tamara Serdinšek

2015-09-01

Full Text Available Background: Umbilical cord clamping in the third stage of labour is still controversial. Early cord clamping is defined as clamping at 10, 15, 30 or 60 seconds after delivery and delayed as clamping after 60 seconds or at 2-5 minutes after delivery, when the cord stops pulsating or when the placenta is visible within the birth canal. Early clamping is one of the three components of active management of the third stage of labour, which has been used widely in modern obstetrics during the last century. However, in some northern European countries, various parts of the USA and Canada and in developing countries physiological management is preferred.Conclusions: After publication of several trials describing advantages of delayed clamping, this has recently been progressively replacing early clamping. The most important advantages of delayed cord clamping are higher haemoglobin and ferritin levels, higher iron stores, lower incidence of iron deficiency anaemia, better cardiopulmonary adaptation, lower rate of respiratory distress syndrome, and longer duration of early breastfeeding in term neonates, while there is no increase in the incidence of postpartum haemorrhage. Delayed clamping seems to bring some advantages for preterm neonates as well. However, caution is still advised because of the potential adverse effects, especially polycythaemia with hyperviscosity, hyperbilirubinaemia and respiratory distress.

Different methods of hilar clamping during partial nephrectomy: Impact on renal function.

Science.gov (United States)

Lee, Jeong Woo; Kim, Hwanik; Choo, Minsoo; Park, Yong Hyun; Ku, Ja Hyeon; Kim, Hyeon Hoe; Kwak, Cheol

2014-03-01

To evaluate the impact of different hilar clamping methods on changes in renal function after partial nephrectomy. We analyzed the clinical data of 369 patients who underwent partial nephrectomy for a single renal tumor of size ≤4.0 cm and a normal contralateral kidney. Patients were separated into three groups depending on hilar clamping method: non-clamping, cold ischemia and warm ischemia. Estimated glomerular filtration rate was examined at preoperative, nadir and 1 year postoperatively. Percent change in estimated glomerular filtration rate was used as the parameter to assess the renal functional outcome. Percent change in nadir estimated glomerular filtration rate in the non-clamping group was significantly less compared with the cold ischemia and warm ischemia groups (P hilar clamping (both warm ischemia and cold ischemia) were significantly associated with percent change in nadir estimated glomerular filtration rate, but not in 1-year estimated glomerular filtration rate. Non-clamping partial nephrectomy results in a lower percent change in nadir estimated glomerular filtration rate, whereas it carries an estimated glomerular filtration rate change at 1 year that is similar to partial nephrectomy with cold ischemia and warm ischemia. Cold ischemia and warm ischemia provide a similar effect on renal function. Therefore, when hilar clamping is required, minimization of ischemia time is necessary. © 2013 The Japanese Urological Association.

Recent performance experience with US light water reactor self-actuating safety and relief valves

Energy Technology Data Exchange (ETDEWEB)

Hammer, C.G.

1996-12-01

Over the past several years, there have been a number of operating reactor events involving performance of primary and secondary safety and relief valves in U.S. Light Water Reactors. There are several different types of safety and relief valves installed for overpressure protection of various safety systems throughout a typical nuclear power plant. The following discussion is limited to those valves in the reactor coolant systems (RCS) and main steam systems of pressurized water reactors (PWR) and in the RCS of boiling water reactors (BWR), all of which are self-actuating having a setpoint controlled by a spring-loaded disk acting against system fluid pressure. The following discussion relates some of the significant recent experience involving operating reactor events or various testing data. Some of the more unusual and interesting operating events or test data involving some of these designs are included, in addition to some involving a number of similar events and those which have generic applicability.

Fast electrochemical actuator

International Nuclear Information System (INIS)

Uvarov, I V; Postnikov, A V; Svetovoy, V B

2016-01-01

Lack of fast and strong microactuators is a well-recognized problem in MEMS community. Electrochemical actuators can develop high pressure but they are notoriously slow. Water electrolysis produced by short voltage pulses of alternating polarity can overcome the problem of slow gas termination. Here we demonstrate an actuation regime, for which the gas pressure is relaxed just for 10 μs or so. The actuator consists of a microchamber filled with the electrolyte and covered with a flexible membrane. The membrane bends outward when the pressure in the chamber increases. Fast termination of gas and high pressure developed in the chamber are related to a high density of nanobubbles in the chamber. The physical processes happening in the chamber are discussed so as problems that have to be resolved for practical applications of this actuation regime. The actuator can be used as a driving engine for microfluidics. (paper)

Electro-actuation characteristics of Cl2 and SF6 plasma-treated IPMC actuators

International Nuclear Information System (INIS)

Saher, Saim; Kim, Woojin; Moon, Sungwon; Jin Kim, H; Kim, Yong Hyup

2010-01-01

This paper describes plasma treatments that improve the actuation properties by modifying the surface morphology of ionic polymer metal composites (IPMC). The proposed Cl 2 and SF 6 plasmas change the surface appearance of the electroactive polymer, and scanning electron microscopy (SEM) of the plasma-treated surfaces reveals the development of round and cone-shaped microstructures. After electroless chemical metal plating, these microstructures significantly alter the characteristics of the IPMC electrode. In plasma-treated IPMCs, the densely packed platinum nanoparticles have produced a relatively thick electrode layer. This configuration has led to the improvement in the electrical properties of the IPMC: surface resistance is noticeably decreased, whereas electrical capacitance is increased. These changes in the electrical properties have considerably enhanced the actuation parameters: displacement, force and operational life are increased by more than three times relative to the conventional IPMC. Our experimental data suggest a relationship between the IPMC actuator's electrical properties and actuation parameters: actuators with lower surface resistance generate large deflection and actuators with higher capacitance generate large actuation force. The actuation tests including coin lifting suggests the potential of the modified IPMC for artificial muscle applications

Self-Learning Variable Structure Control for a Class of Sensor-Actuator Systems

Science.gov (United States)

Chen, Sanfeng; Li, Shuai; Liu, Bo; Lou, Yuesheng; Liang, Yongsheng

2012-01-01

Variable structure strategy is widely used for the control of sensor-actuator systems modeled by Euler-Lagrange equations. However, accurate knowledge on the model structure and model parameters are often required for the control design. In this paper, we consider model-free variable structure control of a class of sensor-actuator systems, where only the online input and output of the system are available while the mathematic model of the system is unknown. The problem is formulated from an optimal control perspective and the implicit form of the control law are analytically obtained by using the principle of optimality. The control law and the optimal cost function are explicitly solved iteratively. Simulations demonstrate the effectiveness and the efficiency of the proposed method. PMID:22778633

Highly Adaptive Primary Mirror Having Embedded Actuators, Sensors, and Neural Control, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Xinetics has demonstrated the technology required to fabricate a self-compensating highly adaptive silicon carbide primary mirror system having embedded actuators,...

Digital Actuator Technology

Energy Technology Data Exchange (ETDEWEB)

Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

2014-09-01

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

An experimental and theoretical investigation of the mechanical behavior of multilayer initially curved microplates under electrostatic actuation

KAUST Repository

Saghir, Shahid

2017-04-07

We investigate the static and dynamic behavior of a multilayer clamped-free-clamped-free (CFCF) microplate, which is made of polyimide, gold, chromium, and nickel. The microplate is slightly curved away from a stationary electrode and is electrostatically actuated. The free and forced vibrations of the microplate are examined. First, we experimentally investigate the variation of the first natural frequency under the electrostatic DC load. Then, the forced dynamic behavior is investigated by applying a harmonic AC voltage superimposed to a DC voltage. Results are shown demonstrating the transition of the dynamic response of the microplate from hardening to softening as the DC voltage is changed as well the dynamic pull-in phenomenon. For theoretical model, we adopt a dynamic analog of the von-Karman governing equations accounting for initial curvature imperfection. These equations are then used to develop a reduced order model based on the Galerkin procedure to simulate the mechanical behavior of the microplate. We compare the theoretical results with experimental data and show excellent agreement among the results. We also examine the effect of the initial rise on the natural frequencies of first three symmetric-symmetric modes of the plate.

Making an Adjustable C-Clamp. Kit No. 603. Instructor's Manual [and] Student Learning Activity Manual. [Revised.] T & I--Metalwork.

Science.gov (United States)

White, Jim; Alexander, Larry

This student activity kit consists of a programmed, self-instructional learning guide and an accompanying instructor's manual for use in teaching trade and industrial education students how to make an adjustable C-clamp. The student guide contains step-by-step instructions in the following areas: basic layout principles; use of a hack saw, file,…

Cylindrical Piezoelectric Fiber Composite Actuators

Science.gov (United States)

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

2008-01-01

The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.

Actuators for smart applications

NARCIS (Netherlands)

Paternoster, Alexandre; de Boer, Andries; Loendersloot, Richard; Akkerman, Remko; D. Brei,; M. Frecker,

2010-01-01

Actuator manufacturers are developing promising technologies which meet high requirements in performance, weight and power consumption. Conventionally, actuators are characterized by their displacement and load performance. This hides the dynamic aspects of those actuation solutions. Work per weight

The Investigation of the Corrosion Resistance of the Tension Clamps Skl14

Directory of Open Access Journals (Sweden)

Marek Pětioký

2015-05-01

Full Text Available At the level crossings it is possible to find the problems with the corrosion of the parts of the fastening system. These problems are especially at the rubber level crossings and in the tunnels. As a part of the thesis the problem of the corrosion of the tension clamp Skl14 of the producer Vossloh at the rubber level crossings is examined. For the purposes of the comparison the tension clamps without the corrosion protection and the tension clamps with the corrosion protection KTL were examined. As a first step the corrosion features of the tension clamps Skl14 were solved. The examination was divided into two parts. First part it was the examination according to ČSN EN ISO 9227. The samples of the tension clamps were putted into the corrosion chamber. After 1728 h the results of the corrosion impacts were not satisfied. It was decided for the second step of the examination. It was the immersion in an electrolyte solution. As a result of the paper the corrosion features of the tension clamps without the corrosion protection and with the corrosion protection are compared.

Remotely operated closure device for a pipeline with a fixed pipeline flange. Fernbedient betaetigbare Verschlussvorrichtung fuer eine Rohrleitung mit ortsfestem Rohrleitungsflansch

Energy Technology Data Exchange (ETDEWEB)

Westendorf, H.

1987-01-29

The remotely operated closure is set by suspension centring on the circumference of a blank flange on the fixed pipeline flange to be closed. By operating a central actuating mechanism at the closure, the clamping levers are adjusted so that the blank flange is clamped to the pipeline flange and the two flanges are pressed together. The spring-loaded clamping levers are particularly suitable for actuating the closure with the pliers of a manipulator of a large cell.

Dynamic actuation of a novel laser-processed NiTi linear actuator

International Nuclear Information System (INIS)

Pequegnat, A; Daly, M; Wang, J; Zhou, Y; Khan, M I

2012-01-01

A novel laser processing technique, capable of locally modifying the shape memory effect, was applied to enhance the functionality of a NiTi linear actuator. By altering local transformation temperatures, an additional memory was imparted into a monolithic NiTi wire to enable dynamic actuation via controlled resistive heating. Characterizations of the actuator load, displacement and cyclic properties were conducted using a custom-built spring-biased test set-up. Monotonic tensile testing was also implemented to characterize the deformation behaviour of the martensite phase. Observed differences in the deformation behaviour of laser-processed material were found to affect the magnitude of the active strain. Furthermore, residual strain during cyclic actuation testing was found to stabilize after 150 cycles while the recoverable strain remained constant. This laser-processed actuator will allow for the realization of new applications and improved control methods for shape memory alloys. (paper)

Fast-Response-Time Shape-Memory-Effect Foam Actuators

Science.gov (United States)

Jardine, Peter

2010-01-01

Bulk shape memory alloys, such as Nitinol or CuAlZn, display strong recovery forces undergoing a phase transformation after being strained in their martensitic state. These recovery forces are used for actuation. As the phase transformation is thermally driven, the response time of the actuation can be slow, as the heat must be passively inserted or removed from the alloy. Shape memory alloy TiNi torque tubes have been investigated for at least 20 years and have demonstrated high actuation forces [3,000 in.-lb (approximately equal to 340 N-m) torques] and are very lightweight. However, they are not easy to attach to existing structures. Adhesives will fail in shear at low-torque loads and the TiNi is not weldable, so that mechanical crimp fits have been generally used. These are not reliable, especially in vibratory environments. The TiNi is also slow to heat up, as it can only be heated indirectly using heater and cooling must be done passively. This has restricted their use to on-off actuators where cycle times of approximately one minute is acceptable. Self-propagating high-temperature synthesis (SHS) has been used in the past to make porous TiNi metal foams. Shape Change Technologies has been able to train SHS derived TiNi to exhibit the shape memory effect. As it is an open-celled material, fast response times were observed when the material was heated using hot and cold fluids. A methodology was developed to make the open-celled porous TiNi foams as a tube with integrated hexagonal ends, which then becomes a torsional actuator with fast response times. Under processing developed independently, researchers were able to verify torques of 84 in.-lb (approximately equal to 9.5 Nm) using an actuator weighing 1.3 oz (approximately equal to 37 g) with very fast (less than 1/16th of a second) initial response times when hot and cold fluids were used to facilitate heat transfer. Integrated structural connections were added as part of the net shape process, eliminating

Large Displacement in Relaxor Ferroelectric Terpolymer Blend Derived Actuators Using Al Electrode for Braille Displays

Science.gov (United States)

Lu, S. G.; Chen, X.; Levard, T.; Diglio, P. J.; Gorny, L. J.; Rahn, C. D.; Zhang, Q. M.

2015-06-01

Poly(vinylidene fluoride) (PVDF) based polymers are attractive for applications for artificial muscles, high energy density storage devices etc. Recently these polymers have been found great potential for being used as actuators for refreshable full-page Braille displays for visually impaired people in terms of light weight, miniaturized size, and larger displacement, compared with currently used lead zirconate titanate ceramic actuators. The applied voltages of published polymer actuators, however, cannot be reduced to meet the requirements of using city power. Here, we report the polymer actuator generating quite large displacement and blocking force at a voltage close to the city power. Our embodiments also show good self-healing performance and disuse of lead-containing material, which makes the Braille device safer, more reliable and more environment-friendly.

Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

Science.gov (United States)

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

2008-08-01

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

Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

International Nuclear Information System (INIS)

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

2008-01-01

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

Theoretical and experimental studies of a magnetically actuated valveless micropump

International Nuclear Information System (INIS)

Ashouri, Majid; Shafii, Mohammad Behshad; Moosavi, Ali

2017-01-01

This paper presents the prototype design, fabrication, and characterization of a magnetically actuated micropump. The pump body consists of three nozzle/diffuser elements and two pumping chambers connected to the ends of a flat-wall pumping cylinder. A cylindrical permanent magnet placed inside the pumping cylinder acts as a piston which reciprocates by using an external magnetic actuator driven by a motor. The magnetic piston is covered by a ferrofluid to provide self-sealing capability. A prototype composed of three bonded layers of polymethyl-methacrylate (PMMA) has been fabricated. Water has been successfully pumped at pressures of up to 750 Pa and flow rates of up to 700 µ l min −1 while working at the piston actuation frequency of 4 and 5 Hz, respectively. 3D numerical simulations are also carried out to study the performance of the pump. The best experimental and numerical volumetric efficiency of the pump are about 7 and 8%, respectively, at the piston speed of 0.03 m s −1 . The contactless external actuation feature of the design enables integration of the pump with other PMMA-based microfluidic systems with low cost and disposability. (paper)

Four- year thyroidectomy procedures: Ligasure Vs. clamp & tie

Directory of Open Access Journals (Sweden)

Pazoki AR

2010-01-01

Full Text Available "n Normal 0 false false false EN-US X-NONE AR-SA MicrosoftInternetExplorer4 /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-qformat:yes; mso-style-parent:""; mso-padding-alt:0in 5.4pt 0in 5.4pt; mso-para-margin:0in; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-bidi-font-family:Arial; mso-bidi-theme-font:minor-bidi;} Background: The electrothermal bipolar vessel sealing system is an adjunct to the hemostatic technique, which has been successfully used in many abdominal operation, recently made available to thyroid surgery. The purpose of this was compare the outcomes of new hemostatic technique with traditional method of clamp and tie."n"nMethods: In this retrospective cross-sectional study has been done in surgery's wards of Milad & Rasul- Akram hospitals in Tehran, Iran. During three- year period between 2005-2008 all patients with different kind of pathology that need operation were assessed. Time duration of surgery and hospital stay and post surgery complication in two group, ligasure (n=45 and clamp & tie (n=145 were compared with each others."n"nResults: No difference was seen between two groups in time duration of surgery. Significant difference was seen in hospital stay and complications of surgery. Time of operation in Ligasure group was 132/22 minute and in clamp and tie group was 130/10 minute. There was found significant difference in duration of hospital stay and postoperative complication. Hypocalcemia were seen in two and 24 cases in Ligasure and Clamp & Tie group, respectively (p<0.05. Hospital stay was 2

Experimental Study of RailPAc Plasma Actuator for High-Authority Aerodynamic Flow Control in One Atmosphere

Science.gov (United States)

Gray, Miles; Choi, Young-Joon; Raja, Laxminarayan; Sirohi, Jayant

2014-10-01

Dielectric barrier discharge (DBD) actuators, a type of electrohydrodynamic (EHD) plasma actuator, have generated considerable interest in recent years. However, theoretical performance limitations hinder their application for high speed flows. Magnetohydrodynamic (MHD) plasma actuators with higher control authority circumvent these limitations, offering an excellent alternative. The rail plasma actuator (RailPAc) is an MHD actuator which uses Lorentz force to impart momentum to the surrounding air. RailPAc functions by generating a fast propagating arc column between two rail electrodes that accelerate the arc through J × B forces in a self-induced B-field. The arc column drags the surrounding air to induce aerodynamic flow motion. Our study of the RailPAc will include a description of the transient arc discharge structure through high-speed imaging and a description of the arc composition and temperature through time-resolved emission spectroscopy. Time-resolved force measurements quantify momentum transfer from the arc to the surrounding air and provides a direct measure of the actuator control authority.

Characteristic Evaluation of a Shrouded Propeller Mechanism for a Magnetic Actuated Microrobot

Directory of Open Access Journals (Sweden)

Qiang Fu

2015-09-01

Full Text Available Medical microrobots have been widely used in clinical applications, particularly the spiral type locomotion mechanism, which was recently considered one of the main self-propelling mechanisms for the next medical microrobot to perform tasks such as capsule endoscopy and drug delivery. However, limits in clinical applications still exist. The spiral action of the microrobot while being used for diagnosis may lead to pain or even damage to the intestinal wall due to the exposed mechanisms. Therefore, a new locomotive mechanism, named the shrouded propeller mechanism, was proposed to achieve a high level of medical safety as well as effective propulsive performance in our study. The shrouded propeller mechanism consists of a bare spiral propeller and a non-rotating nozzle. To obtain a high effective propulsive performance, two types of screw grooves with different shapes including the cylindrical screw groove and the rectangular screw groove with different parameters were analyzed using the shrouded model. Two types of magnetic actuated microrobots with different driving modes, the electromagnetic (three-pole rotor actuated microrobot and the permanent magnet (O-ring type magnet actuated microrobot were designed to evaluate the performance of the electromagnetic actuation system. Based on experimental results, the propulsive force of the proposed magnetic actuated microrobot with a shrouded propeller was larger than the magnetic actuated microrobot with a bare spiral propeller under the same parameters. Additionally, the shrouded propeller mechanism as an actuator can be used for other medical microrobots for flexible locomotion.

V-stack piezoelectric actuator

Science.gov (United States)

Ardelean, Emil V.; Clark, Robert L.

2001-07-01

Aeroelastic control of wings by means of a distributed, trailing-edge control surface is of interest with regards to maneuvers, gust alleviation, and flutter suppression. The use of high energy density, piezoelectric materials as motors provides an appealing solution to this problem. A comparative analysis of the state of the art actuators is currently being conducted. A new piezoelectric actuator design is presented. This actuator meets the requirements for trailing edge flap actuation in both stroke and force. It is compact, simple, sturdy, and leverages stroke geometrically with minimum force penalties while displaying linearity over a wide range of stroke. The V-Stack Piezoelectric Actuator, consists of a base, a lever, two piezoelectric stacks, and a pre-tensioning element. The work is performed alternately by the two stacks, placed on both sides of the lever. Pre-tensioning can be readily applied using a torque wrench, obviating the need for elastic elements and this is for the benefit of the stiffness of the actuator. The characteristics of the actuator are easily modified by changing the base or the stacks. A prototype was constructed and tested experimentally to validate the theoretical model.

Analytical study of the frequency shifts of micro and nano clamped–clamped beam resonators due to an added mass

KAUST Repository

Bouchaala, Adam M.

2016-03-18

We present analytical formulations to calculate the induced resonance frequency shifts of electrically actuated clamped–clamped micro and nano (Carbon nanotube) beams due to an added mass. Based on the Euler–Bernoulli beam theory, we investigate the linear dynamic responses of the beams added masses, which are modeled as discrete point masses. Analytical expressions based on perturbation techniques and a one-mode Galerkin approximation are developed to calculate accurately the frequency shifts under a DC voltage as a function of the added mass and position. The analytical results are compared to numerical solution of the eigenvalue problem. Results are shown for the fundamental as well as the higher-order modes of the beams. The results indicate a significant increase in the frequency shift, and hence the sensitivity of detection, when scaling down to nano scale and using higher-order modes. © 2016 Springer Science+Business Media Dordrecht

Numerical Studies of a Supersonic Fluidic Diverter Actuator for Flow Control

Science.gov (United States)

Gokoglu, Suleyman A.; Kuczmarski, Maria A.; Culley, Dennis e.; Raghu, Surya

2010-01-01

The analysis of the internal flow structure and performance of a specific fluidic diverter actuator, previously studied by time-dependent numerical computations for subsonic flow, is extended to include operation with supersonic actuator exit velocities. The understanding will aid in the development of fluidic diverters with minimum pressure losses and advanced designs of flow control actuators. The self-induced oscillatory behavior of the flow is successfully predicted and the calculated oscillation frequencies with respect to flow rate have excellent agreement with our experimental measurements. The oscillation frequency increases with Mach number, but its dependence on flow rate changes from subsonic to transonic to supersonic regimes. The delay time for the initiation of oscillations depends on the flow rate and the acoustic speed in the gaseous medium for subsonic flow, but is unaffected by the flow rate for supersonic conditions

EVALUATION OF RESULTS OF ROAD RESEARCH OF LANOS CAR, EQUIPPED WITH AN ADVANCED HYDRAULIC BRAKE DRIVE

Directory of Open Access Journals (Sweden)

I. Nazarov

2016-12-01

Full Text Available The results of studies of road emergency braking of the car, the brake system equipped with an improved hydraulic brake actuator according to the patent number 76189 Ukraine are analyzed. This drive provides more efficient emergency braking of cars under operating conditions by of installing in each of the contours of the rear brakes one brake-power, each of which provides distribution of braking forces between the wheels of the corresponding side.

Application of active electrode compensation to perform continuous voltage-clamp recordings with sharp microelectrodes.

Science.gov (United States)

Gómez-González, J F; Destexhe, A; Bal, T

2014-10-01

Electrophysiological recordings of single neurons in brain tissues are very common in neuroscience. Glass microelectrodes filled with an electrolyte are used to impale the cell membrane in order to record the membrane potential or to inject current. Their high resistance induces a high voltage drop when passing current and it is essential to correct the voltage measurements. In particular, for voltage clamping, the traditional alternatives are two-electrode voltage-clamp technique or discontinuous single electrode voltage-clamp (dSEVC). Nevertheless, it is generally difficult to impale two electrodes in a same neuron and the switching frequency is limited to low frequencies in the case of dSEVC. We present a novel fully computer-implemented alternative to perform continuous voltage-clamp recordings with a single sharp-electrode. To reach such voltage-clamp recordings, we combine an active electrode compensation algorithm (AEC) with a digital controller (AECVC). We applied two types of control-systems: a linear controller (proportional plus integrative controller) and a model-based controller (optimal control). We compared the performance of the two methods to dSEVC using a dynamic model cell and experiments in brain slices. The AECVC method provides an entirely digital method to perform continuous recording and smooth switching between voltage-clamp, current clamp or dynamic-clamp configurations without introducing artifacts.

Extended DNA Tile Actuators

DEFF Research Database (Denmark)

Kristiansen, Martin; Kryger, Mille; Zhang, Zhao

2012-01-01

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

Improved DNA clamps by stacking to adjacent nucleobases

DEFF Research Database (Denmark)

Fatthalla, M.I.; Pedersen, Erik Bjerregaard

2012-01-01

Three or four aromatic rings interconnected by acetylene bridges form a stiff conjugated system with sufficient conformational freedom to make it useful to link together the two strands of a DNA clamp. Upon targeting a ssDNA, the conformational flexibility allows better stacking of the linker...... to the underlying non-planar base triplet in the formed triplex. This type of triplexes has a substantially higher thermal melting temperature which can be further improved by inserting locked nucleic acids (LNAs) in the Hoogsteen part of the clamp. An extremely high sensitivity to mismatches is observed...

Thermal-Hydraulic Performance of Scrubbing Nozzle Used for CFVS

Energy Technology Data Exchange (ETDEWEB)

Lee, Hyun Chul; Lee, Doo Yong; Jung, Woo Young; Lee, Jong Chan; Kim, Gyu Tae [FNC TECH, Yongin (Korea, Republic of)

2016-05-15

A Containment Filtered Venting System (CFVS) is the most interested device to mitigate a threat against containment integrity under the severe accident of nuclear power plant by venting with the filtration of the fission products. FNC technology and partners have been developed the self-priming scrubbing nozzle used for the CFVS which is based on the venturi effect. The thermal-hydraulic performances such as passive scrubbing water suction as well as pressure drop across the nozzle have been tested under various thermal-hydraulic conditions. The two types of test section have been built for testing the thermal-hydraulic performance of the self-priming scrubbing nozzle. Through the visualization loop, the liquid suction performance through the slit, pressure drop across the nozzle are measured. The passive water suction flow through the suction slit at the throat is important parameter to define the scrubbing performance of the self-priming scrubbing nozzle. The water suction flow is increased with the increase of the overhead water level at the same inlet gas flow. It is not so much changed with the change of inlet gas flow at the overhead water level.

Remotely operated closure device for a pipeline with a fixed pipeline flange

International Nuclear Information System (INIS)

Westendorf, H.

1987-01-01

The remotely operated closure is set by suspension centring on the circumference of a blank flange on the fixed pipeline flange to be closed. By operating a central actuating mechanism at the closure, the clamping levers are adjusted so that the blank flange is clamped to the pipeline flange and the two flanges are pressed together. The spring-loaded clamping levers are particularly suitable for actuating the closure with the pliers of a manipulator of a large cell. (DG) [de

Formal Design Review Foot Clamp Modification

International Nuclear Information System (INIS)

OTEN, T.C.

2000-01-01

This report documents the Design Review performed for the foot clamp modification. The report documents the acceptability of the design, identifies the documents that were reviewed, the scope of the review and the members of the review team